JP4972025B2 - Transfer method of long ceramic columnar body - Google Patents

Description

  The present invention relates to an apparatus suitable for transferring a long ceramic columnar body and a method for transferring a ceramic columnar body using the apparatus.

  Ceramic fired bodies having columnar outer shapes are used for various applications including β-alumina tubes of sodium-sulfur batteries. Such a ceramic fired body is manufactured by forming a ceramic material by a forming means, obtaining a ceramic formed body, and firing it.

  In general, it is difficult to manufacture a ceramic fired body having a columnar shape with good straightness. In particular, a long ceramic fired body that is long in the axial direction is difficult to manufacture without bending at all. Moreover, the straightness of the ceramic fired body is also deteriorated by bonding another member to the ceramic fired body. However, for example, β-alumina tubes tend to be lengthened because it is advantageous to increase the ratio of height to diameter in order to secure electric capacity and reduce resistance in sodium-sulfur batteries. The β alumina tube, which is a solid electrolyte tube, is joined with glass or the like as an insulating member (insulating ring) for the cathode and anode, and further, the insulating ring and the metal fitting for the cathode and anode are heated and pressed. Be joined. Therefore, the straightness of a product using a β alumina tube which is a ceramic fired body is likely to deteriorate.

  On the other hand, ceramic fired bodies are easily damaged by impacts such as dents. Therefore, in the transfer operation of the ceramic fired body in the manufacturing process, it is preferable to minimize the contact of the ceramic fired body with facilities, jigs, and the like. In particular, in β alumina tubes, there is a concern that the β alumina tube may be damaged due to contact with foreign matter on the surface or dents due to handling, and the characteristics of the sodium-sulfur battery may be deteriorated. Then there is a limit naturally. Under such circumstances, robotic automation of the means for transferring ceramic fired bodies has been promoted.

  The present invention is based on the technology relating to the means for transferring such a ceramic fired body whose straightness is likely to deteriorate with a robot. In addition, it seems that the prior literature concerning the invention which has such a technical background does not exist so far.

  Generally, when a long ceramic fired body is transferred by a robot, a part of the ceramic fired body (for example, the head (end) or the body) is fixed. In order to perform stable transfer so as not to fluctuate during transfer, or to change the fixed part, it is preferable to fix two places (for example, the head and the trunk) at the same time.

  In particular, in a robot hand that grips the body of a ceramic columnar body, conventionally, in order to obtain a stable fixing force, a pad having a wide contact area or a block having a V-shaped groove for providing a gripping force transmission effect. Many are equipped with shaped pads. FIGS. 13 and 14 are views showing an example and other examples of a conventional robot hand, and are perspective views showing a ceramic columnar body and a pad for gripping it from both sides. FIG. 13 shows pads 152a and 152b having a large contact area with respect to the ceramic columnar body 104, and FIG. 14 shows a V-shaped groove for providing a force transmission effect for gripping the ceramic columnar body 104. Block-shaped pads 252a and 252b having the following are shown. These conventional robot hands grip the body of the ceramic columnar body in a rigid state.

  However, as described above, there are some long ceramic fired bodies with poor straightness, and if the straightness is poor, the position to be fixed changes, so let's hold it with a conventional rigid (robot) hand. Then, a concentrated load such as bending stress is applied to the ceramic fired body, and as a result, there is a risk of causing cracks or damage.

  The present invention has been made in view of such circumstances, and the problem is that when a ceramic fired body having a long length and poor straightness is transferred by a robot, the occurrence of cracks due to stress concentration, etc. The object is to provide a means to prevent damage. As a result of repeated research, it has been found that the above problem can be solved by giving the (robot) hand a function of absorbing the bending of the fired ceramic body. Specifically, according to the present invention, the following means are provided.

  First, according to the present invention, a pad frame, a plurality of contact pads made of a cushioning material attached in parallel to the pad frame and exhibiting a spherical surface or a plane, the contact pads are used as the pad frame. A contact pad shaft that supports and has an elastic mechanism, and a state holding mechanism that holds the state in which the contact pad shaft absorbs the reaction force by the elastic mechanism, so that a plurality of contact pads face each other. Ceramic columnar body transfer device comprising a gripper comprising a pair of gripper units disposed opposite to each other and a distance adjusting mechanism for adjusting a distance between the pair of gripper units disposed opposite to each other. Is provided.

  That is, the ceramic columnar transfer device according to the present invention includes a gripper. The gripper includes two gripper units disposed opposite to each other, and an interval adjusting mechanism that adjusts an interval between the gripper units. The state that the state holding mechanism of the gripper unit should hold is the state of absorbing the reaction force. The reaction force generated when the contact pad supported by the contact pad shaft is brought into contact with the ceramic columnar body is the elastic mechanism. It is the state absorbed by.

  The number of contact pads per gripper unit is preferably 2 or more and 10 or less, more preferably 2 or more and 6 or less, and particularly preferably 4. The contact pads are preferably arranged in two rows in the vertical direction for each gripper unit.

  The ceramic columnar transfer device according to the present invention preferably includes a chuck having a plurality of fingers in addition to the gripper.

  The chuck preferably has a horizontally movable function and a fixed function. For example, as a preferable chuck, a chuck to which a centering mechanism unit generally called a centering device is added can be cited. According to such a chuck, it is possible to realize a free state in which it can move horizontally and a state in which it moves to the center (core) and is fixed (locked state). The free state is a state in which it moves freely in the XY direction (usually the horizontal direction) with an LM (linear motion) guide or a ball, etc., and the locked state is a state in which it is moved and fixed to the shaft center with a taper pin or the like. It is.

  In the transfer device for a ceramic columnar body according to the present invention, the gripper is moved by moving either or both of the gripper and the chuck, and the gripper and the chuck attached to the hand frame. It is preferable to include a hand including a position adjusting mechanism that adjusts a positional relationship between the chuck and the chuck, and an arm attached to the tip of the hand.

  That is, the transfer device for a ceramic columnar body according to the present invention includes a hand and an arm in a preferred embodiment. The hand includes the above-described gripper, chuck, and position adjustment mechanism that adjusts the positional relationship between them.

  Next, according to the present invention, an end (for example, a head) of a ceramic columnar body placed at one position is gripped by a chuck having a plurality of fingers, and the ceramic columnar body that has been gripped is gripped. A plurality of contact pads made of a cushioning material having a spherical surface or a flat surface supported by a contact pad shaft provided with an elastic mechanism so as to sandwich the body part of the body are brought into contact from both sides of the body part, and the contact is made The reaction force generated by the contact pad shaft is absorbed by the elastic mechanism of the contact pad shaft, and while holding the reaction force, the body of the ceramic columnar body is held and the ceramic columnar body is transferred to another position. A method for transferring a ceramic columnar body is provided. This is also simply referred to as a ceramic columnar transfer method.

  In the ceramic columnar transfer device and transfer method according to the present invention, the ceramic material constituting the ceramic columnar body is not particularly limited. For example, oxide ceramics containing rare earth oxides such as alumina, zirconia, titania, silica, magnesia, ferrite, cordierite, yttria, barium titanate, strontium titanate, lead zirconate titanate, rare earth manga Examples thereof include nitrite, chromite of rare earth elements, aluminum nitride, silicon nitride, sialon, silicon carbide, boron carbide, tungsten carbide and the like.

  In the transfer device and transfer method for ceramic columnar bodies according to the present invention, the ceramic columnar body to be transferred means a fixed body whose main raw material is ceramic and whose outer shape is columnar, that is, in the columnar body. Includes a hollow cylindrical body that is not solid.

  The transfer device for a ceramic columnar body according to the present invention grips an end of the ceramic columnar body with a chuck having a plurality of fingers, and abuts a contact pad on the body of the gripped ceramic columnar body. Since the reaction force generated by the contact is absorbed by the elastic mechanism of the contact pad shaft and the absorbed state is held, the ceramic columnar body is gripped. Sometimes the ceramic columnar body is not stressed.

  For example, in the case of a ceramic columnar body with poor straightness, the end portion is gripped by a chuck having a plurality of fingers, and the contact pad makes contact with the ceramic columnar body in accordance with the bent shape. The ceramic columnar body can be gripped by the contact pad while the pad shaft expands and contracts and the shape of the ceramic columnar body has poor straightness. The force to deform the ceramic columnar body with poor straightness does not work according to the situation of the gripping side. Therefore, the ceramic columnar body is not subjected to concentrated load such as bending stress unlike the conventional means. Therefore, when transferring the ceramic columnar body, there is no fear of causing cracks or damage.

  Moreover, even if the ceramic columnar transfer device according to the present invention is used in a process of continuously transferring ceramic columnar bodies having different straightness (different degrees of deformation), the degree of deformation is different. It is possible to transfer without applying bending stress to the ceramic columnar body.

  As described above, the straightness tends to deteriorate as the ceramic columnar body becomes longer, but according to the present invention, even if the ceramic columnar body is long, the bending stress is reduced. It is possible to transfer without applying.

  In the ceramic columnar transfer device according to the present invention, in addition to providing the state holding mechanism, a plurality of contact pads attached in parallel are made of a cushioning material having a spherical surface or a flat surface. Even if the position of the ceramic columnar body to be shifted is shifted, it is possible to always hold the ceramic columnar body in contact with a plurality of points. Therefore, the stability in the gripping operation is excellent.

  The ceramic columnar body transfer method according to the present invention is a transfer method performed using the ceramic columnar body transfer device according to the present invention, and the effects exhibited by the ceramic columnar body transfer device according to the present invention described above. It is a means to lead to the present.

  In the ceramic columnar transfer method according to the present invention, with respect to the ceramic columnar body placed at one position, the end of the ceramic columnar body is first gripped, and then the body is gripped. The reaction force generated by the contact of the contact pad is absorbed by the elastic mechanism of the contact pad shaft, and the state is maintained. Therefore, a concentrated load such as bending stress is not applied to the ceramic columnar body.

  In the transfer method for a ceramic columnar body according to the present invention, the end of the ceramic columnar body is first gripped with respect to the ceramic columnar body placed at one position, and then the trunk is gripped. However, when using a ceramic columnar transfer device in which a horizontal movable function and a fixed function are added to a chuck having a plurality of fingers, bending stress is applied to the ceramic columnar body even when the body is first gripped. It can be grasped again without applying concentrated load. For example, first, the abutting pad is brought into contact with both sides of the body so as to sandwich the body of the ceramic columnar body placed at one position, and the reaction force generated by the contact is applied to the contact pad shaft. The body of the ceramic columnar body is gripped while the state of absorption by the elastic mechanism and absorption of the reaction force is maintained. Thereafter, the end of the ceramic columnar body holding the body is gripped by a chuck having a horizontal movable function. Then, after releasing the reaction force absorbing state in this state, the chuck is fixed in a state where the end of the ceramic columnar body is gripped. The subsequent steps are the same as those in the method for transferring ceramic columnar bodies according to the present invention. The reaction force generated by the contact with the body is absorbed by the elastic mechanism of the contact pad shaft, and this state is maintained, so that even when the body is gripped first, bending stress, etc. is concentrated on the ceramic columnar body. There is no load.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings as appropriate, but the present invention should not be construed as being limited thereto. Various changes, modifications, improvements, and substitutions can be added based on the knowledge of those skilled in the art without departing from the scope of the present invention. For example, the drawings show preferred embodiments of the present invention, but the present invention is not limited by the modes shown in the drawings or the information shown in the drawings. In practicing or verifying the present invention, the same means as described in this specification or equivalent means can be applied, but preferred means are those described below.

  First, components of the ceramic columnar transfer device according to the present invention will be described.

  FIGS. 1-8 is a figure which shows one Embodiment of the transfer apparatus for ceramic columnar bodies which concerns on this invention. FIG. 1 is a diagram showing the whole, and FIG. 2 is a perspective view showing a hand. 3 to 5 are views showing the gripper, FIG. 3 is a front view, FIG. 4 is a (left) side view, and FIG. 5 is a plan view (top view). 6 to 8 are views showing the gripper unit, FIG. 6 is a sectional view, FIG. 7 is a perspective view seen from the front upper side, and FIG. 8 is a perspective view seen from the rear upper side.

  A ceramic columnar transfer device 100 shown in FIG. 1 includes a hand 1 for gripping or gripping a ceramic columnar body 4 which is, for example, a β alumina tube used in a sodium-sulfur battery, and a hand 1 connected to the tip. The arm 2 is configured to move the ceramic columnar body 4 held or gripped, and a necessary power source.

  As shown in FIG. 2, the hand 1 includes a hand frame 13 connected to the arm 2, a gripper 12 and a chuck 11 attached to the hand frame 13, a position adjusting mechanism 51 that moves the chuck 11, and A position adjusting mechanism 61 is provided. The hand frame 13 has a plate-like body bent into an L shape, and is connected to the arm 2 on the back surface, connected to the chuck 11 via the position adjusting mechanism 51 and the position adjusting mechanism 61 on the front surface, and on the lower surface. Connected to the gripper 12. The chuck 11 having the four fingers 71 is slid upward in FIG. 2 by the position adjusting mechanism 51, whereby the positional relationship between the chuck 11 and the gripper 12 is adjusted.

  As shown mainly in FIGS. 3 to 5, the gripper 12 includes a pair of gripper units 22 a, a gripper unit 22 b, and an interval adjustment mechanism 32. The interval adjusting mechanism 32 adjusts the gap between the gripper unit 22a and the gripper unit 22b by moving the gripper unit 22a and the gripper unit 22b in the direction of the arrow shown in FIGS.

  As shown mainly in FIGS. 6 to 8, the gripper unit 22a includes a pad frame 42a, four contact pads 52a attached in parallel to the pad frame 42a in two rows and two stages, and four contact pads 52a. A contact pad shaft 62a that supports the contact pad 52a on the pad frame 42a, an elastic mechanism 72a that expands and contracts the contact pad shaft 62a to absorb external pressure, and the contact pad shaft 62a is externally applied by the elastic mechanism 72a. And a state holding mechanism 82a that holds the stretched or shrunk state. Similarly, the gripper unit 22b includes a pad frame body 42b, four contact pads 52b, an elastic mechanism 72b, a contact pad shaft 62b, and a state holding mechanism 82b. The contact pads 52a and 52b are made of a cushioning material and have a spherical surface as clearly shown in FIGS. A contact pad that has a flat surface can also be used.

  Next, the method for manufacturing the ceramic columnar body transfer device according to the present invention will be described by taking the case of the ceramic columnar body transfer device 100 as an example.

  The ceramic columnar transfer device 100 purchases a commercially available product or processes a metal plate made of stainless steel or the like to obtain the above-described components, assembles them, and uses a control device such as a sequencer. This can be obtained by constructing a control system (providing a control panel) and further constructing a power system such as electricity, pneumatic pressure, hydraulic pressure, etc. (providing a power panel and supplying a power source).

  The arm 2 employs a plurality of indirect industrial robot arms, and the chuck 11 employs an industrial robot chuck (hand) composed of four fingers 71. The hand frame 13 and the pad frames 42a and 42b may be obtained by machining a metal plate. As the position adjusting mechanisms 51 and 61 and the interval adjusting mechanism 32, a linear motion device including an LM guide and an LM actuator can be used.

  The contact pads 52a and 52b use spherical rubber. The contact pad shafts 62a and 62b use metal bars made of stainless steel or the like. The elastic mechanisms 72a and 72b use springs made of stainless steel or the like. As the state holding mechanisms 82a and 82b, it is possible to employ a linear motion device including an air cylinder, a hydraulic cylinder, or an LM guide and an LM actuator.

  Next, a method for transferring a ceramic columnar body according to the present invention will be described by taking as an example the case of using the ceramic columnar body transfer apparatus 100 shown in FIGS. This corresponds to a method of using the ceramic columnar transfer device according to the present invention.

  FIGS. 9-12 is a figure which shows typically one Embodiment of the transfer method of the ceramic columnar body which concerns on this invention. FIG. 9 and FIG. 10 are diagrams showing how the ceramic columnar body 4 is taken out or attached to transfer the ceramic columnar body 4 using the ceramic columnar body transfer apparatus 100, and FIG. 9 is a diagram showing how the ceramic columnar body 4 is taken out. FIG. 10 is a diagram showing the state of attachment. FIG. 11 and FIG. 11 are diagrams illustrating an example of state transition between the chuck 11 and the gripper 12 when the bent ceramic columnar body 4 is transferred using the ceramic columnar body transfer device 100. FIG. 12 is also a diagram illustrating another example of the state transition of the chuck 11 and the gripper 12. 11 and 12, the reference numerals of the elements constituting the gripper 12 are limited to the gripper units 22a and 22b, so that other constituent elements are referred to FIGS.

  As shown in FIG. 9, in order to transfer the ceramic columnar body 4 from the state where it is installed in the tank 91, first, the arm 2 is moved and the hand 1 is installed on the ceramic columnar body 4. Move to the vicinity of Next, the chuck 11 is moved downward by the position adjusting mechanism 51 and the position adjusting mechanism 61 and positioned at the upper end of the ceramic columnar body 4. Then, the four fingers 71 of the chuck 11 are opened and closed to grip the upper end of the ceramic columnar body 4 (see the left in FIG. 11). At this time, since the position of the gripper 12 does not change, the chuck 11 is in a position close to the gripper 12.

  Next, the chuck 11 is slowly moved upward by the position adjusting mechanism 51 and the position adjusting mechanism 61, and the ceramic columnar body 4 is taken out from the tank 91. Then, since the position of the gripper 12 does not change (unless the arm 2 is moved), the gripper 12 comes to be positioned on the lower body portion of the ceramic columnar body 4. Therefore, the gripper 12 grips the body of the ceramic columnar body 4 at that position. Specifically, first, the gripper units 22a and 22b are moved so as to approach each other by the interval adjusting mechanism 32 while the state holding mechanisms 82a and 82b of the gripper units 22a and 22b are left free without being driven, and the contact pads 52a. , 52b is brought into contact with the body of the ceramic columnar body 4 (see the center of FIG. 11). At this time, the contact pad shafts 62a and 62b are expanded and contracted by the elastic mechanisms 72a and 72b in accordance with the shape and state of the bent ceramic columnar body 4. After the contact, the state holding mechanisms 82a and 82b are driven and locked, and the contact pads 52a and 52b contact the body of the ceramic columnar body 4 in accordance with the shape and state of the bent ceramic columnar body 4. What is necessary is just to maintain the state which is carrying out (refer the right of FIG. 11).

  As shown in FIG. 10, in order to attach the ceramic columnar body 4 gripped by the chuck 11 and gripped by the gripper 12 to the tank 92, first, the arm 2 is moved to place the ceramic columnar body 4. The hand 1 is moved to the vicinity of. And the gripper 12 is released | separated from the trunk | drum of the ceramic columnar body 4 in the position. Specifically, the state holding mechanisms 82a and 82b of the gripper units 22a and 22b are opened, and the gripper units 22a and 22b are moved away from each other by the distance adjusting mechanism 32, and the contact pads 52a and 52b are moved to the ceramic columnar body 4. What is necessary is just to separate from the trunk | drum of this. Next, the chuck 11 is moved downward by the position adjusting mechanism 51 and the position adjusting mechanism 61, and the ceramic columnar body 4 held by the chuck 11 is inserted into the tank 92. Then, the four fingers 71 of the chuck 11 are opened and closed to open the chuck 11 from the upper end of the ceramic columnar body 4.

  In the above description, when the ceramic columnar body 4 is taken out for transfer, the end of the ceramic columnar body 4 is first gripped by the chuck 11, and then the body of the ceramic columnar body 4 is gripped by the gripper 12. If the chuck 11 has to be gripped first, but the chuck 11 has a horizontal movable function and a fixed function, as shown in FIG. It can respond by doing. That is, the gripper units 22a and 22b are connected to each other by the interval adjusting mechanism 32 while the chuck 11 is not holding the ceramic columnar body 4 and the state holding mechanisms 82a and 82b of the gripper units 22a and 22b are left free without being driven. The contact pads 52a and 52b are brought into contact with the body of the ceramic columnar body 4 (see the left in FIG. 12). At this time, the contact pad shafts 62a and 62b are expanded and contracted by the elastic mechanisms 72a and 72b in accordance with the shape and state of the bent ceramic columnar body 4. After the contact, the state holding mechanisms 82 a and 82 b are driven, and the contact pads 52 a and 52 b are in contact with the body portion of the ceramic columnar body 4 in accordance with the shape and state of the bent ceramic columnar body 4. The state is maintained (see center of FIG. 12). Thereafter, the four fingers 71 of the chuck 11 are opened and closed in a free state, the upper end of the ceramic columnar body 4 is gripped, and the state holding mechanisms 82a and 82b of the gripper units 22a and 22b are opened. To fix. The subsequent operation is the same as the transfer operation described above (see the right side of FIG. 12).

  EXAMPLES Hereinafter, although this invention is demonstrated in detail using an Example, this invention is not limited to these Examples.

  (Example 1) When using the ceramic columnar transfer device 100 described above and using a β-alumina tube having a bottomed cylindrical shape used for a sodium-sulfur battery as the ceramic columnar body 4, when gripping, Changes in the amount of strain generated in the β alumina tube were measured. Specifically, after gripping the open end of the β-alumina tube with the chuck 11, the body of the β-alumina tube is gripped with the gripper 12, and the amount of strain on the surface of the β-alumina tube when gripped is determined. The change was measured using a strain gauge (KFG-5-120-C11 L5M2R manufactured by Kyowa Denki Co., Ltd.) at a position near the opening of the β alumina tube. When gripping, according to the ceramic columnar transfer method of the present invention, the contact pads 52a and 52b are applied to the body portion of the β alumina tube while the state holding mechanisms 82a and 82b are left free without being driven. After the contact, the state holding mechanisms 82a and 82b were driven and locked. The amount of strain generated on the surface of the β alumina tube was 0.8 με.

  (Comparative Example 1) Using a conventional rigid robot hand provided with pads 152a and 152b shown in FIG. 13, the body of the β alumina tube was gripped. Except for this, the amount of strain generated on the surface of the β-alumina tube when gripped was measured according to Example 1. As a result, the strain amount was 2.2 με, and a force about three times as large as that of Example 1 was applied.

  The ceramic columnar transfer device and the ceramic columnar transfer method according to the present invention can be suitably used as a means for taking out or attaching a β-alumina tube, for example, in a manufacturing process of a sodium-sulfur battery. . Specifically, it can be utilized as a robot handling that does not damage the β-alumina tube, or as a means for taking out or attaching a product in which the β-alumina tube is assembled.

It is a figure which shows one Embodiment of the transfer apparatus for ceramic columnar bodies which concerns on this invention, and is a figure showing the whole. It is a figure which shows one Embodiment of the transfer apparatus for ceramic columnar bodies which concerns on this invention, and is a perspective view showing a hand. It is a figure which shows one Embodiment of the transfer apparatus for ceramic columnar bodies which concerns on this invention, and is a front view showing a gripper. It is a figure which shows one Embodiment of the transfer apparatus for ceramic columnar bodies which concerns on this invention, and is a side view showing a gripper. It is a figure which shows one Embodiment of the transfer apparatus for ceramic columnar bodies which concerns on this invention, and is a top view showing a gripper. It is a figure which shows one Embodiment of the transfer apparatus for ceramic columnar bodies which concerns on this invention, and is sectional drawing showing a gripper unit. It is a figure which shows one Embodiment of the transfer apparatus for ceramic columnar bodies which concerns on this invention, and is a perspective view showing a gripper unit. It is a figure which shows one Embodiment of the transfer apparatus for ceramic columnar bodies which concerns on this invention, and is a perspective view showing a gripper unit. It is a figure which shows typically one Embodiment of the transfer method of the ceramic columnar body which concerns on this invention, and is a figure showing a mode that it takes out in order to transfer a ceramic columnar body. It is a figure which shows typically one Embodiment of the transfer method of the ceramic columnar body concerning this invention, and is a figure showing a mode that it attaches in order to transfer a ceramic columnar body. It is a figure which shows typically one Embodiment of the transfer method of the ceramic columnar body which concerns on this invention, and is a figure showing an example of the state transition of a chuck | zipper and a gripper at the time of transferring the curved ceramic columnar body. It is a figure which shows typically one Embodiment of the transfer method of the ceramic columnar body which concerns on this invention, and is a figure showing the other example of the state transition of a chuck | zipper and a gripper at the time of transferring the curved ceramic columnar body . It is a figure which shows an example of the aspect of the conventional robot hand, and is a perspective view showing the ceramic columnar body and the pad which is going to hold | grip it. It is a figure which shows the other example of the aspect of the conventional robot hand, and is a perspective view showing the ceramic columnar body and the pad which is going to hold | grip it.

Explanation of symbols

1: Hand, 2: Arm, 4: Ceramic columnar body, 11: Chuck, 12: Gripper, 13: Hand frame, 22a, 22b: Gripper unit, 32: Spacing adjustment mechanism, 42a, 42b: Pad frame 51, 61: Position adjustment mechanism, 52a, 52b: Contact pad, 62a, 62b: Contact pad shaft, 71: Finger, 72a, 72b: Elastic mechanism, 82a, 82b: State holding mechanism, 100: Ceramic columnar body Transfer device, 104: ceramic columnar body, 152a, 152b: pad, 252a, 252b: pad.

Claims (2)

After gripping the end of an elongated ceramic columnar body placed in one position with an axial direction with a chuck having a plurality of fingers,
So as to sandwich the body portion of the ceramic columnar body gripped its ends, a plurality of contact pads formed of cushioning material that exhibits the contact pad is supported by a shaft spherical or planes with an elastic mechanism, wherein while contacting pad shaft is in said without driving the state holding mechanism for holding the state of absorbing the reaction force by the elastic mechanism free, the allowed to contact both sides of the body portion, the reaction force which the caused by the contact the absorbed by the contact pad shaft of the elastic mechanism, then the while the state holding mechanism to lock drive holds the state of absorbing the reaction force, contact pad body of the plurality of the ceramic columnar body in the gripping,
A method for transferring a long ceramic columnar body in which a long ceramic columnar body is transferred to another position. A plurality of cushioning materials which are supported by a contact pad shaft provided with an elastic mechanism and have a spherical surface or a flat surface so as to sandwich a body portion of a long ceramic columnar body which is placed in one position and which is long in the axial direction. The contact pad is contacted from both sides of the body while the state-holding mechanism that holds the state where the contact pad shaft absorbs the reaction force by the elastic mechanism is left free without being driven. Is absorbed by the elastic mechanism of the abutting pad shaft, and then the state holding mechanism is driven and locked to hold the reaction force absorbed, while holding the body portion of the ceramic columnar body. Grip with the plurality of contact pads ,
Grasp the end of the ceramic columnar body gripping the torso with a plurality of fingers and a horizontally movable chuck in a free state, and then releasing the state holding mechanism to make it free. The plurality of contact pads are separated from both sides of the body portion, and then the chuck is fixed and locked.
Again, the plurality of contact pads are contacted from both sides of the body part without driving the state holding mechanism so as to sandwich the body part of the ceramic columnar body gripped by the end part. The reaction force generated by the contact is absorbed by the elastic mechanism of the contact pad shaft, and then the state holding mechanism is driven and locked to hold the state of absorbing the reaction force, and the ceramics Grip the body of the columnar body with the plurality of contact pads,
A method for transferring a long ceramic columnar body in which a long ceramic columnar body is transferred to another position.

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