CN101664908A - Workpiece holding device and assembling method using components of the holding device - Google Patents
Workpiece holding device and assembling method using components of the holding device Download PDFInfo
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- CN101664908A CN101664908A CN200910166626A CN200910166626A CN101664908A CN 101664908 A CN101664908 A CN 101664908A CN 200910166626 A CN200910166626 A CN 200910166626A CN 200910166626 A CN200910166626 A CN 200910166626A CN 101664908 A CN101664908 A CN 101664908A
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Abstract
The invention provides a workpiece holding device capable of saving space for components constructed by overlapping a plurality of members and effectively assembling. The holding device (30) comprises: a base portion (31); a cylindrical guidance portion (42) arranged to extend along a determined direction of the base portion (31) and including a first block (421); a cylindrical collet (43) arranged on a common axis of the guidance portion (42); a rod-shaped axial portion (44) which is inserted into a guidance portion (42) and a collet (43) and includes a second block (441) at the front end; adriver (41) which can be relatively moved through a guidance portion (42) and an axial portion (44), and bring the blocks closer to or away from each other; a fastening portion (50) which is arrangedon the base portion (31), capable of moving forward and backward along a determined direction, and includes a front end capable of being fastened to the workpiece. The first block (421) and the secondblock (441) has an outer diameter smaller than the inner diameter of the collet (43) on the side of the collet (43), but larger than the inner diameter of the collet (43) at the opposite side of thecollet (43).
Description
Technical field
The assemble method that the present invention relates to the workpiece grasping device and used the assembly of this grasping device.In particular to forming workpiece grasping device that porose workpiece controls and the assemble method that has used the assembly of this workpiece grasping device.
Background technology
At present, the assembly of two-wheeled front-wheel part is made of parts such as a pair of front fork, axostylus axostyle, wheel, brake drum cover, axletrees.
In these parts, on front fork, axostylus axostyle, wheel and brake drum cover, be formed with through hole.
The assembly of this front-wheel part is by artificial assembling.
That is, a pair of front fork is disposed abreast and fix, and brake drum cover is installed on the wheel by axostylus axostyle.
The wheel that this brake drum cover is installed is configured between the front fork through hole of configuration wheel and brake drum cover on coaxial with the through hole of front fork.
In these through holes insert logical and fastening axletree thereafter.
Thus, wheel and brake drum cover are rotating shaft with the axletree, and rotation is installed on front fork freely.
Yet, in described assemble method, need and stick the equipment of inserting the axle that is open to traffic and the equipment that wheel and fork are positioned at wheel.
Thus, except that equipment cost uprises, also need broad space.
Yet, in recent years,, require to use robot to assemble the assembly of described front-wheel part in order to reduce manufacturing cost.
Therefore, be conceived on parts such as fork, wheel, brake drum cover, be formed with the through hole this point, proposed to keep the method (with reference to patent documentation 1) of the through hole part of each parts by conveying device.
That is, the conveying device shown in the patent documentation 1 possesses the central plug in the hole that is inserted in workpiece, adorns expandable rubber tube outside on this central plug.
According to this conveying device, by inserting central plug and rubber tube is expanded in the hole of workpiece, the hole card with central plug and workpiece ends thus, thereby can keep workpiece.
[patent documentation 1] TOHKEMY 2002-210689 communique.
Yet even use the conveying device shown in the patent documentation 1 to assemble described assembly, in this conveying device, owing to once can only control parts, the parts of therefore assembling constituent components expeditiously have difficulties.
Summary of the invention
The assemble method that the object of the present invention is to provide a kind of assembly that constitutes for stacked a plurality of parts can save the space and carry out the assembled workpieces grasping device and used the assembly of this grasping device expeditiously.
Workpiece grasping device of the present invention (for example, grasping device 30 described later) possesses: be bearing in the base portion (for example, base portion 31 described later) on the robot arm (for example, robot arm 32 described later); Be arranged on this base portion and extend and have the guide portion cylindraceous (for example, guide portion 42 described later) of first block (for example, first block 421 described later) at front end along prescribed direction; Be arranged on the collet chuck coaxial cylindraceous (for example, collet chuck 43 described later) of this guide portion; Insert and to lead at described guide portion and described collet chuck and have the bar-shaped axial region (for example, axial region 44 described later) of second block (for example, second block 441 described later) at front end; By described guide portion and described axial region are relatively moved, and make the drive division (for example, driver 41 described later) that described block is closer to each other or separate; The fastener that is arranged on described base portion and can ends with the workpiece card along described prescribed direction advance and retreat and front end (for example, fastener 50 described later), the external diameter of described first block and second block is at the internal diameter of described collet chuck side less than described collet chuck, at the opposition side of the described collet chuck internal diameter greater than described collet chuck.
According to the present invention, control forming porose workpiece according to following operation.
That is, collet chuck is configured between first block and second block, and the external diameter of these first blocks and second block is at the internal diameter of collet chuck side less than collet chuck.Therefore, the base end side of the front of first block and second block enters the inside of collet chuck.
At first, under this state, the collet chuck of workpiece grasping device is inserted into the inside of the through hole of workpiece.
Next, drive drive division, axial region is retreated with respect to guide portion, and make second block near first block.
So the outer peripheral face of first block and second block is with the internal face expansion of collet chuck, collet chuck produces strain, thus the external diameter expansion of collet chuck.
Therefore, collet chuck is pushed the internal face in the hole of workpiece, under the effect of the frictional force of the internal face in the hole of workpiece and collet chuck outer peripheral face, controls workpiece.
, drive drive division, axial region is advanced with respect to guide portion, and make second block leave first block thereafter.
So under the effect of the restoring force of the strain of collet chuck, the external diameter of collet chuck shrinks and reverts to original external diameter.
Thus, collet chuck is removed with respect to the pressing force of the internal face in the hole of workpiece, thereby can be discharged workpiece.
Therefore,, can control a plurality of workpiece of laminated configuration simultaneously, thereby can save the space and expeditiously assembly is assembled by aforesaid action repeatedly.
In addition, compare, use collet chuck can control workpiece securely with existing rubber tube.
And then, even the internal diameter difference in the hole of workpiece also can be controlled workpiece reliably.
And then, because collet chuck is made as one, therefore compare with collet chuck being made as a plurality of situations, can make the workpiece grasping device form simple structure, thereby realize miniaturization.
In addition owing to make guide portion form the wall thickness shape, and the external diameter that makes guide portion greatly to the identical degree of external diameter of the original shape state of collet chuck, therefore can improve the maximum weight of the workpiece that can control, versatility height and durability are good.
Individual parts (for example with the n (n is the natural number more than 2) that has through hole respectively for the assemble method of assembly of the present invention, right fork 11A described later, lasso 151, wheel 13, brake drum cover 14 and left side fork 11B) to be positioned at coaxial mode with described each through hole stacked, and individual parts (for example to determine p (p is near 1 or 1 natural number), right fork 11A described later) phase place and q (q be n following and greater than the natural number of p) individual parts (for example, left side fork 11B described later) phase place, the assemble method of described assembly is characterised in that, use the workpiece grasping device, this workpiece grasping device possesses base portion, be arranged on this base portion and can control the bar-shaped handle part of described each through hole, the fastener that is arranged on this base portion and can ends with described parts card, the assemble method of described assembly possesses: the 1st operation, it inserts logical described handle part in the through hole of the 1st parts that are in the superiors, thereby controls the 1st parts; The m operation, its the 1st parts will having controlled to the individual stacking part of m-1 (m is a natural number) on m parts, and remove described handle part controlling to m-1 parts, in the through hole of m parts, insert logical described handle part, thereby control this m parts, the assemble method of described assembly carries out described m operation according to m repeatedly from 2 to n, in described p operation, the part card of described fastener and described p parts is ended and the phase place of definite these p parts, control this p parts simultaneously, in described q operation, under the state of the phase place of having determined these q parts with respect to the phase place of described p parts, control this q parts.
According to the present invention, assembly is assembled according to following operation.
Particularly, the operation to the assembling front fork assembly describes.
In this front fork assembly, need make the fork that is positioned at the superiors consistent with the phase place that is positioned at undermost fork.
At first, controlling the 1st parts that are in the superiors by the workpiece grasping device promptly pitches.
Here, the part card of fastener and this fork is ended, determine the phase place of fork.
Next,, the 1st stacking part of having controlled on the 2nd parts, and removed the controlling of the 1st parts, in the through hole of the 2nd parts, inserted logical handle part, thereby control the 2nd parts by the workpiece grasping device.
Next,, the 1st and the 2nd stacking part on the 3rd parts, and are removed the controlling of the 2nd parts, in the through hole of the 3rd parts, inserted logical handle part, thereby control the 3rd parts by the workpiece grasping device.
Carry out repeatedly such action up to control be positioned at undermost n parts and promptly pitch till.
Here, with respect to the phase place of the fork of the superiors and determined to control undermost fork under the state of phase place of undermost fork.
Thus, only, just can realize the assembled state of assembly in turn, thereby can save the space and expeditiously assembly is assembled by the workpiece grasping device is moved according to the order of the 1st parts to n parts.
In addition, only end by fastener and near the parts card the superiors or the superiors that makes the workpiece grasping device, just can determine the phase place of these parts, and then, the phase place of the parts that end with respect to the fastener card also can be determined the phase place of miscellaneous part, therefore can be by the simple structure phase place of definite parts easily.
According to the present invention, can control a plurality of workpiece of laminated configuration simultaneously, thereby can save the space and expeditiously assembly is assembled.
In addition, only, just can realize the assembled state of assembly in turn, thereby can save the space and expeditiously assembly is assembled by the workpiece grasping device is moved according to the order of the 1st parts to n parts.
Description of drawings
Fig. 1 is the exploded perspective view of the front fork assembly assembled according to the assemble method of the assembly of an embodiment of the invention.
Fig. 2 is the stereogram of brief configuration of the workpiece grasping device of the described embodiment of expression.
Fig. 3 is the profile of handle part of the workpiece grasping device of described embodiment.
Fig. 4 is near the exploded perspective view of collet chuck of the handle part of described embodiment.
Fig. 5 is the profile of the state after expression is pressurizeed to the collet chuck of described embodiment.
Fig. 6 is the profile of the state after the collet chuck of the described embodiment of expression is expanded.
Fig. 7 is the side view that is used to illustrate the operation that the right side fork of the front fork assembly that constitutes described embodiment is controlled.
Fig. 8 is the stereogram that the state after controlling is pitched on the right side that expression will constitute the front fork assembly of described embodiment.
Fig. 9 is the side view that is used to illustrate the operation that the lasso of the front fork assembly that constitutes described embodiment is controlled.
Figure 10 is the side view that is used to illustrate the operation that the wheel of the front fork assembly that constitutes described embodiment is controlled.
Figure 11 is the side view that is used to illustrate the operation that the brake drum cover of the front fork assembly that constitutes described embodiment is controlled.
Figure 12 is the side view that is used to illustrate the operation that the left side fork of the front fork assembly that constitutes described embodiment is controlled.
Figure 13 is the side view that the state after controlling is pitched on a left side that expression will constitute the front fork assembly of described embodiment.
Figure 14 is the stereogram that the state after controlling is pitched on a left side that expression will constitute the front fork assembly of described embodiment.
Figure 15 is illustrated in the side view of inserting the state behind the axle that is open to traffic in the assembly of the front fork assembly that constitutes described embodiment.
Figure 16 is illustrated in the side view that the state behind the axostylus axostyle is installed on the assembly of the front fork assembly that constitutes described embodiment.
Figure 17 is the side view of state that the front fork assembly of described embodiment has been finished in expression.
The specific embodiment
Below, with reference to accompanying drawing an embodiment of the invention are described.
Fig. 1 is the exploded perspective view of the front fork assembly 10 assembled according to the assemble method of the assembly of an embodiment of the invention.
Front fork assembly 10 is two-wheeled front-wheel parts, comprises following structure: a pair of fork 11A, 11B; Axostylus axostyle 12; Wheel 13; Brake drum cover 14; Axletree 15.
A pair of fork 11A, 11B are made of right side fork 11A that is configured in the right side and the left side fork 11B that is configured in the left side, are respectively the parts of strip, and are formed with through hole 111 in front.
It is roughly discoid that wheel 13 is, and is formed with through hole 131 at the center of wheel 13.
It is roughly discoid that brake drum cover 14 is, and is installed on wheel 13.
Be formed with through hole 141 at the center of this brake drum cover 14.
That is, by inserting the axle 15 that is open to traffic, make a pair of fork 11, wheel 13 and brake drum cover 14 separately through hole 111,131,141 and lasso cylindraceous 151 be positioned at coaxial on.
Fig. 2 is the stereogram of expression as the brief configuration of the grasping device 30 of workpiece grasping device, and Fig. 3 is the profile of the handle part 40 of grasping device 30.
Grasping device 30 is hands of robot, is arranged on the front end of the robot arm 32 of the attitude that makes this grasping device 30 and the change in location on 3 dimension spaces.
Grasping device 30 possesses: be bearing in the base portion 31 on the robot arm 32; The handle part 40 that direction from this base portion 31 along approximate vertical is extended; The fastener of advancing and retreat 50 that direction from base portion 31 along approximate vertical is extended.
On fastener main body 51, be provided with the guide rail 511 that extends along bearing of trend.
In addition, near the front end of fastener main body 51, be provided with a pair of jut 512.
Sliding part 52 can move along this guide rail 511.
Base end side at this sliding part 52 is provided with a pair of brake component 521, and these brake components 521 end with jut 512 cards of fastener main body 51, and what limit slippage portion 52 was distolateral forward thus moves.
In addition, on the front-end edge of sliding part 52, be formed with notch 523.
Above sliding part 52 moves downwards under the effect of deadweight under the state that is not applied in external force, blocks the state that ends thereby be in brake component 521 with jut 512.
Handle part 40 possesses: the driver 41 as drive division that is arranged on base portion 31; Be fixed on the guide portion cylindraceous 42 on this driver 41; Be arranged on the collet chuck 43 coaxial cylindraceous of this guide portion 42; Insert the bar-shaped axial region 44 that leads at guide portion 42 and collet chuck 43.
Front end in guide portion 42 is formed with first block 421.
Front end at axial region 44 is formed with second block 441.
Fig. 4 is near the exploded perspective view the collet chuck 43 of grasping device 30.
alternately form on the collet chuck 43 near the ora terminalis to the slit 431 of another ora terminalis, near another ora terminalis to the slit 432 of an ora terminalis.
The external diameter of first block 421 is the internal diameter of front less than collet chuck 43 in collet chuck 43 sides, is the internal diameter of base end side greater than collet chuck 43 at the opposition side of collet chuck 43.
The external diameter of second block 441 is the internal diameter of base end side less than collet chuck 43 in collet chuck 43 sides, is the internal diameter of front greater than collet chuck 43 at the opposition side of collet chuck 43.
Thus, because the base end side of the front of first block 421 and second block 441 less than the internal diameter of collet chuck 43, therefore is in the state that enters collet chuck 43 inside.
Next, the action to grasping device 30 describes.
At first, under the situation that does not make driver 41 work, though the base end side of the front of first block 421 and second block 441 enters the inside of collet chuck 43, collet chuck 43 is in the state of not expanding.
Next, under the effect of driver 41, axial region 44 is retreated along the arrow A direction with respect to guide portion 42, thereby make second block 441 near first block 421.
So as shown in Figure 5, the outer peripheral face of these blocks 421,441 is pushed the internal face of collet chuck 43 along the arrow B direction.
Consequently, strain takes place in collet chuck 43, and as shown in Figure 6, the external diameter of collet chuck 43 is expanded along the arrow C direction.
, under the effect of driver 41, axial region 44 with respect to guide portion 42 advanced, thereby make second block 441 leave first block 421 thereafter.
So under the effect of the restoring force of the strain of collet chuck 43, the external diameter of collet chuck 43 shrinks and reverts to original shape.
Next, the assembling procedure with reference to Fig. 7～17 pair described front fork assembly 10 describes.
In front fork assembly 10, in order to stick the installation axostylus axostyle, need make the phase place of right fork and the phase place unanimity of left side fork at a right side fork and a left side, promptly need to make right fork and left side fork parallel.
At first, as shown in Figure 7, move grasping device 30, make the notch 523 of fastener 50 of grasping device 30 chimeric with right fork 11A in fork supply area, the not shown right side, in the through hole 111 of right side fork 11A, insert simultaneously logical grasping device 30, make collet chuck 43 expansions and right side fork 11A is controlled.
So as shown in Figure 8, the notch 523 of the front end of the sliding part 52 of grasping device 30 is chimeric with right fork 11A.
Thus, determine the phase place of right fork 11A.
Next, as shown in Figure 9, move grasping device 30,11A is pitched on the right side be layered on the lasso 151 in not shown lasso supply area.
Next, make collet chuck 43 revert to original shape and remove, remove the right fork 11A, also in lasso 151, insert the handle part 40 that leads to grasping device 30 the controlling of right side fork 11A.
So right fork 11A moves towards the base end side of the handle part 40 of grasping device 30, thus, the sliding part 52 of fastener 50 also moves towards the base end side of fastener main body 51.
Make collet chuck 43 expansions and control lasso 151 thereafter.
Under this state, the through hole 111 of right fork 11A and lasso 151 be positioned at coaxial on.
Next, as shown in figure 10, move grasping device 30,11A is pitched on the right side and lasso 151 is layered on the wheel 13 in not shown wheel supply area.
Next, make collet chuck 43 revert to original shape and remove, except that right fork 11A and lasso 151, also in wheel 13, insert the handle part 40 of logical grasping device 30 the controlling of lasso 151.
So right fork 11A and lasso 151 are moved further towards the base end side of the handle part 40 of grasping device 30, thus, the sliding part 52 of fastener 50 also is moved further towards the base end side of fastener main body 51.
Make collet chuck 43 expansions and control wheel 31 thereafter.
Under this state, the through hole 131 of through hole 111, lasso 151 and the wheel 13 of right fork 11A be positioned at coaxial on.
Next, as shown in figure 11, move grasping device 30,11A, lasso 151 and wheel 13 are pitched in the right side be layered on the brake drum cover 14 in not shown brake drum cover supply area.
Next, make collet chuck 43 revert to original shape and remove, except that right fork 11A, lasso 151 and wheel 13, also in brake drum cover 14, insert the handle part 40 of logical grasping device 30 the controlling of wheel 13.
So right fork 11A, lasso 151 and wheel 13 are moved further towards the base end side of the handle part 40 of grasping device 30, thus, the sliding part 52 of fastener 50 also is moved further towards the base end side of fastener main body 51.
Make collet chuck 43 expansions and control brake drum cover 14 thereafter.
Under this state, the through hole 131 of the through hole 111 of right fork 11A, lasso 151, wheel 13 and the through hole 141 of brake drum cover 14 be positioned at coaxial on.
Next, as shown in figure 12, move grasping device 30,11A, lasso 151, wheel 13 and brake drum cover 14 are pitched in the right side be layered on the fork 11B of a left side in not shown fork supply area, a left side.
Next, make collet chuck 43 revert to original shape and remove,, except that right fork 11A, lasso 151, wheel 13 and brake drum cover 14, also in the fork 11B of a left side, insert the handle part 40 of logical grasping device 30 as Figure 13 and shown in Figure 14 to the controlling of brake drum cover 14.
So right fork 11A, lasso 151, wheel 13 and brake drum cover 14 are moved further towards the base end side of the handle part 40 of grasping device 30, thus, the sliding part 52 of fastener 50 also is moved further towards the base end side of fastener main body 51.
Make collet chuck 43 expansions and control left side fork 11B, formation assembly 16 thereafter.
At this moment, under the state of the phase place of having determined left fork 11B with respect to the phase place of right side fork 11A, control this left side fork 11B.
Under this state, the through hole 111 of the through hole 131 of the through hole 111 of right fork 11A, lasso 151, wheel 13, the through hole 141 of brake drum cover 14 and left side fork 11B be positioned at coaxial on.
Next, mobile grasping device 30 is positioned in this assembly 16 on the not shown counter-rotating workbench, and makes grasping device 30 leave assembly 16, simultaneously as shown in figure 15, and with 15 slotting leading in this assembly 16 of axletree.
Next, make the counter-rotating of counter-rotating workbench, take off inserting the assembly 16 that has led to axletree 15.
, this assembly 16 be transported to not shown counter-rotating workbench on, as shown in figure 16,, and then axostylus axostyle 12 be installed at the front end clamp nut 152 of axletree 15 thereafter.
Next, as shown in figure 17,, bolt 122 is fastened on the axostylus axostyle 12, thereby finishes front fork assembly 10 by not shown bolt clamp device.
According to present embodiment, has following effect.
(1), can control right side fork 11A, lasso 151, wheel 13, brake drum cover 14 and left side fork 11B simultaneously, thereby can save the space and assemble front fork assembly 10 expeditiously as workpiece by making collet chuck 43 expansions or reverting to original shape.
In addition, use collet chuck 43, compared with existing rubber tube thus, can control workpiece securely.
And then, even the internal diameter difference in the hole of workpiece also can be controlled workpiece reliably.
And then, because collet chuck 43 is made as one, therefore compare with collet chuck being made as a plurality of situations, can make grasping device 30 form simple structure, thereby realize miniaturization.
In addition owing to make guide portion 42 form the wall thickness shape, and the external diameter that makes guide portion 42 greatly to the identical degree of external diameter of the original shape state of collet chuck 43, therefore can improve the maximum weight of the workpiece that can control, versatility height and durability are good.
(2), the right side fork 11A that is positioned at the superiors is controlled by grasping device 30.
Next, by grasping device 30, under the state of having controlled right fork 11A, control lasso 151.
Next, by grasping device 30,, control wheel 13 having controlled from right side fork 11A under the state of lasso 151.
Next, by grasping device 30,, control brake drum cover 14 having controlled from right side fork 11A under the state of wheel 13.
Next, by grasping device 30,, control left side fork 11B having controlled from right side fork 11A under the state of brake drum cover 14.
Thus, the order according to right side fork 11A, lasso 151, wheel 13, brake drum cover 14 and left side fork 11B only by mobile grasping device 30, just can realize the assembled state of front fork assembly 10 in turn, thereby can assemble front fork assembly 10.
(3) only by the fastener 50 and the right side fork 11A card of the superiors are ended, just can determine the phase place of the right side fork 11A of the superiors, and then, also can determine the phase place of undermost left side fork 11B with respect to the right side fork 11A of these the superiors, so can easily determine the phase place of parts by simple structure.
Need to prove that the present invention is not limited to described embodiment, the distortion in the scope that can realize purpose of the present invention, improvement etc. all comprise in the present invention.
Claims (2)
1. workpiece grasping device is characterized in that possessing:
Base portion, it is bearing on the robot arm;
Guide portion cylindraceous, it is arranged on this base portion and has first block along the prescribed direction extension and at front end;
Collet chuck cylindraceous, it is arranged on this guide portion coaxial;
Bar-shaped axial region, it inserts to lead at described guide portion and described collet chuck and at front end has second block;
Drive division, it relatively moves by making described guide portion and described axial region, and makes the closer to each other or separation of described block;
Fastener, it is arranged on described base portion and can ends with the workpiece card along described prescribed direction advance and retreat and front end,
The external diameter of described first block and second block is at the internal diameter of described collet chuck side less than described collet chuck, at the opposition side of the described collet chuck internal diameter greater than described collet chuck.
2. the assemble method of an assembly is characterized in that,
It is stacked that n parts that have through hole respectively are positioned at coaxial mode with described each through hole, and determine the phase place of p parts and the phase place of q parts, wherein, n is the natural number more than 2, p is near the natural number 1 or 1, and q is that n is following and greater than the natural number of p
The assemble method of described assembly is characterised in that,
Use the workpiece grasping device, this workpiece grasping device possesses base portion, be arranged on this base portion and can control the bar-shaped handle part of described each through hole, the fastener that is arranged on this base portion and can ends with described parts card,
The assemble method of described assembly possesses: the 1st operation, and it inserts logical described handle part in the through hole of the 1st parts that are in the superiors, thereby controls the 1st parts;
M operation, its 1st parts will having controlled on m parts, and are removed described handle part controlling m-1 parts to m-1 stacking part, in the through hole of m parts, insert logical described handle part, thereby control this m parts, wherein, m is a natural number
The assemble method of described assembly carries out described m operation according to m repeatedly from 2 to n,
In described p operation, the part card of described fastener and described p parts is ended and the phase place of definite these p parts, control this p parts simultaneously,
In described q operation, under the state of the phase place of having determined these q parts with respect to the phase place of described p parts, control this q parts.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2008224510A JP4862025B2 (en) | 2008-09-02 | 2008-09-02 | Work gripping device and assembly method using the same |
| JP2008224510 | 2008-09-02 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101664908A true CN101664908A (en) | 2010-03-10 |
Family
ID=41801771
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910166626A Pending CN101664908A (en) | 2008-09-02 | 2009-08-24 | Workpiece holding device and assembling method using components of the holding device |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP4862025B2 (en) |
| CN (1) | CN101664908A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107009377A (en) * | 2017-05-02 | 2017-08-04 | 苏州和丰工业设备有限公司 | A kind of dual-purpose clamping jaw |
| CN108290260A (en) * | 2015-12-02 | 2018-07-17 | Ｋｙｂ株式会社 | Workpiece-holding structures |
| CN110039563A (en) * | 2019-04-24 | 2019-07-23 | 北京轩宇智能科技有限公司 | A kind of arm end tool |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH074709B2 (en) * | 1989-10-16 | 1995-01-25 | 本田技研工業株式会社 | Device for assembling parts to swing arm |
| JP3893652B2 (en) * | 1996-12-20 | 2007-03-14 | アイシン精機株式会社 | Automatic assembling apparatus and its assembling method |
| JPH11179690A (en) * | 1997-12-18 | 1999-07-06 | Kyoei Denko Kk | Workpiece holder |
-
2008
- 2008-09-02 JP JP2008224510A patent/JP4862025B2/en not_active Expired - Fee Related
-
2009
- 2009-08-24 CN CN200910166626A patent/CN101664908A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108290260A (en) * | 2015-12-02 | 2018-07-17 | Ｋｙｂ株式会社 | Workpiece-holding structures |
| CN108290260B (en) * | 2015-12-02 | 2020-04-14 | Ｋｙｂ株式会社 | Workpiece holding device |
| CN107009377A (en) * | 2017-05-02 | 2017-08-04 | 苏州和丰工业设备有限公司 | A kind of dual-purpose clamping jaw |
| CN107009377B (en) * | 2017-05-02 | 2023-08-29 | 苏州和丰工业设备有限公司 | Dual-purpose clamping jaw |
| CN110039563A (en) * | 2019-04-24 | 2019-07-23 | 北京轩宇智能科技有限公司 | A kind of arm end tool |
| CN110039563B (en) * | 2019-04-24 | 2022-02-08 | 北京轩宇智能科技有限公司 | End tool of manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4862025B2 (en) | 2012-01-25 |
| JP2010058191A (en) | 2010-03-18 |
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Application publication date: 20100310 |