CN107004502B - Grasping device and holding method - Google Patents
Grasping device and holding method Download PDFInfo
- Publication number
- CN107004502B CN107004502B CN201680003438.2A CN201680003438A CN107004502B CN 107004502 B CN107004502 B CN 107004502B CN 201680003438 A CN201680003438 A CN 201680003438A CN 107004502 B CN107004502 B CN 107004502B
- Authority
- CN
- China
- Prior art keywords
- movable plate
- plate
- cam
- spring
- grips
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 14
- 238000006073 displacement reaction Methods 0.000 claims description 8
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 11
- 238000001514 detection method Methods 0.000 description 6
- 241000278713 Theora Species 0.000 description 4
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
- H01B13/0003—Apparatus or processes specially adapted for manufacturing conductors or cables for feeding conductors or cables
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
- H01B13/0026—Apparatus for manufacturing conducting or semi-conducting layers, e.g. deposition of metal
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
- H01F41/02—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets
- H01F41/04—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets for manufacturing coils
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Manufacture Of Motors, Generators (AREA)
- Tension Adjustment In Filamentary Materials (AREA)
- Coil Winding Methods And Apparatuses (AREA)
Abstract
Grasping device (10) has: grips (7), with fixinig plate (12b) and is configured to relative to the first movable plate (13) that fixinig plate is close or separates；Second movable plate (18), is set to the another side of the first movable plate；First spring (19), is installed between the first movable plate and the second movable plate, and is exerted a force in a manner of keeping the interval between the first movable plate and the second movable plate widened；And driving device (26), so that the second movable plate is moved to arbitrary position.
Description
Technical field
The present invention relates to the grasping devices and holding method that are held to wire rod etc. by grips.
Background technique
In JP2000-331860A, as the wire rod grasping device of coiling apparatus for wound skein product etc., disclose
Following wire rod grasping device, it may be assumed that it has: a pair holds piece, close to each other and hold to the wire rod existed therebetween；
A pair is held piece court and exerted a force in a direction close to each other by spring；And hydraulic cylinder, so that a pair of piece that holds is overcome spring
Active force and separated.
In recent years, in coiling apparatus, the end portion treatment for playing from the detour of wire rod and executing wound wire rod is developed
Until coiling apparatus.Therefore, in the grasping device of the wire rod used in such coiling apparatus, it is desirable that forbid wire rod opposite
In the movement of a pair of of holding piece, a pair of piece that holds is made to move together with by a pair of wire rod for holding piece clamping and wire rod can be made circuitous
It returns, and by holding piece using a pair of and holding wire rod with weaker power to allow wire rod relative to a pair of piece that holds
Mobile, thus, it is possible to hold to stretch wire rod while sliding wire rod between piece in a pair.
However, in making a pair of of holding piece existing grasping device close to each other to hold wire rod using spring, in order to
Change the holding power held to wire rod, it is necessary to will replace towards the spring in a direction close to each other to a pair of of holding piece force
For the different spring of spring constant.Wire rod is held thus, for example being difficult to arbitrarily change in the state that device is run
Holding power.
Summary of the invention
The purpose of the present invention is to provide one kind can be easily adjusted the holding held to wire rod etc. by grips
The grasping device and holding method of power.
According to one method of the present invention, provide a kind of grasping device, which has: grips has solid
Stator and the first movable plate, it is opposed with above-mentioned fixinig plate which is configured to one end, and can be relative to above-mentioned fixation
Piece contact or separation；Second movable plate is set to the another side of above-mentioned first movable plate；First spring, is installed in
It states between the first movable plate and above-mentioned second movable plate, and so that between above-mentioned first movable plate and above-mentioned second movable plate
It exerts a force every widened mode；And driving device, so that above-mentioned second movable plate is overcome the active force of above-mentioned first spring
And it is moved to arbitrary position.
Another mode according to the present invention, provides a kind of holding method, is carried out using grasping device to by grips
It holds, which has: fixinig plate；First movable plate, it is opposed with above-mentioned fixinig plate to consist of one end, and can be opposite
It is close in above-mentioned fixinig plate or separate, above-mentioned first movable plate by close to above-mentioned fixinig plate, so as to be present in this
Being held by grips between one movable plate and above-mentioned fixinig plate；Second movable plate is set to above-mentioned first movable plate
Another side；And first spring, it is installed between above-mentioned first movable plate and above-mentioned second movable plate, and so that above-mentioned
The widened mode in interval between first movable plate and above-mentioned second movable plate exerts a force, and in above-mentioned holding method, passes through
Keep above-mentioned second movable plate close relative to above-mentioned first movable plate or separate, to make above-mentioned first movable plate and above-mentioned second
Interval variation between movable plate, thus changes above-mentioned fixinig plate and above-mentioned first movable plate is held by the holding power of grips.
Detailed description of the invention
Fig. 1 is the main view for indicating grasping device involved in embodiments of the present invention.
Fig. 2 is to indicate that grasping device involved in embodiments of the present invention holds the corresponding with Fig. 1 of the state of wire rod
Main view.
Fig. 3 is the main view corresponding with Fig. 2 for the state for indicating that the grips for holding wire rod is mobile.
Fig. 4 is to indicate grasping device involved in embodiments of the present invention weaker holds the state of wire rod and Fig. 2
Corresponding main view.
Fig. 5 is the top view of grasping device involved in embodiments of the present invention.
Fig. 6 is the bottom view of grasping device involved in embodiments of the present invention.
Fig. 7 is the side view of the motor of grasping device involved in embodiments of the present invention.
Fig. 8 is cross-sectional view made of cutting off along the line A-A of Fig. 1.
Fig. 9 A is that the detour of the wire rod for executing to the grasping device as involved in embodiments of the present invention is said
Bright figure.
Fig. 9 B is that the detour of the wire rod for executing to the grasping device as involved in embodiments of the present invention is said
Bright figure.
Fig. 9 C is that the detour of the wire rod for executing to the grasping device as involved in embodiments of the present invention is said
Bright figure.
Fig. 9 D is that the detour of the wire rod for executing to the grasping device as involved in embodiments of the present invention is said
Bright figure.
Specific embodiment
Grasping device involved in embodiments of the present invention is illustrated referring to attached drawing.
Medium in the coiling apparatus of wound skein product 9 as shown in FIG. 1 to FIG. 7, grasping device 10 is used for as by grips
Wire rod 9 carry out hold or for stretching wire rod 9.Grasping device 10 has the base station 11 for being installed on coiling apparatus etc..In base
Platform 11 is formed with multiple mounting hole 11a for grasping device 10 to be installed on to coil winder (not shown) etc..
In the pedestal 8 of base station 11 being equipped on one side as long size element.In the front end side of pedestal 8 with one with base station 11
Orthogonal and orthogonal with the longitudinal direction of pedestal 8 mode in face is provided with the first guide rail 16.In first guide rail 16 can move
Mode is provided with movable table 16a.The grips 7 held to wire rod 9 is installed in movable table 16a.In this way, being passed through in base station 11
Grips 7 is equipped with by pedestal 8.
Grips 7 has the main element 12 that movable table 16a is installed on by stove bolt 8a.In the formation of main element 12
Have: the slot 12a by the first movable plate 13 receiving for constituting grips 7 for that can move；And it is set to the end of slot 12a and incites somebody to action
The closed fixinig plate 12b of slot 12a.First movable plate 13 is to be contained in slot 12a simultaneously in the mode for keeping one end opposed with fixinig plate 12b
The plate for the long size that can be moved in the long side direction.In addition, as shown in figure 8, passing through stove bolt 15 in main element 12
Latch for printed circuit 14 is installed, which prevents the first movable plate 13 for being contained in slot 12a to be detached from from slot 12a.
In this way, the grips 7 for being set to base station 11 via pedestal 8 includes fixinig plate 12b；And one end and fixinig plate
12b is opposed and can be relative to the first movable plate 13 that fixinig plate 12b is close or separates.Therefore, if in fixinig plate 12b and first
Exist between movable plate 13 as by the wire rod 9 of grips, then by making the first movable plate 13 close to fixinig plate 12b, thus sharp
Wire rod 9 is held with fixinig plate 12b and the first movable plate 13.In addition, the first guide rail 16 for being set to pedestal 8 is formed as and is consolidated
The extending direction for the wire rod 9 that stator 12b and the first movable plate 13 are held is parallel.Therefore, it can be moved along the first guide rail 16
Grips 7 is with there are the parallel mode in direction is mobile with the extension of wire rod 9.
In addition, the pedestal 8 of the another side in the first movable plate 13, is provided with the moving direction along the first movable plate 13
The second guide rail 17 extended.The second movable plate 18 of strip is provided in a manner of it can move in the second guide rail 17.That is, the
Two movable plates 18 can move on the extended line of the first movable plate 13 along direction identical with the moving direction of the first movable plate 13
It is dynamic.
It is formed in another ora terminalis of the first movable plate 13 towards the first protrusion 13a outstanding of the second movable plate 18.It is another
Aspect is formed with prominent towards the first protrusion 13a in one end of the second movable plate 18 opposed with the other end of the first movable plate 13
The second protrusion 18a out.Between above-mentioned first movable plate 13 and the second movable plate 18, it is clamped with using the state of compression as
First helical spring 19 of one spring.One end of first helical spring 19 is embedded in the first protrusion 13a, the first helical spring 19
The other end is embedded in the second protrusion 18a.For the first helical spring 19, if the first movable plate 13 and the second movable plate 18 it
Between narrower intervals and compressed, then exert a force by drawing force, so that the first movable plate 13 and the second movable plate 18
Between interval expand.
In addition, being formed with notch 13b in the lateral margin of the first movable plate 13.Front end is installed in the second movable plate 18 to be locked to
The latch for printed circuit 21 of notch 13b.Latch for printed circuit 21 is the component of the L-shaped of front end bending, the hooking sheet 21a of the front end of bending
The second movable plate 18 is installed in a manner of entering notch 13b.
If hooking sheet 21a is locked to the ora terminalis of 18 side of the second movable plate of notch 13b, prevent because of the first helical spring 19
Drawing force and separate the first movable plate 13 with the second movable plate 18.In addition, notch 13b is in the long side side of the first movable plate 13
Upwards have a degree of length, therefore even if the first movable plate 13 and the second movable plate 18 to compress the first helical spring 19
Mode it is close, hooking sheet 21a also can the longitudinal direction in notch 13b along the first movable plate 13 move.Therefore, with first
The length of notch 13b in the longitudinal direction of movable plate 13 accordingly allows the first movable plate 13 and 18 phase mutual connection of the second movable plate
Closely.
Between movable table 16a and base station 11, little spring 20 is clamped with the state of compression, little spring 20 is movable to first
Piece 13 exerts a force towards the direction that the first movable plate 13 is pressed on latch for printed circuit 21.That is, grips 7 is by little spring 20 with separate
The mode of base station 11 exerts a force, in addition, the amount of movement engaged part in the direction that the active force of grips 7 towards little spring 20 is acted on
Part 21 is constrained to not to be more than specified amount.In this way, if the first movable plate 13 is pressed against latch for printed circuit 21, the second movable plate 18
Become the state of configuration point-blank side by side with the first movable plate 13.In addition, as shown in figure 3, if overcoming little spring 20
The power of active force acts on grips 7, then grips 7 together with movable table 16a along the first guide rail 16 direction, i.e. in handle
It is moved on the extending direction for the wire rod 9 that gripping member 7 is held.At this point, being arranged between the first movable plate 13 and the second movable plate 18
The first helical spring 19 formed relative to the first movable plate 13 and the inclined state of the second movable plate 18.Therefore, grips 7
The first helical spring 19 can be set to along the distance that the extending direction of wire rod 9 moves can not from the first movable plate 13 and second
The degree being detached between movable plate 18.
In addition, component shown in appended drawing reference 16b is detection sensor 16b, 16b pairs of the detection sensor in FIG. 1 to FIG. 4
Grips 7 is with whether overcoming the active force of little spring 20 mobile and is detected close to the case where base station 11.Detection sensor 16b
Detection signal be input to control device (not shown).
In addition, being provided between pedestal 8 and the second movable plate 18 and exerting a force to the second movable plate 18 and make the second movable plate
18 the second helical springs 22 as second spring far from fixinig plate 12b.It is equipped in the second movable plate 18 for the second spiral
First locking bolt 23 of one end locking of spring 22 is engaging in pedestal 8 and than first bolt 23 further from fixinig plate 12b's
Position is equipped with the second locking bolt 24 of the other end locking for the second helical spring 22.Second helical spring 22 is being drawn
In the state of stretching, it is locked to the first locking bolt 23 and the second locking bolt 24.Second helical spring 22 is movable relative to second
Piece 18 is set up in parallel, and the first locking bolt 23 and the second movable plate 18 are engaged bolt towards second together by convergent force
24 drawings are leaned on, and the second movable plate 18 is exerted a force towards from the direction that fixinig plate 12b is separated.
In addition, grasping device 10 has driving device 26, which makes the second movable plate 18 overcome the second spiral
The active force of spring 22 and be moved to arbitrary position towards fixinig plate 12b and the first movable plate 13.Driving device 26 includes
Enable the cam 27 that the second movable plate 18 is mobile to fixinig plate 12b and 13 side of the first movable plate；And rotate cam 27
It is moved to the servo motor 28 of arbitrary position.
Cam 27 is disk-shaped plane cam 27, is equipped with servo motor 28 in the position of the center deviation from plane cam 27
Rotary shaft 28a.In the base station 11 for clipping 8 ground of the pedestal side opposite with grips 7, section is installed side by side with pedestal 8
In the mounting portion 29 of U-shaped.In mounting portion 29, pacified in a manner of making the rotary shaft 28a of servo motor 28 penetrate through the mounting portion 29
Equipped with servo motor 28.Specifically, servo motor 28 so that the axle center of rotary shaft 28a and the second movable plate 18 moving direction
Orthogonal mode is installed on base station 11.In addition, servo motor 28 is configured that the plane cam 27 for being prejudicially set to rotary shaft 28a
Periphery and the second movable plate 18 another end in contact.On the other hand, there is energy in the other end pivot suspension of the second movable plate 18
Enough roller 18b contacted with the periphery of cam 27.
Therefore, the second helical spring 22 is applied in a manner of contacting the second movable plate 18 with the periphery of plane cam 27
Power.That is, servo motor 28 make cam 27 overcome the second helical spring 22 active force be displaced, and make 18 direction of the second movable plate
Fixinig plate 12b and 13 side of the first movable plate are mobile.
Next, being illustrated to the holding method of the grasping device of above structure.
It is have using the grasping device 10 of above structure come the necessary condition of the holding method carried out: fixinig plate
12b；First movable plate 13, one end is opposed with fixinig plate 12b, can approach or separate relative to fixinig plate 12b, and by connecing
Nearly fixinig plate 12b and the wire rod 9 being present between first movable plate 13 and fixinig plate 12b can be held；Second movable plate 18,
Its another side that the first movable plate 13 is separately disposed in the first movable plate 13；And first helical spring 19, it clamps
Between the first movable plate 13 and the second movable plate 18, and can be so that between the first movable plate 13 and the second movable plate 18
It exerts a force every widened mode.
Moreover, by making the second movable plate 18 separate or approach relative to the first movable plate 13, so as to make first
Interval variation between movable plate 13 and the second movable plate 18, thus changes fixinig plate 12b and the first movable plate 13 holds wire rod 9
Holding power.Hereinafter, carrying out detailed narration to holding method involved in present embodiment.
As described above, in grasping device 10, the second movable plate 18 is directed away from fixinig plate by the second helical spring 22
The direction of 12b, i.e. towards cam 27 exert a force.Therefore, though cam 27 whether by servo motor 28 swing offset, second can
The other end of movable plate 18 is all contacted with the periphery of cam 27 always.
In addition, being clamped with the first helical spring between the first movable plate 13 and the second movable plate 18 with the state of compression
19, as long as but as shown in Figure 1, hooking sheet 21a is locked to the ora terminalis of 18 side of the second movable plate of notch 13b, prevent from first
Movable plate 13 is further separated with the second movable plate 18.
Therefore, in grasping device 10, make 27 swing offset of cam using servo motor 28, as shown in Fig. 1 and Fig. 5,
If making the second movable plate 18 far from fixinig plate 12b, the first movable plate 13 and the second movable plate 18 together far from fixinig plate 12b,
To generate gap between one end and fixinig plate 12b of the first movable plate 13.
In this way, entering wire rod 9 in the state of generating gap between one end of the first movable plate 13 and fixinig plate 12b
The gap.By making nozzle that the wire rod 9 for being set to coiling apparatus (not shown) etc. is extracted out is mobile or making grasping device 10
Body moves to enter wire rod 9.
After between the one end and fixinig plate 12b for so that wire rod 9 is entered the first movable plate 13, as shown in figure 4, utilizing servo horse
Make the swing offset again of cam 27 up to 28, and make the second movable plate 18 overcome the second helical spring 22 active force to fixinig plate
The side 12b is mobile.
At this point, since hooking sheet 21a is still the state for being locked to the ora terminalis of 18 side of the second movable plate of notch 13b, institute
Mobile to the side fixinig plate 12b with the two of the first and second movable plate 13,18, one end of the first movable plate 13 edges down upon
Fixinig plate 12b.Moreover, both fixinig plate 12b and the first movable plate 13 are with the one end for being inserted into the first movable plate 13 and admittedly
Wire rod 9 between stator 12b abuts, and wire rod 9 becomes the state for being fixed piece 12b and the holding of the first movable plate 13.In the state
Under, make the second movable plate 18 towards fixinig plate 12b mobile power and the first helical spring 19 first and second movable
The isolated active force of piece 13,18 is almost the same.
In addition, in this state, due to being journey that both fixinig plate 12b and the first movable plate 13 are contacted with wire rod 9
Degree, so the holding power that fixinig plate 12b and the first movable plate 13 hold wire rod 9 is almost nil.By making the second movable plate 18
It is further moved from the stage towards fixinig plate 12b, to slowly improve holding power.
If cam 27 is made to further rotate displacement from above-mentioned state and keep the second movable plate 18 mobile towards fixinig plate 12b,
Then the second movable plate 18 is with overcoming the active force of the first helical spring 19 mobile towards the first movable plate 13.At this point, such as Fig. 2 institute
Show, hooking sheet 21a leaves from the ora terminalis of 18 side of the second movable plate of notch 13b, thus movable to being installed in first and second
The first helical spring 19 between piece 13,18 is compressed.Compressed first helical spring 19 is exerted a force with stronger power,
Expand the interval between the first and second movable plate 13,18.The active force of the first helical spring 19 increased in this way
As the power that the first movable plate 13 is pressed on to fixinig plate 12b.That is, the active force of the first helical spring 19 increased becomes solid
The holding power that stator 12b and the first movable plate 13 hold wire rod 9.
It is arranged first movably in this way, the holding power that fixinig plate 12b and the first movable plate 13 hold wire rod 9 is equal to
The first helical spring 19 between piece 13 and the second movable plate 18 expands the gap between the first and second movable plate 13,18
Big active force.Moreover, the active force is proportional to the decrement of the first helical spring 19.In other words, holding power with by making
The first movable plate 13 and the second movable plate 18 that second movable plate 18 is contacted or separated relative to the first movable plate 13 and changes it
Between the size at interval accordingly change.The size at the interval between the first movable plate 13 and the second movable plate 18, i.e. the first spiral shell
The displacement of the decrement and the cam 27 for keeping the second movable plate 18 mobile of revolving spring 19 accordingly changes.Moreover, passing through utilization
Servo motor 28 makes 27 swing offset of cam, so as to arbitrarily change the displacement of cam 27.
That is, by making 27 swing offset of cam using servo motor 28, so as to be easily adjusted fixinig plate 12b and
The holding power that one movable plate 13 holds wire rod 9.In this way, the grasping device 10 involved in present embodiment and holding
In method, it can be easily adjusted to as the holding power held by the wire rod 9 of grips.
In addition, as shown in Fig. 2, forbidding wire rod 9 relative to fixinig plate 12b and the by comparing wire rod 9 is consumingly held
The movement of one movable plate 13 if moving fixinig plate 12b together with the first movable plate 13 and the wire rod 9 held, such as is schemed
Shown in 9A, held 9 detour of wire rod can be made.
In addition, in grasping device 10, wire rod 9 that grips 7 can be held in grips 7 relative to base station 11 prolongs
It stretches and is moved on direction.Thus, for example, if keeping the wire rod 9 for being held in grips 7 and base station 11 as shown in Figure 9 A circuitous together
Return, make as shown in Figure 9 B later grips 7 and base station 11 together towards a direction of the extending direction of wire rod 9 (Fig. 9 B's
Arrow direction) it is mobile, then as shown in figure 3, grips 7 is with overcoming the active force of little spring 20 relative to base station 11 towards wire rod 9
Extending direction another direction it is mobile.As a result, wire rod 9 by with little spring 20 by grips 7 towards the extension of wire rod 9
The power that the active force of one direction force in direction is equal pulls.In addition, detection sensor 16b is to grips 7 close to base station 11
State detected.Therefore, if by detection sensor 16b detect grips 7 be close to base station 11 state when, eliminate
By the holding for the wire rod 9 that grips 7 carries out, then the power equal with the active force of little spring 20 is acted on to wire rod 9, so as to
Wire rod 9 is tightly wound in the detour of end wire rod 9 in the state of pin 6.
On the other hand, as shown in Fig. 2, forbidding the opposite of wire rod 9 more consumingly holding wire rod 9 using grips 7
In the state of the movement of grips 7, if moving the state shown in Fig. 9 B of base station 11 further, as shown in Figure 9 C,
It can be in the midway of detour, for example wire rod 9 be pulled apart near pin 6.
In addition, as shown in figure 4, if holding wire rod 9 using fixinig plate 12b and the first movable plate 13 with weaker power,
Then allow wire rod 9 relative to the movement of fixinig plate 12b and the first movable plate 13.In this way, if allowing moving and making to fix for wire rod 9
Piece 12b and the first movable plate 13 are mobile, then as shown in fig. 9d, can also make held wire rod 9 in fixinig plate 12b and the on one side
It slides between one movable plate 13 and the wire rod 9 is stretched on one side.
More than, embodiments of the present invention are illustrated, but above embodiment only show it is of the invention
A part of application examples is not intended to for the range of technology of the invention to be defined in the specific structure of above embodiment.
For example, in the above-described embodiment, having used plane cam 27 as cam 27.Instead, cam 27
It can be edge cam (grooved cam), solid cam, as long as and the second movable plate 18 can be made to overcome the first helical spring 19
Active force it is mobile, so that it may be any type of cam.
In addition, in the above-described embodiment, first and the both sides of second spring be helical spring.Instead,
As long as the first spring can be such that the interval between the first movable plate 13 and the second movable plate 18 expands, so that it may be helical spring with
The spring of outer form, as long as second spring can be such that the second movable plate 18 contacts with the periphery of plane cam 27, so that it may be spiral shell
Revolve the spring of the form other than spring.
In addition, in the above-described embodiment, as making cam 27 use servo horse to the motor of arbitrary position displacement
Up to 28.Instead, as long as motor can make cam 27 to arbitrary position swing offset, so that it may be the horse of other forms
It reaches.
It is preferential this application claims proposed based on Patent from June 23rd, 2015 to Japanese Patent Office 2015-125339
Power, and this specification is incorporated to by referring to by whole contents of this application.
Claims (3)
1. a kind of grasping device, has:
Grips, with fixinig plate and the first movable plate, it is opposed with the fixinig plate which is configured to one end, and
It can contact or separate relative to the fixinig plate；
Second movable plate is set to the another side of first movable plate；
First spring is installed between first movable plate and second movable plate with compressive state, no matter and working
How state is exerted a force in a manner of keeping the interval between first movable plate and second movable plate widened always；
And
Driving device makes second movable plate overcome the active force of first spring and be moved to arbitrary position,
The grasping device is characterized in that,
The driving device has the cam that second movable plate can be made mobile and makes the cam to arbitrary position
The motor of displacement,
The cam is the plane cam that periphery is abutted with second movable plate,
The grasping device is also equipped with second spring, and the second spring is so that second movable plate and the periphery of the cam connect
The mode of touching exerts a force to second movable plate,
The motor overcomes the active force of the second spring and makes the position displacement of the cam, so that second movable plate
It can be mobile towards first movable plate.
2. grasping device according to claim 1, which is characterized in that
The extending direction of wire rod of the grips can be held along the grips is set to base station in a manner of moving,
The grasping device is also equipped with:
Little spring is installed between the grips and the base station, and so that the grips prolonging along the wire rod
Direction is stretched to exert a force far from the mode of the base station；And
Latch for printed circuit, it is more than the mobile specified amount in the direction acted on to the active force of the grips towards the little spring this
One situation is limited.
3. a kind of holding method is held using grasping device to by grips, the grasping device has:
Fixinig plate；
It is opposed with the fixinig plate to consist of one end, and can approach or separate relative to the fixinig plate for first movable plate,
First movable plate is by close to the fixinig plate, so as to being present between first movable plate and the fixinig plate
Held by grips；
Second movable plate is set to the another side of first movable plate；
First spring is installed between first movable plate and second movable plate with compressive state, no matter and working
How state is exerted a force in a manner of keeping the interval between first movable plate and second movable plate widened always；
And
Driving device makes second movable plate overcome the active force of first spring and be moved to arbitrary position,
The driving device has the cam that second movable plate can be made mobile and makes the cam to arbitrary position
The motor of displacement,
The cam is the plane cam that periphery is abutted with second movable plate,
The grasping device is also equipped with second spring, and the second spring is so that second movable plate and the periphery of the cam connect
The mode of touching exerts a force to second movable plate,
The holding method is characterized in that,
By keeping second movable plate close relative to first movable plate or separating, thus make first movable plate with
Interval variation between second movable plate, thus changes the fixinig plate and first movable plate is held by grips
Holding power,
Make the position displacement of the cam and overcoming the active force of second movable plate by making the motor, to make described
Second movable plate is close relative to first movable plate or separates.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015125339A JP6436574B2 (en) | 2015-06-23 | 2015-06-23 | Gripping device and gripping method |
| JP2015-125339 | 2015-06-23 | ||
| PCT/JP2016/066239 WO2016208345A1 (en) | 2015-06-23 | 2016-06-01 | Gripping device and gripping method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107004502A CN107004502A (en) | 2017-08-01 |
| CN107004502B true CN107004502B (en) | 2019-09-10 |
Family
ID=57585446
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680003438.2A Active CN107004502B (en) | 2015-06-23 | 2016-06-01 | Grasping device and holding method |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6436574B2 (en) |
| KR (1) | KR101944028B1 (en) |
| CN (1) | CN107004502B (en) |
| WO (1) | WO2016208345A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109133217B (en) * | 2018-09-28 | 2021-07-13 | 叶东升 | Fishing claw for suspended ball biological filler |
| JP7153990B2 (en) * | 2019-01-24 | 2022-10-17 | Ｎｉｔｔｏｋｕ株式会社 | WIRE LOCKING DEVICE AND WIRE LOCKING METHOD |
| CN111534908B (en) * | 2020-05-09 | 2021-08-03 | 丁明明 | Textile machinery pinch roller arm assembly operation adjustment device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5343899A (en) * | 1990-03-12 | 1994-09-06 | Iro Ab | Output yarn brake |
| CN1535336A (en) * | 2001-02-16 | 2004-10-06 | 艾罗帕股份有限公司 | Method for inserting weft threads |
| CN201551346U (en) * | 2009-11-05 | 2010-08-18 | 孙墨 | Endoscope holder |
| CN103177980A (en) * | 2013-03-01 | 2013-06-26 | 广东工业大学 | Bonding head device on full-automatic lead bonding equipment |
| CN103715835A (en) * | 2013-12-31 | 2014-04-09 | 泰信电机(苏州)有限公司 | Wire supply device |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01261836A (en) * | 1988-04-12 | 1989-10-18 | Mitsubishi Electric Corp | wire bonding equipment |
| JPH03230539A (en) * | 1990-02-06 | 1991-10-14 | Matsushita Electron Corp | Wire bonding equipment |
| JP3552590B2 (en) | 1999-05-25 | 2004-08-11 | 松下電器産業株式会社 | Wire gripper |
| DE50109401D1 (en) * | 2000-10-18 | 2006-05-18 | Iropa Ag | METHOD FOR REGISTERING SHOT WASHERS AND THREAD DELIVERY DEVICE |
| JP2002224985A (en) * | 2001-01-31 | 2002-08-13 | Sunroots Kk | Electric motor chuck |
| JP4617223B2 (en) * | 2005-08-17 | 2011-01-19 | 健 高木 | Finger gripping device |
| JP2010023185A (en) * | 2008-07-18 | 2010-02-04 | Tokyo Institute Of Technology | Gripping device |
-
2015
- 2015-06-23 JP JP2015125339A patent/JP6436574B2/en active Active
-
2016
- 2016-06-01 CN CN201680003438.2A patent/CN107004502B/en active Active
- 2016-06-01 KR KR1020177011551A patent/KR101944028B1/en active Active
- 2016-06-01 WO PCT/JP2016/066239 patent/WO2016208345A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5343899A (en) * | 1990-03-12 | 1994-09-06 | Iro Ab | Output yarn brake |
| CN1535336A (en) * | 2001-02-16 | 2004-10-06 | 艾罗帕股份有限公司 | Method for inserting weft threads |
| CN201551346U (en) * | 2009-11-05 | 2010-08-18 | 孙墨 | Endoscope holder |
| CN103177980A (en) * | 2013-03-01 | 2013-06-26 | 广东工业大学 | Bonding head device on full-automatic lead bonding equipment |
| CN103715835A (en) * | 2013-12-31 | 2014-04-09 | 泰信电机(苏州)有限公司 | Wire supply device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107004502A (en) | 2017-08-01 |
| JP6436574B2 (en) | 2018-12-12 |
| KR20170063867A (en) | 2017-06-08 |
| JP2017011108A (en) | 2017-01-12 |
| KR101944028B1 (en) | 2019-01-30 |
| WO2016208345A1 (en) | 2016-12-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107004502B (en) | Grasping device and holding method | |
| US9032973B2 (en) | Hair clip | |
| SG157296A1 (en) | Electrical contact element for contacting an electrical test sample and contacting apparatus | |
| EP2383075A3 (en) | Open end wrench capable of fast driving a workpiece | |
| CN104565708A (en) | Angle-adjustable operating table | |
| WO2014111478A1 (en) | Retaining device for a terminal which can be coupled in a wireless manner, and method for producing a retaining device | |
| KR200456956Y1 (en) | Parking lot clamping device of bicycle parking lot | |
| CN104374510B (en) | Wiring harness tensile force test clamp capable of being moved and adjusted in multiple directions | |
| CN102935629A (en) | Expending block floating fixture | |
| JP6055744B2 (en) | Sheet processing device | |
| US2563911A (en) | Wire stripper | |
| CN102856668A (en) | Screen connection terminal | |
| US20110244923A1 (en) | Sliding apparatus for electronic device | |
| ATE306423T1 (en) | APPARATUS AND METHOD FOR BUNDLING A STACK OF LEAF-LIKE OBJECTS | |
| CN104105028A (en) | Pickup holder and pickup device assembly | |
| US20160123520A1 (en) | Positioning device | |
| DE602004031419D1 (en) | Intermediate anchoring device for a lifeline | |
| PL4095515T3 (en) | Device for quantitatively detecting carbon-14 isotope using double-wavelength method, and spectrometer comprising the device | |
| EP2792569A3 (en) | Assembly device, method for securing panel-shaped elements, and railway vehicle with panel-shaped elements | |
| KR101600528B1 (en) | Multi-purpose hanger device detachable on body | |
| CN104129548B (en) | Pole group's turnover clamp | |
| CN209117501U (en) | A kind of Distributed probing device for bridge security assessment | |
| CN208479751U (en) | A kind of fixation device for scanner | |
| SU652610A1 (en) | Guiding device for carrier tape | |
| Takeshi et al. | Motion Characteristics of Bon Odori Dances in Areas along Ushu Kaido Road in Akita Domain |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |