CN110636919A - 把持装置 - Google Patents
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- CN110636919A CN110636919A CN201880030495.9A CN201880030495A CN110636919A CN 110636919 A CN110636919 A CN 110636919A CN 201880030495 A CN201880030495 A CN 201880030495A CN 110636919 A CN110636919 A CN 110636919A
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- 239000002826 coolant Substances 0.000 claims description 6
- 229920005549 butyl rubber Polymers 0.000 claims description 3
- 229920001084 poly(chloroprene) Polymers 0.000 claims description 3
- 229920002379 silicone rubber Polymers 0.000 claims description 3
- VGGSQFUCUMXWEO-UHFFFAOYSA-N Ethene Chemical compound C=C VGGSQFUCUMXWEO-UHFFFAOYSA-N 0.000 claims description 2
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- 229920002554 vinyl polymer Polymers 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
- B23Q3/062—Work-clamping means adapted for holding workpieces having a special form or being made from a special material
- B23Q3/064—Work-clamping means adapted for holding workpieces having a special form or being made from a special material for holding elongated workpieces, e.g. pipes, bars or profiles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
- B23B31/02—Chucks
- B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
- B23B31/117—Retention by friction only, e.g. using springs, resilient sleeves, tapers
- B23B31/1175—Retention by friction only, e.g. using springs, resilient sleeves, tapers using elastomer rings or sleeves
- B23B31/1176—Retention by friction only, e.g. using springs, resilient sleeves, tapers using elastomer rings or sleeves using fluid-pressure means to actuate the gripping means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D41/00—Application of procedures in order to alter the diameter of tube ends
- B21D41/04—Reducing; Closing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
- B23B31/02—Chucks
- B23B31/08—Chucks holding tools yieldably
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
- B23B31/02—Chucks
- B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
- B23B31/117—Retention by friction only, e.g. using springs, resilient sleeves, tapers
- B23B31/1179—Retention by friction only, e.g. using springs, resilient sleeves, tapers using heating and cooling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
- B23B31/02—Chucks
- B23B31/24—Chucks characterised by features relating primarily to remote control of the gripping means
- B23B31/30—Chucks characterised by features relating primarily to remote control of the gripping means using fluid-pressure means in the chuck
- B23B31/305—Chucks characterised by features relating primarily to remote control of the gripping means using fluid-pressure means in the chuck the gripping means is a deformable sleeve
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
- B23Q3/067—Blocks with collet chucks
- B23Q3/068—Blocks with collet chucks fluid-operated
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C57/00—Shaping of tube ends, e.g. flanging, belling or closing; Apparatus therefor, e.g. collapsible mandrels
- B29C57/02—Belling or enlarging, e.g. combined with forming a groove
- B29C57/04—Belling or enlarging, e.g. combined with forming a groove using mechanical means
- B29C57/06—Belling or enlarging, e.g. combined with forming a groove using mechanical means elastically deformable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C57/00—Shaping of tube ends, e.g. flanging, belling or closing; Apparatus therefor, e.g. collapsible mandrels
- B29C57/02—Belling or enlarging, e.g. combined with forming a groove
- B29C57/08—Belling or enlarging, e.g. combined with forming a groove using pressure difference
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B2/00—Friction-grip releasable fastenings
- F16B2/02—Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening
- F16B2/06—Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening external, i.e. with contracting action
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D37/00—Tools as parts of machines covered by this subclass
- B21D37/16—Heating or cooling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
- B21D39/04—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of tubes with tubes; of tubes with rods
- B21D39/048—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of tubes with tubes; of tubes with rods using presses for radially crimping tubular elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B2226/00—Materials of tools or workpieces not comprising a metal
- B23B2226/33—Elastomers, e.g. rubber
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B2231/00—Details of chucks, toolholder shanks or tool shanks
- B23B2231/24—Cooling or lubrication means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B2231/00—Details of chucks, toolholder shanks or tool shanks
- B23B2231/38—Keyless chucks for hand tools
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Shaping Of Tube Ends By Bending Or Straightening (AREA)
Abstract
目的在于提供一种被把持构件的安装容易、并且把持力高、能够实现可靠性高的把持的把持装置。为了实现该目的,把持装置(1)具有:主体(10),其具备芯棒部(14),在芯棒部的周围形成有与该芯棒部的轴心共同的轴心的环状空间(15);橡胶弹性体(50),其以在与划定所述环状空间的周壁之间具有压力室(16)的状态、且在与芯棒部之间形成有能够***管状的被把持构件的间隙的状态嵌入到所述主体的所述环状空间内;以及通路(17),其向所述压力室引导流体,利用经由所述通路引导到所述压力室的流体压而使所述橡胶弹性体向所述芯棒部方向鼓出变形,通过芯棒部和鼓出变形的橡胶弹性体对安装于芯棒部的管状的被把持构件进行把持。
Description
技术领域
本发明涉及把持装置,特别是涉及利用流体压使弹性构件变形来把持被把持构件的利用流体压的把持装置。
背景技术
以往,作为把持工件、工具等被把持构件的装置,已知有专利文献1~3等公开的利用流体压的把持装置。这些把持装置基本上具有主体和以在与该主体之间形成压力室的状态嵌入到主体中的弹性构件,在把持被把持构件时,该弹性构件的至少一部分在引导到压力室的流体压的作用下朝向离开主体的方向、即朝向被把持构件鼓出,从而与被把持构件压接,因此被把持构件被弹性构件的鼓出部夹住而把持。
在先技术文献
专利文献
专利文献1:日本特公昭63-50123号公报
专利文献2:日本实开平6-36709号公报
专利文献3:日本特许第5753261号公报
发明内容
发明要解决的课题
但是,在上述的以往的利用流体压的把持装置中,作为弹性构件,使用例如由金属构成的薄壁筒状体,使流体压从外周作用于该薄壁筒状体,使薄壁筒状体在弹性变形的范围内缩径。因此,缩径量比较小,进而,难以增大薄壁筒状体与***到该薄壁筒状体的内侧的被把持构件的间隙,存在由于间隙狭窄而难以将被把持构件迅速、可靠地***到薄壁筒状体中的课题。这特别是在自动化时要通过机械手等将被把持构件***到薄壁筒状体中时,需要使被把持构件以高精度相对于薄壁筒状体定位而进行移动,使被把持构件移动的机械手等要求高精度,相应地存在设备成本急剧上涨的课题。
另外,在上述的以往的利用流体压的把持装置中,仅仅是利用流体压使弹性构件缩径,通过该缩径的弹性构件从周围夹持被把持构件。因此,把持力并不那么强,也存在抽出方向上施加有力的情况下被把持构件会因比较弱的力而脱落的课题。
本发明是鉴于上述的背景技术所具有的课题而完成的,其目的在于提供一种被把持构件的安装容易、并且把持力高、能够实现可靠性高的把持的把持装置。
用于解决课题的手段
为了实现上述的目的,本发明为如下〔1〕~〔5〕记载的把持装置。
〔1〕一种把持装置,其中,该把持装置具有:主体,其具备芯棒部(日文:芯金部),在芯棒部的周围形成有与该芯棒部的轴心共同的轴心的环状空间;橡胶弹性体,其以在与划定该环状空间的周壁之间具有压力室的状态、且以在与芯棒部之间形成有能够***管状的被把持构件的间隙的状态嵌入到该主体的上述环状空间内;以及通路,其向上述压力室引导流体,利用经由上述通路引导到上述压力室的流体压而使上述橡胶弹性体向上述芯棒部方向鼓出变形,通过该芯棒部和鼓出变形的橡胶弹性体对安装于芯棒部的管状的被把持构件进行把持。
〔2〕在上述〔1〕记载的把持装置中,上述芯棒部带有从基端侧向前端侧逐渐变细的锥形。
〔3〕在上述〔1〕记载的把持装置中,上述芯棒部形成为管状,高温流体经由该管状的芯棒部流入到安装的管状的被把持构件内。
〔4〕在上述〔1〕记载的把持装置中,在上述主体形成有制冷剂通路,通过向该制冷剂通路供给制冷剂来进行冷却。
〔5〕在上述〔1〕记载的把持装置中,上述橡胶弹性体由硅橡胶、乙烯橡胶、丁基橡胶、氯丁橡胶中的至少一种构成。
发明的效果
根据上述的本发明的把持装置,使用了橡胶弹性体作为弹性构件。因此,变形量大,能够在与芯棒部之间充分地得到能够***管状的被把持构件的间隙,并且芯棒部也起到在被把持构件的安装时对其的***进行支承的作用,因此,被把持构件的安装不要求高精度,自动化变得容易。另外,构成为将安装于芯棒部的管状的被把持构件以由芯棒部和鼓出变形的橡胶弹性体夹持的状态进行把持。因此,得到把持力高、能够实现可靠性高的把持的装置。
附图说明
图1是表示本发明的把持装置的一实施方式的立体图。
图2是图1所示的把持装置的分解立体图。
图3是图1所示的把持装置的纵剖视图。
图4是表示图1所示的把持装置的使用工序的图,是表示将管状的被把持构件向把持装置安装的工序的剖视图。
图5是表示图1所示的把持装置的使用工序的图,是表示将管状的被把持构件安装于把持装置的状态的剖视图。
图6是表示图1所示的把持装置的使用工序的图,是表示通过把持装置把持管状的被把持构件的工序的剖视图。
图7是表示图1所示的把持装置的使用工序的图,是表示将管状的被把持构件从把持装置抽出的工序的剖视图。
图8是将图6的主要部分放大的剖视图。
具体实施方式
以下,根据附图对本发明的把持装置的实施方式进行详细说明。
附图示出了本发明的把持装置的一实施方式,该图示的把持装置1具有主体10和橡胶弹性体50,该橡胶弹性体50收纳在该主体10内,在流体压的作用下变形而对管状的被把持构件P进行把持。
主体10由筒体部(日文:ボディ部)11和2个盖部12、13构成。这些形成主体10的材料优选为具有刚性且导热系数良好的材料,例如优选由铝、铜、SUS、黄铜等能够承受热和压力的材质的金属形成。
筒体部11为大致圆柱形状,沿着其轴心形成有芯棒部14,在该芯棒部14的周围,形成有向一侧端开口的与上述芯棒部的轴心共同的轴心的环状空间15。在划定上述环状空间15的周壁上,沿其整周形成有成为压力室的凹槽16,连接有向与该凹槽16连通的通路17导入高压流体的接头18。
上述芯棒部14带有从其基端侧向前端侧逐渐变细的锥形。该锥形角度优选为0.5~3.0度,特别优选为0.7~1.5度。另外,该芯棒部14形成为管状以使流体能够在其内部通过,连接有向与该管状的芯棒部14连通的通路19导入高温流体的接头20。
在筒体部11形成有向与上述环状空间15开口的侧端相反一侧的侧端开口的环状制冷剂通路21,连接有经由与该环状制冷剂通路21连通的通路22供给制冷剂的接头23。另外,在筒体部11的两侧端,在同一圆周上隔开适度的间隔地分别穿设有内螺纹孔24、24。
盖部12、13都形成为与上述筒体部11的外径大致相同的外径的圆板形状,在其板面上,在与分别形成于上述筒体部11的两侧端的内螺纹孔24、24对应的位置分别形成有螺钉插通孔25、26。另外,在一方的盖部12上,在其中心穿设有形成于上述筒体部11的芯棒部14在被***的状态下面对、且确保了能够向该芯棒部14安装管状的被把持构件P的间隙的内径的被把持构件***孔27,在一侧面形成有嵌入O型圈28的环状槽29。在另一方的盖体13上,形成有供向上述芯棒部14导入高温流体的接头20突出的贯通孔30。
在形成于上述筒体部11的环状空间15中嵌入橡胶弹性体50,上述盖部12以闭塞环状空间15的开口的状态通过螺钉31安装,上述盖部13以闭塞制冷剂通路21的开口的状态通过螺钉32安装。
橡胶弹性体50形成为厚壁的圆筒形状,从弹性、耐冲击性、耐热性等观点来看,优选由硅橡胶、乙烯橡胶、丁基橡胶、氯丁橡胶形成。另外,橡胶弹性体50不限于单一材料,也可以为内层和外层使用不同材料的双层构造等。
橡胶弹性体50以在与划定该环状空间15的周壁之间具有压力室(凹槽16)的状态、且以在与芯棒部14之间形成有能够***管状的被把持构件P的间隙的状态,嵌入到上述主体10的环状空间15内。
上述这样构成的本发明的把持装置1如下这样操作,对管状的被把持构件P进行把持。
首先,如图4所示,通过未图示的机械手等使管状的被把持构件P移动,从形成于把持装置1的被把持构件***孔27***,如图5所示,将管状的被把持构件P安装于把持装置1的芯棒部14。此时,根据本发明的把持装置1,由于使用了橡胶弹性体50作为弹性构件,因此,其变形量大,能够在与芯棒部14之间充分地得到能够***被把持构件P的间隙,并且芯棒部14也起到在被把持构件P的安装时对其的***进行支承的作用,因此,管状的被把持构件P向芯棒部14的安装变得容易。
然后,如图6所示,经由接头18、通路17向构成压力室的凹槽16导入高压流体(例如,0.1~0.5MPa的压缩空气),在导入到压力室的流体压的作用下使橡胶弹性体50向芯棒部14方向鼓出变形,将安装于芯棒部14的管状的被把持构件P以由芯棒部14和鼓出变形的橡胶弹性体50夹持的状态进行把持。此时,如图8放大表示的那样,上述芯棒部14带有朝向前端侧逐渐变细的锥形,因此,沿着该芯棒部14鼓出变形的橡胶弹性体50变形成楔状而将管状的被把持构件P把持,把持力更高,能够实现可靠性高的把持。
另外,在上述的把持装置1中,能够经由接头20、通路19、然后管状的芯棒部14向安装的管状的被把持构件P内导入高温流体(例如,温度110~170度、压力0.1~0.6MPa的加热蒸气)。由此橡胶弹性体50发生热膨胀而使把持力进一步提高,并且能够对管状的被把持构件P进行加热,能够对管状的被把持构件P实施弯曲加工等规定加工。
当对被把持构件P的规定的加工作业等结束后,本发明的把持装置1的把持解除。在解除被把持构件P的把持的情况下,停止高压流体经由接头18向压力室的导入,使橡胶弹性体50的鼓出变形在其弹性的作用下恢复到原来的状态,并且在进行了高温流体经由芯棒部14向被把持构件P的导入的情况下,也停止该导入。由此,对被把持构件P的把持被解除,如图7所示,能够通过未图示的机械手等将被把持构件P从把持装置1抽去。此时,在如实施方式的把持装置1那样在主体10具有制冷剂通路21的情况下,经由接头23向该制冷剂通路21导入制冷剂(例如,常温空气),急剧地冷却主体10,从而也消除了橡胶弹性体50的热膨胀,在该情况下,能够更容易地实现易于抽出被把持构件P。
以上,对本发明的把持装置的实施方式进行了说明,但当然本发明的技术范围不限定于上述实施方式记载的范围。本领域技术人员显然能够对上述实施方式施加各种各样的变更或改良。另外,从权利要求书的记载可知施加了那样的变更或改良的方式也可包含在本发明的技术范围内。
产业上的可利用性
本发明的把持装置,管状的被把持构件的安装容易,并且把持力高,能够实现可靠性高的把持,因此,能够适合用作在作为以汽车配管用为首的各种配管用而使用的钢制、合成树脂制的管的弯曲加工等时对端部进行把持的把持装置。
附图标记说明
1 把持装置
10 主体
11 筒体部
12、13 盖部
14 芯棒部
15 环状空间
16 凹槽(压力室)
17、19、22 通路
18、20、23 接头
21 环状制冷剂通路
24 内螺纹孔
25、26 螺钉插通孔
27 被把持构件***孔
28 O型圈
29 环状槽
30 贯通孔
31、32 螺钉
50 橡胶弹性体
P 管状的被把持构件。
Claims (5)
1.一种把持装置,其特征在于,所述把持装置具有:主体,其具备芯棒部,在芯棒部的周围形成有与该芯棒部的轴心共同的轴心的环状空间;橡胶弹性体,其以在与划定所述环状空间的周壁之间具有压力室的状态、且在与芯棒部之间形成有能够***管状的被把持构件的间隙的状态嵌入到所述主体的所述环状空间内;以及通路,其向所述压力室引导流体,利用经由所述通路引导到所述压力室的流体压而使所述橡胶弹性体向所述芯棒部方向鼓出变形,通过芯棒部和鼓出变形的橡胶弹性体对安装于芯棒部的管状的被把持构件进行把持。
2.根据权利要求1所述的把持装置,其特征在于,
所述芯棒部带有从基端侧向前端侧逐渐变细的锥形。
3.根据权利要求1所述的把持装置,其特征在于,
所述芯棒部形成为管状,高温流体经由该管状的芯棒部流入到安装的管状的被把持构件内。
4.根据权利要求1所述的把持装置,其特征在于,
在所述主体形成有制冷剂通路,通过向该制冷剂通路供给制冷剂来进行冷却。
5.根据权利要求1所述的把持装置,其特征在于,
所述橡胶弹性体由硅橡胶、乙烯橡胶、丁基橡胶、氯丁橡胶中的至少一种构成。
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JP2017135680A JP7007825B2 (ja) | 2017-07-11 | 2017-07-11 | 把持装置 |
PCT/JP2018/014493 WO2019012758A1 (ja) | 2017-07-11 | 2018-04-04 | 把持装置 |
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CN112719352B (zh) * | 2020-12-24 | 2022-11-22 | 常德靖通机械有限公司 | 一种烟草机械使用的凹槽变向加工专用工具 |
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EP3653334B1 (en) | 2024-05-01 |
JP2019018249A (ja) | 2019-02-07 |
KR102474486B1 (ko) | 2022-12-06 |
EP3653334A4 (en) | 2022-02-16 |
KR20200028885A (ko) | 2020-03-17 |
MX2019012369A (es) | 2019-11-28 |
JP7007825B2 (ja) | 2022-01-25 |
US20200061719A1 (en) | 2020-02-27 |
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EP3653334A1 (en) | 2020-05-20 |
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