| 摘要 |
PROBLEM TO BE SOLVED: To provide a shell holding device, capable of surely holding a plurality of kinds of shells differed in shape or size through a simple structure. SOLUTION: This shell holding device comprises a base part 6 provided on a manipulator 5; a pair of holding part blocks 7 slidably provided on both side surfaces of the base part 6 to approach and separate to and from each other; a drive block 8 which is engaged with the holding block 7 and driven from operation from the manipulator 5, and moves the holding block 7 to approach and separate to and from each other; a holding frame 9 provided on the outside top end of the holding block 7 and extending in the axial direction of a shell 2; a holding finger stay 12 rotatably provided around an axis 10 orthogonal to the holding frame 9 and including holding fingers 11 protruded to the shell 2 at both ends thereof; and a centering mechanism 13 provided between the holding frame 9 and the holding finger stay 12, which receives a reaction from the holding finger 11 to permit rotation of the stay along the shape of the shell 2, and also regularly energizes the stay so as to be held in a center position parallel to the axial direction of the shell 2. COPYRIGHT: (C)2007,JPO&INPIT
|
