Title:
METHOD FOR ATTACHING DIAPHRAGM MEMBER TO DIAPHRAGM BOSS, AND ROBOT ARM DEVICE FOR ATTACHING DIAPHRAGM MEMBER TO DIAPHRAGM BOSS
Document Type and Number:
WIPO Patent Application WO/2021/125235
Kind Code:
A1
Abstract:
According to the present invention, a diaphragm boss is secured so that a shaft part and an increased-diameter part are exposed at an upper side. A robot arm device having an air suction part is used to grasp a diaphragm member so that a small-diameter recess and a large-diameter recess are exposed at a lower side. The robot arm device is controlled to bring the diaphragm member into contact with the diaphragm boss while tilting the axis of the diaphragm member relative to the axis of the diaphragm boss. The robot arm device is controlled to push the small-diameter recess and/or the large-diameter recess of the diaphragm member toward the diaphragm boss while turning the diaphragm member about the axis of the diaphragm boss, and to fit the increased-diameter part into the large-diameter recess and fit the shaft part into the small-diameter recess.
Inventors:
IKEGAMI HIROTAKA (JP)
Application Number:
PCT/JP2020/047009
Publication Date:
June 24, 2021
Filing Date:
December 16, 2020
Export Citation:
Assignee:
SHINWA CONTROLS CO LTD (JP)
International Classes:
B23P19/04; B23P19/02; B25J9/16; F16K7/12; B25J15/06
Foreign References:
| JP2010286037A | 2010-12-24 | |||
| JPH10132101A | 1998-05-22 | |||
| JPH07178636A | 1995-07-18 | |||
| JPS63180429A | 1988-07-25 | |||
| JPS6438366U | 1989-03-07 |
Attorney, Agent or Firm:
TANAKA Shinichiro et al. (JP)
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