WO1999052811A1

WO1999052811A1 - Article holding tool

Info

Publication number: WO1999052811A1
Application number: PCT/JP1998/001721
Authority: WO
Inventors: Kenji Nakagawa; Yoshimi Iwata; Hidenori Shirai
Original assignee: Kao Corporation
Priority date: 1996-11-14
Filing date: 1998-04-15
Publication date: 1999-10-21
Also published as: JP2974245B2; JPH10194388A

Abstract

An article holding tool (10) wherein an article holding member (14) is constituted of a shape memory member (18) and the shape memory member (18) can be deformed to have an article holding configuration, in which it can abut against an article model (1A) at temperatures higher than a given temperature, and retains the article holding configuration in a service temperature region lower than a given temperature to form an article holding region (19).

Description

Article holder technology

The present invention relates to an article holder suitable for holding an article such as a container in a container processing step involving filling and cabbing. Background art

BACKGROUND ART Conventionally, there are Japanese Unexamined Patent Application Publication No. 4-154550 (prior art 1) and Japanese Unexamined Patent Application Publication No. 4-279497 (prior art 2) as article holders.

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 configured 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 the 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.

The prior art has the following problems.

(1) In conventional technology 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 sheet material varies in elastic holding force applied to the article, and stable holding cannot be performed. Therefore, the shape of the article that can be held practically is limited.

(2) Prior art 2 is extremely complicated mechanically and electrically because it controls the position of the V-shaped finger. Further, the shape of the V-shaped surface for holding the article of the V-shaped finger is fixed, so that the shape of the article that can be held is limited. Disclosure of the invention

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

The present invention relates to an article holder having an article holding member, wherein the article holding member is capable of holding an article. The article holding member is constituted by a shape memory member. An article holding shape that can be deformed into an article holding shape that can abut the article shape is formed, and the article holding shape is fixed in an operating temperature range lower than a certain temperature to form an article holding area.

Further, the present invention provides 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 is a first article. The first article holding shape that can be abutted to the shape is stored as the initial shape to form the first article holding area, and the first article holding shape is shifted from the first article holding shape to a temperature higher than a certain temperature. The second article holding shape can be deformed into a second article holding shape that can be abutted against the second article, and the second article holding shape is fixed in an operating temperature range lower than a certain temperature to form a second article holding area. . BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a schematic diagram showing the article holder of the first embodiment.

FIG. 2 is a schematic diagram showing the article holding member.

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

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

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

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

FIG. 7 is a schematic diagram showing a type changing line of the article holder.

FIG. 8 is a schematic diagram showing the shape imparting device. FIG. 9 is a schematic diagram showing the article holder of the second embodiment.

FIG. 10 is a schematic diagram showing an article holding state.

FIG. 11 is a schematic diagram showing a shape imparting device.

FIG. 12 is a schematic diagram showing the article holder of the third embodiment.

FIG. 13 is a schematic view showing an article holding state.

FIG. 14 is a schematic diagram showing the article holder of the fourth embodiment.

FIG. 15 is a schematic view showing a type changing line of the article holder.

FIG. 16 is a schematic view showing a modification of the article holder. BEST MODE FOR CARRYING OUT THE INVENTION

(First Embodiment) (FIGS. 1 to 8)

(Item holder 10) (Figures 1 to 6)

As shown in FIGS. 1 and 4 to 6, the article holder 10 is connected to first and second base members 11 and 12 as base members via a height adjusting member 13. An article holding member 14 is provided, and the article 1 (eg, 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 conveyer on a container processing line or the like that involves filling and cabbing, and to position the article 1 at a filling work position of a filling machine or a capping work position of a caving device. .

The first base member 11 has a rectangular shape, a circular concave portion 11 A for fitting the second base member 12 on the upper surface, and a convex portion for engaging the feed engaging portion of the conveyor on the lower surface. It has a strip 11B and a central through-hole 11C for cleaning. Also, 4 positions P! Around the center axis on the bottom surface of the circular recess 11A. PP ₄ (corner points of rectangles P ₁ PP 4) are provided with positioning pins 11 D for the second base member 12.

The second base member 12 has a circular shape, and has a circular convex portion 12 A fitted into the circular concave portion 11 A of the first base member 11, and a circular annular portion 1 2 above the circular convex portion 12 A. From B. In addition, the lower end outer peripheral side corner 12a of the circular convex portion 12A of the second base member 12 is teed. —The first base member 11 is easily inserted into the circular recess 11A in the shape of a hole. Further, each of the circular convex portion 1 of the central axis of the lower end surface of 2 A 4 position P I-P ₄ is positioning holes 1 2 positioning pins 1 1 D of the first base Ichisu member 1 1 is engaged ON C is provided. And, at each of the four positions around the central axis of the upper end surface of the circular annular portion 1 2 B ~ R ₄ (the corner points of the rectangles R! ~ R 4), the positioning pin 1 for the height adjusting member 13 2D is provided. Further, a thin plate ring for adsorption 15 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. The thin plate ring 15 has a hole 15A through which the positioning pin 12D of the circular annular portion 12B passes.

Height adjustment member 1 3 is annular, 4 positions around the center axis of the lower end surface R t

Are provided with positioning holes 13A into which the positioning pins 1 2D of the second base member 12 are engaged. Four positions R around the center axis of the upper end surface! To R4 are provided with positioning pins 13B for the article holding members 14 respectively. The positioning holes 13A are preferably tapered openings (Fig. 1) to facilitate the introduction of the positioning pins 12D. At the lower end surface of the height adjusting member 13, a thin plate ring for adsorption 16 made of a magnetic material such as a magnet or a metal plate is joined by an adhesive or the like. The thin plate ring 16 has a hole 16 A that matches the positioning hole 13 A of the height adjusting member 13. Further, the same thin plate ring 15 provided on the upper end surface of the circular annular portion 12 B of the second base member 12 is joined to the upper end surface of the height adjusting member 13.

Article holding member 1 4 is an annular shape, the lower end surface around the central axis of the four-position R I～R ₄ positioning holes 1 4 A height positioning pins 1 3 of the adjusting member 1 3 B is engaged enter the respective The upper end face is fixed by a fixing ring 17 (six in this embodiment) (two on each side of the article holding area, a total of four, or six on both sides, a total of twelve, etc.) The shape memory member 18 may be provided horizontally. The fixing ring 17 is attached to the upper end surface of the shape holding member 14 with a screw 1A. The lower end surface of the shape holding member 14 has the same shape as the lower end surface of the height adjusting member 13. The thin plate ring 16 is joined.

That is, as shown in FIG. 2, the article holding member 14 is made up of six shape memory members 18, each of which is arranged radially around the central axis, Thereby, 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 the fixed link 17 is a fan-shaped portion 18A, and the front end portion facing the article holding area 19 is a flat rectangular portion 18B.

However, since the shape memory member 18 is composed 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 the constant temperature (glass transition temperature T _s ), and the product model It can be freely deformed into an article holding shape that can abut against. Then, (b) the article holding shape is fixed in the use の g area (normal temperature) lower than the constant temperature (glass transition temperature T _s ) to form the article holding area 19. The shape memory member 18 in FIGS. 1 and 2 has a flat initial memory shape, and the shape memory member 18 in FIGS. 4 and 5 has an article holding shape for holding a container having an elliptical cross section. It is immobilized.

Therefore, in the article holder 10, the shape memory member 18 of the article holding member 14 has the article holding shape using an article model (desired article shape) having the same shape as the article to be held (a ), (B), the shape memory member 18 is an article obtained by deforming at least the flat rectangular portion 18B around the article holding area 19 into a curved shape as shown in FIG. By obtaining the holding shape, the outer shape of the article 1 can be stably held. At this time, since the shape memory member 18 made of the shape memory resin shows 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.

In addition, the shape memory member 18 holds the article model when giving the article holding shape. If the diameter is smaller than the elephant article size, the article holding force in the article holding area 19 will be strengthened, and if the article model is larger than the holding target article size, smooth insertion of articles into the article holding area 19 will be achieved. be able to.

In the article holding member 14, six shape memory members 18 are arranged radially around the article holding area 19, so that the entire circumference of the article 1 is covered by the six shape memory members 18. Each can stably hold. In the article holding member 14, when the cross section of the article 1 to be held is elliptical, a pair of shapes in which the major axis directions of the ellipse are located on the same diameter in the article holding member 14. The shape memory members 18 are adapted to be aligned with the center line direction of the memory members 18, so that the long sides in the major axis direction of the elliptical shape can be stably held at the center in the width direction of these shape memory members 18.

Further, in the article holding member 14, in the shape memory member 18, the tip end which is given the article holding shape and faces the article holding region 19 is a flat rectangular portion 18 Β. The flat rectangular portion 18 # of the shape memory member 18 is in contact with the article 1 on the flat surface, so that the article 1 can be stably held.

Further, in the article holding member 14, in the initial memory shape of the shape memory member 18 shown in FIG. 2, the central portion overlaps the flat rectangular portions 18 の of all the shape memory members 18. Was held. As a result, even if the size of the article to be held is a very small diameter, the shape storage member 18 obtains an article holding shape in which the flat rectangular portion 18 必ず is always deformed into a curved shape around the article holding area 19. As a result, the article holding area 19 for the extremely small diameter article can be reliably formed. That is, it is possible to cope with the very small diameter article 1.

Further, in the article holding member 14, in the initial memory shape of the shape memory member 18 shown in FIG. 2, all the shape memory members 18 have a gap g between the adjacent shape memory members 18. Through. As a result, when the shape memory members 18 return to the flat initial memory shape in (a) described above, or when they are deformed into a curved shape so that the article holding shape is given by the article model, the shape of the shape memory member 18 is not changed. Edges of adjacent shape memory members 18 are rubbed or interfere with each other due to deformation for imparting It does not cause any disturbance. Therefore, the shape storage member 18 (particularly, the flat rectangular portion 18B) provided with the article holding shape forms a straight article holding surface without inclination or distortion around the central axis, and the article 1 is stably formed. Can be held.

The procedure for assembling the article holder 10 will be described below (FIG. 6).

(1) Positioning holes 12C provided in the circular projections 12A of the second base member 12 are engaged with the positioning pins 11D provided in the circular recesses 11A of the first base member 11A. Then, the second base member 12 is fitted to the first base member 11.

(2) The positioning hole 13A of the height adjusting member 13 is engaged with the positioning pin 12D provided on the circular annular portion 12B of the second base member 12. At the same time, the thin ring 16 provided on the height adjusting member 13 is attracted to the thin ring 15 provided on the upper end surface of the circular annular portion 12B of the second base member 12 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) Insert the positioning holes 14A of the article holding member 14 into the positioning pins 13B of the height adjusting member 13. At the same time, the thin ring 16 provided on the article holding member 14 is attracted to the thin ring 15 provided on the upper end surface of the height adjusting member 13 by magnetic force. At this time, at least one of the thin ring 15 and the thin ring 16 may be made of a magnet.

As a result of assembling the article holder 10 according to the above (1) to), 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 within the article holding member 14. And the long axis direction of the elliptical article 1 matches the transport direction of the article holder 10 by the conveyor so that it matches the center line direction of a pair of shape memory members 18 and 18 located on the same diameter The first and second base members 11 and 12, the height adjusting member 13, and the article holding member 14 are engaged with each other so as to perform the operation. The direction in which the article holder 10 is conveyed by the conveyor is perpendicular to the protruding ridge 11B on the lower surface of the first base member 11, so that the direction of the first base member 11 is Positioning pins 1 1D provided in the circular recesses 11A of the first base 11 and circular protrusions of the second base member 12. Positioning holes provided in 1 2 A 4 positions in 1 2 C P! To P4, a rectangular position, a positioning pin 12D provided on the circular annular portion 12B of the second base member 12, a positioning hole 13A provided on the height adjusting member 13, a positioning pin 1 3 B, Positioning holes provided in the article holding member 14 4 4 A of 4 A R! By setting the position of the rectangle formed by R4 as appropriate in advance, the first and second base members 11 and 12, the height adjusting member 13 and the article holding member 14 can be formed. As a result of the assembly, the major axis direction of the elliptical article 1 matches the center line direction of the pair of shape memory members 18, 18 located on the same diameter in the article holding member 14, and has an elliptical shape. An assembly result in which the long axis direction of the article 1 matches the transport direction of the article holder 10 by the conveyor can be obtained naturally (without manual assembly errors). According to this assembly result, as described above, the pair of shape memory members 18 and 18 located on the same diameter in the article holding member 14 form the elliptical object 1 at the center in the width direction thereof. It is possible to stably hold the side surface in the long axis direction, and secure a conveyance posture in which the wide front portion sandwiched between both side surfaces in the long axis direction of the elliptical article 1 faces the side of the conveyor.

In the case of the article holder 10, the first base member 11 and the second base member 12 are separated, and the second base member 12 is inserted into the circular recess 11 A of the first base member 11. The circular projections 12A of the second base member 12 are rotated 90 degrees with respect to the circular depressions 11A of the first base member 11 By engaging the positioning pin 1 1D and the positioning hole 1 2C, the direction of the transport posture of the article 1 with respect to the transport direction of the conveyor determined by the ridges 1 1B of the first base 11 Can be changed easily (eg, the wide front part of the elliptical article 1 is directed to either the side or the front of the conveyor).

Further, in the article holder 10, the ridge 11B is provided in the first base member 11 such that, for example, the long side of the rectangle is in a direction along the conveyor transport direction. By doing so, 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, and may be circular. (Article holding member 20) (Fig. 3)

The difference between the article holding member 20 of FIG. 3 and the above-described article holding member 14 is that the shape memory member 21 constituting the article holding member 20 is formed of a shape memory resin 22 and a shape memory alloy 23. That is, it is a composite. The point that the shape memory resin 22 and the shape memory alloy 23 are fixed to the article holding member 20 by the fixing ring 17 and the screw 17 A is the same as in the article holding member 4.

Like the shape memory member 18 in the article holding member 14, the shape memory resin 22 is made of, for example, a shape memory polymer “Dyary” manufactured by Mitsubishi Heavy Industries, Ltd., and has a fan-shaped portion 22 A and a flat rectangular portion 2. 2B. The shape memory alloy 23 is in the form of a strip attached to the center line on the back surface of the shape memory resin 22, and is made of, for example, Ni.—Ti alloy {10} ALLOYJ 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, the shape memory member 21 has a shape higher than a constant temperature (glass transition temperature T _s or shape recovery temperature A _f ). Since the elastic modulus of the memory alloy 23 is higher than that of the shape memory resin 22, the shape memory resin 22 quickly returns to the initial memory shape (for example, a flat plate) by the shape memory alloy 23, and the article model. It can be freely deformed into an article holding shape that can abut against. (B) The article holding shape is fixed in the operating temperature range (normal temperature) lower than a certain temperature (glass transition temperature T _s or shape recovery temperature A _f ) to form an 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 to obtain a strong article holding force in the operating temperature range. it can. In addition, the shape memory alloy 23 of the shape memory member 21 is heated from a certain temperature to the initial memory shape at the time of the pre-work for providing a new article holding shape (model change). The restoring force when returning is increased, and this large restoring force is applied to the shape memory resin 22 itself, which itself has a small restoring force, and the entire shape memory member 21 is quickly returned to the initial memory shape. Speeding up can be achieved. Further, in the article holder, a second base member 12 is provided on the first base member 11, a height adjusting member 13 is provided on the second base member 12, and a height adjusting member is provided. The article holding member 14 is connected to the article holding member 13 (up to this point is the same as the article holding member 10), and the height adjusting member 13 is further placed on the article holding member 14 and the height adjusting member. The article holding member 14 may be connected to the article 13. The article holder thus provided has article holders 14 at two positions in the height direction and can stably hold the long article 1.

In the above-described article holder, the height adjusting member 13 can be connected to the intermediate article holding member 14, so that it is provided on a screw 17 A located on the upper end surface of the article holding member 14. A positioning pin may be provided in the hole, and the positioning pin 13A of the lower end surface of the height adjusting member 13 may be engaged with the positioning pin of the article holding member 14. 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 attached to the fixing ring 17. It may be absorbed by a magnetic force.

(Method and apparatus for changing the shape of the article holder 10) (Fig. 7, Fig. 8)

As shown in FIG. 7, the type changing apparatus 60 for the article holder 10 (the same applies to the article holder 50) includes an article holding member supply device 61, a heating device 62, a shape imparting device 63, and a cooling device. 64, a height adjusting member supply device 65, and an article holding member setting device 66.

The article holding member supply device 61 is composed of a robot. The article holding member 14 of the article holding tool 10 which is carried in through the article holding tool carry-in line 7 1 is connected to the first and second base members 1 1. , 12 and is transferred to the chuck 72A of the article holding member forming line 72, and the article holding member 14 is supplied to the heating device 62.

The heating device 62 returns the shape memory member 18 of the article holding member 14 to a flat initial memory shape by raising the temperature from a certain temperature. The heating device 62 can be specifically composed of an infrared ray heater or the like. The shape imparting device 63 deforms the shape memory member 18 that has been heated from a certain temperature into an article holding shape that can abut an article model. Specifically, as shown in FIG. 8, the shape imparting device 63 can be constituted by a pair of upper and lower molding tools 63 A and 63 B sandwiching the shape memory member 18 from the front and back. The outer surface of the upper forming tool 63 A (male type) matches the outer shape of the article model, and the inner surface of the lower forming tool 63 B (female type) matches the outer shape of the article model by the thickness of the shape memory member 18. It is an enlarged similar shape.

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 certain temperature. The cooling device 64 can be specifically composed of a cooling medium or the like built in the forming tools 63 A and 63 B of the shape applying device 63.

The height adjusting member supply device 65 is made up of a robot, and the height of the first and second base members 11 and 12 carried into the bypass line 73 from the article holder carrying-in line 71 is increased. The adjusting members 13 are connected.

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

Therefore, the article holder 10 is remodeled by the remodeling device 60 as follows.

(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. You.

(2) The shape memory member 18 of the article holding member 14 is heated from a certain temperature by the heating device 62 to return to the flat initial memory shape. (3) The shape memory member 18 heated to a certain temperature is deformed into a material holding shape by the shape applying device 63.

(4) The cooling device 64 lowers the article holding shape of the shape memory member 18 from a certain temperature and fixes it.

(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 necessary.

(6) The article holding member 14 of (4) above is lifted up by the article holding member setting device 66, and the first and second base members 11 and 12 of Yukimi (5) are used for height adjustment. Set it on member 13.

In the type change device 60, the article holding member supply device 61, the heating device 62, the shape imparting device 63, the cooling device 64, the height adjusting member supply device 65, the article holding member set, and the like. The first and second parts constituting the article holder 10 are operated by the operation of the loading device 66, the article holder carrying-in line 71, the article holding member forming line 72, the bypass line 73, and the article holder carrying-out line 74. Of the base members 1 1 and 1 2, the height adjustment member 13 and the shape holding member 14, the number and position of the height adjustment members 13 to be interposed, and the installation of the article holding member 14 A long type in which the number and installation positions are appropriately changed, and a plurality of height adjustment members 13 are interposed, and a multi-stage type in which a plurality of article holding members 14 are installed at appropriate height positions Can be freely assembled.

Therefore, according to the present embodiment, the following effects are obtained.

(About article holder 10)

(1) The shape memory member 18 constituting the article holding member 14 can be variously transformed into an article holding shape corresponding to various article models, and the article holding shape can be fixed. In other words, with a simple configuration in which the article holding member 14 is constituted only 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, a shape memory resin and a shape memory alloy can be used as the shape memory member 18. In both cases, the initial memory shape is obtained by raising the temperature from a certain temperature. (For example, flat), and can be freely transformed into an article holding shape that can abut the article model. Then, when the temperature is lowered to a use temperature range lower than a certain temperature, the above-mentioned article holding shape is fixed to form an article holding area 19.

(2) In (1) above, the shape memory member 18 in which the article holding shape is fixed in the operating temperature range has a higher elastic modulus 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.

(3) In (1) above, as a pre-stage work for providing a new article holding shape (remodeling), the restoring force when the shape memory member 21 is heated from a certain temperature and returned to the initial memory shape is the shape memory resin. Shape memory alloy 23 is larger than 22. Therefore, when the shape memory member 21 is made of a composite of the shape memory resin 22 and the shape memory alloy 23, the shape memory member 21 can be quickly returned to the initial memory shape at the time of the type change, and the shape change It can be quick.

から 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 circumference of the article is defined by each of the plurality of shape memory members 18. Can be stably held.

すこと By forming a flat rectangular portion 18 B 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). However, the article can be stably held.

By interposing the height adjusting member 13 between the base members 11 and 12 and the article holding member 14, the article holding height position where the article holding member 14 contacts the article can be changed. The position can be selected according to the shape such as the height of the article so that the article can be held more stably, and the article can be stably held.

(About the method and apparatus for changing the shape of the article holder 10)

(1) 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, a new article holding shape is given to the shape memory member 18. And fix it (type change). In other words, the type change operation is simple, and the automation is easy, since it is only necessary to change the shape of the shape memory member 18 without replacing the article holding member 14 with another member.

(2) Remove the article holding member (14) from the base members (11) and (12) before applying the heating step (1) to the shape memory member (18) that constitutes the article holding member (14). By setting the article holding member 14 on the base member, the heating, shape imparting, and cooling operations for the shape memory operator 18 can be easily and efficiently performed. That is, the article holding member 14 is separated by being separated from the base member, so that 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 below by the presence of the base member and the like, so that the molding tool can be easily operated from the front and back of the shape memory member 18, and the workability of shape provision is improved. Can be improved.

(3) The shape imparting device 63 is composed of a pair of molding tools 63k and 63B that sandwich the shape memory member 18 from the front and back, so that the shape memory member 18 can reliably and quickly apply the article holding shape. Can be granted.

(Second embodiment) (FIGS. 9 to 11)

(Item holder 80) (Figure 9, Figure 10)

The article holder 80 supports a hexagonal frame member 83 on a rectangular base member 81 via a support post 82, and forms six shape memory members 85 constituting the article holder member 84. It is suspended and supported on each side of 3.

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 the initial memory shape (for example, a flat plate) at a temperature higher than the constant temperature (glass transition temperature Τ _ε ), and be freely deformed into an article holding shape that can collide with the article model. . (B) The article holding shape is fixed in the operating temperature range (normal temperature) lower than the constant temperature (glass transition temperature T _g ) to form the article holding area 86. (Method and apparatus for changing the shape of article holder 80) (Fig. 11)

The type changing device 90 of the article holder 80 is configured to include a heating device, a shape applying device, and a cooling device in the same manner as the type changing device 60 of the first embodiment, and is configured as a shape applying device 91. A balloon (for example, “Air-Pitka-I” manufactured by Princeton Co., Ltd.) 91 A is used. That is, the shape imparting device 91 inserts the article model 1A inside the whole shape memory member 85, pressurizes and inflates the valve 91A provided outside each shape memory member 85, The shape memory member 85 between the balloon 91A and the article model 1A is deformed into an article holding shape.

Therefore, the article holder 80 is remodeled by the remodeling device 90 as follows.

(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. 9).

(2) The shape memory member 85 heated to a certain temperature is deformed into an object holding shape by the shape applying device 91. At this time, the balloon 91A of the shape imparting device 91 is pressurized and inflated (FIG. 11A).

(3) The article holding shape of the shape memory member 85 is fixed by lowering the temperature from a certain temperature by a cooling device (not shown). Thereafter, the balloon 91A of the shape imparting device 91 is evacuated and contracted (FIG. 11 (B)).

(Third embodiment) (FIGS. 12 and 13)

(Item holder 100) (Fig. 12, Fig. 13)

The article holder 100 is obtained by attaching an article holding member 102 to a circular box-shaped base member 101. The article holding member 102 is composed of ten strip-shaped curved shape memory members 103. The upper end of the shape memory member 103 is fixed to the upper end surface of the base member 101, and the lower end of the shape memory member 103 is a guide hole 10 provided in the side wall of the base member 101. It extends outward through 4.

The shape memory member 103 is a shape memory alloy 23 of the shape memory member 21 of the first embodiment. It is composed of the same shape memory alloy as. Therefore, the shape memory member 103 has (a) the initial memory shape at a temperature higher than the constant temperature (shape recovery temperature A _f ) (the distance between the opposing shape memory members 103 and 103 is the object diameter to be held). (Fig. 12), and can be freely deformed into an article holding shape that can collide with the article model. Then, (b) the article holding shape is fixed in an operating temperature range (normal temperature) lower than a certain temperature (shape recovery temperature A _£ ) to form an article holding area 105 (FIG. 13).

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 100 of the first embodiment.

(1) The space between the shape memory members 103 and 103 of the article holding member 102 is set to be larger than that of the article model 1A. Insert the product model 1A into.

(2) The shape memory member 103 of the article holding member 102 is heated from a certain temperature by the heating device and returned to the initial memory shape (FIG. 12). In this process, each shape memory member 103 abuts on the article model 1A, and the article holding shape can be given to the shape memory member 103.

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

(Fourth embodiment) (Fig. 14, Fig. 15)

(Item holder 110) (Fig. 14)

The article holder 110 has the same basic configuration as the article holder 10. The point that the article holder 1 10 differs from the article holder 10 is that the shape storage member 18 constituting the article holder 14 is used as an initial memory shape (not a flat shape) among various article shapes. This is a memory in which the first article holding shape A with high frequency is memorized.

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 A from the state where the shape memory resin (or shape memory alloy) is melted. (2) Shape memory resin (or shape memory alloy) This is given by molding and solidifying into a desired first article holding shape A in a state where a molding material (for example, a flat plate) is heated to near the melting point.

For example, a shape memory member 18 made of Mitsubishi Heavy Industries, Ltd.'s shape memory polymer “Dyary” has a first material holding shape at 130 ° C near the melting point and at a temperature rise of 15 minutes. A can be molded.

Therefore, the shape memory member 18 of the article holder 110 forms a first article holding area 19A of the following (A) and a second article holding area 19B of the following (B).

(A) First article holding area 19 A

The shape memory member 18 is (a) the first article which has an initial memory shape when heated to a temperature higher than a certain temperature (glass transition temperature T _g ), regardless of the shape in the operating temperature range (normal temperature). Return to holding shape A. (B) By lowering the shape memory TO 18 to a use temperature range (normal temperature) lower than a constant temperature (glass transition temperature T _s ), the first article holding shape A is fixed. Thus, the first article holding area 19A can be formed.

Note that, 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 as in a type changing device 120 described later. May be changed.

(B) Second article holding area 19 B

The shape memory member 18 returns to (a) the first article holding shape A, which is the initial memory shape at a temperature higher than the constant temperature (glass transition temperature T _s ), and returns from the first article holding shape A to the article model. It can be freely deformed into the second article holding shape B which can abut against. (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 ₈ ) to form a second article holding area 19B.

For example, in a Mitsubishi Heavy Industries, Ltd. of the shape memory polymer scratch "Daiarii" shape memory member 1 8 shall be the material, and a. 30 to 100 ° C approximately by the material types of the glass transition temperature T _g, the The article holding shape A of 1 is heated at 80 ° C for 1 minute, for example. It can be transformed into the second article holding shape B.

Fig. 14 shows a first article holding area 19A that can hold frequently used large-diameter articles 1 by the first article holding shape A stored in the shape memory member 18; A second article holding area 19B that can hold an article 1 having a small diameter is formed by the second article holding shape B given to the shape memory member 18.

(Method and apparatus for changing the shape of article holder 110) (Fig. 15)

The type changing device 120 of the article holder 110 can deform the second article holding shape B applied to the shape memory member 18 of the article holding member 14 constituting the article holder 110 in various ways. The main function is to make the material holding member supply device 61, the heating device 62, the shape-imparting device 63, the cooling device 64, the same as the type changing device 60 for the article holder 10 high. An adjusting member supply device 65 and an article holding member setting device 66 are provided. In addition, the type changing device 120 can apply or change the first object holding shape A itself as an initial memory shape to be added to the shape memory member 18, and can change the initial memory shape setting line 75. The initial memory shape setting line 75 is provided with an initial heating device 67, an initial shape providing device 68, and a cooling device 69.

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 from 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. Supply.

(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 to the shape memory member 18 that has been heated to near the melting point by the initial shape applying device 68.

(4) The temperature of the shape memory member 18 is lowered by the cooling device 69 to hold the first article. Shape A is fixed as the initial memory shape.

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

(B) Type change operation

(2) The shape memory member 18 of the article holding member 14 is heated from a certain temperature by the heating device 62 to return to the initial memory shape (first article holding shape A).

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

(4) The temperature of the shape memory member 18 is lowered by the cooling device 64 to fix the second article holding shape B.

(6) The article holding member 14 of (4) is replaced with the first and second base members 11 and 12 of (5) and the height adjusting member 1 by the article holding member setting device 66. It is set to 3, and the setting change of the article holder 110 provided with the second article holding shape B is completed. Therefore, according to the present embodiment, there are the following operations.

The shape memory member 18 constituting the article holding member 14 is provided with the first article holding shape A as the initial memory shape, and is diversified into the second object holding shape B corresponding to various desired article shapes. The second article holding shape B can be fixed. Immediately That is, with a simple configuration in which the article holding member 14 is simply constituted by the shape memory member 18, the first article holding shape A as the initial memory shape and the second article holding shape obtained by variously deforming the first article holding shape A Shape B can be formed, and articles of various shapes can be stably held.

Then, since the first article holding shape A of the article holding member 14 is given as the initial memory shape, it returns to the first article holding shape A which is an initial memory shape at a temperature higher than a certain temperature (glass transition temperature T _s ). If this temperature is lowered to a use temperature range (normal temperature) lower than a certain temperature (glass transition temperature T _g ), the first article holding area A in which the first article holding shape A is fixed is removed. 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) is temporarily stored. By simply raising the temperature of the article holding member provided with B) above a certain temperature, the first article holding shape A described above can be obtained, and the frequency of changing the article holding member 14 can be reduced. At this time, a shape memory resin and a shape memory alloy can be used as the shape memory member 18. 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 use another article holding shape (the second article holding shape) that can abut the article model selected as desired. It can be freely deformed to the holding shape B). Then, by lowering the temperature to a use temperature range lower than a certain temperature, the two objects are fixed in the article opening ¾ holding shape (the first and second article holding shapes A and B) and the article holding area ( First and second article holding areas 19A, 19B) are formed.

As described above, 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 there may be a design change or the like without departing from the gist of the present invention. This is also included in the present invention. For example, the base member is not indispensable for the article holding member, and may have a configuration in which the article holding member also has the function of the base member. Further, the shape memory used as the shape memory member constituting the article holding member of the present invention. In order to avoid swelling of the resin due to moisture absorption, it is preferable to use a resin whose surface has been subjected to a water repellent treatment. In the case of the article holder 10 (same for 50 etc.), the base member 12 holds the height adjusting member 13, and the height adjusting member 13 holds the article holding member 14. (A) The positioning pin 1 2D provided on the upper end surface of the base member 12 is engaged with the positioning hole 13 A on the lower end surface of the height adjusting member 13 and the base member 12 The suction-use thin ring 16 on the lower end face of the height-adjusting member 13 is magnetically held on the suction-use thin ring 15 on the upper end face, and (b) the upper end face of the height-adjustment member 13 is provided. The positioning pin 13B is engaged with the positioning hole 14A on the lower end face of the article holding member 14 and the thin sheet link '15 on the upper end face of the height adjusting member 13 is attached to the article holding member 1. The suction-use thin plate ring 16 on the lower end face is magnetically held. However, as another method of holding the height adjusting member 13 on the base member 12 and holding the article holding member 14 on the height adjusting member 13, as shown in FIG. A small-diameter ring-shaped portion 200 provided on the upper end surface of the member 12 is fitted with a large-diameter ring-shaped portion 202 on the lower end surface of the height adjusting member 13 and a small diameter of the base member 12 is fitted. A resilient plunger 204 embedded in the inner periphery of the large-diameter ring-shaped portion 202 of the height-adjusting member 13 is inserted into the engagement recessed portion 203 provided on the outer periphery of the ring-shaped portion 201. The height adjustment member 13 is held on the base member 12 by the engagement. (B) The small diameter ring-shaped portion 2 11 provided on the upper end surface of the height adjustment member 13 has the article holding member 1. The large-diameter ring-shaped portion 2 1 2 on the lower end surface of 4 is fitted, and the article holding portion 2 13 Large diameter ring-shaped part 2 of material 1 4 The article holding member 14 may be held by the height adjusting member 13 by engaging the elastic plunger 2 14 embedded in the inner peripheral portion of the member 12. Here, the resilient plunger 204 (the same applies to 214) is provided with a height adjustment member 13, a case 204A embedded in the article holding member 14, a compression spring 204B and a ball. Storing 204 C, and keeping the equator of ball 204 C at the opening of case 204 A so that ball 204 C does not jump out of case 204 A The ball 204C is repelled outward by a compression spring 204B. In the case of the article holder 10 (same for 50 etc.), the height adjusting member 13 etc. It is possible to reduce the weight by making holes, etc., by appropriately drilling holes. Industrial applicability

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

Claims

The scope of the claims

(Claim 1) An article holder having an article holding member, wherein the article holding member can hold an article.

The article holding member is constituted by a shape memory member, and the shape memory member can be deformed into an article holding shape that can abut a desired article shape at a temperature higher than a certain temperature, and the above-mentioned article holding shape in an operating temperature range below the certain temperature. An article holder, wherein the article holder is fixed to form an article holding area.

(Claim 2) An article holder having an article holding member, wherein the article holding member can hold an article,

The article holding member is formed of a shape memory member, and the shape memory member stores a first article holding shape that can abut the first article shape as an initial memory shape to form a first article holding area. Can deform from the first article holding shape to a second article holding shape that can abut the second article holding shape at a temperature higher than a certain temperature, and change the second article holding shape in a use temperature range lower than the certain temperature. An article holder that is fixed to form a second article holding area.

(Claim 3) The article holder according to claim 1 or 2, wherein the shape memory member is made of a shape memory resin.

(Claim 4) The article holder according to claim 1 or 2, wherein the shape memory member is a composite of a shape memory resin and a shape memory alloy.

(Claim 5) The article holding member is composed of a plurality of shape memory members, and each of the shape memory members is radially arranged around the article holding area. An article holder according to any one of the above.

(Claim 6) The article holder according to claim 5, wherein a front end portion of the shape memory member facing the article holding region has a flat shape.

(Claim 7) The article according to any one of claims 1 to 6, wherein the article holding member is provided on a base member, and a height adjusting member is interposed between the base member and the article holding member. An article holder as described in the above.