CN111302046A - Suction cup - Google Patents
Suction cup Download PDFInfo
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- CN111302046A CN111302046A CN201911225717.5A CN201911225717A CN111302046A CN 111302046 A CN111302046 A CN 111302046A CN 201911225717 A CN201911225717 A CN 201911225717A CN 111302046 A CN111302046 A CN 111302046A
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- suction
- inclined surface
- workpiece
- suction cup
- skirt
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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- Mechanical Engineering (AREA)
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Abstract
The invention provides a suction cup which ensures the compliance of a workpiece during suction even for the workpiece which is easy to deform and does not damage the durability of a component for ensuring the compliance. The suction cup has: a support body provided with a suction passage; and a skirt member that is provided around a lower portion of the support body and that comes into contact with the object to be conveyed when performing a suction operation through the suction passage, wherein the skirt member is formed with elastic petal-shaped portions that are divided by a plurality of concave portions, and the plurality of concave portions are formed in a range from an outer periphery of the skirt member to an inner periphery of the skirt member.
Description
Technical Field
The present invention relates to a suction cup for sucking and conveying a conveyed object.
Background
There is known a suction cup for sucking and holding a workpiece (hereinafter, referred to as a workpiece) by a negative pressure generated by a vacuum source such as a vacuum ejector or a vacuum pump in order to suck and hold the workpiece and convey the workpiece. For example, patent document 1 discloses a suction cup which is particularly easily deformed and suitable for sucking and holding a workpiece.
When the suction pad disclosed in patent document 1 sucks a workpiece by generating a negative pressure inside the skirt portion via the suction passage, the suction pad can reliably and smoothly perform suction holding even for a workpiece that is easily deformed, such as a thin workpiece or a bag-shaped workpiece filled with contents, by causing the deformation region (first inclined surface region) of the skirt portion formed of an elastic body to conform to the deformation of the workpiece.
Patent document 1: japanese patent laid-open publication No. 2018-65194
However, in the suction cup according to patent document 1, the skirt portion is formed in a truncated cone shape, and the outer peripheral shape thereof is circular. Therefore, there is a limit to increase the amount of deformation and the ease of deformation of the skirt portion, and there is a limit to reliably conform the skirt portion to the deformation of the workpiece. On the other hand, the amount of deformation and the ease of deformation of the skirt portion can be increased by reducing the thickness (thickness) of the skirt portion, but there is a problem that the durability is reduced when the thickness of the skirt portion is reduced.
Disclosure of Invention
The present invention has been made in view of such circumstances, and an object of the present invention is to provide a suction cup that ensures compliance during suction even for a workpiece that is easily deformed, and does not impair the durability of a member for ensuring the compliance.
As a result of intensive studies to solve the above problems, the present inventors have found a solution having the following structure, and have finally completed the present invention. That is, the present invention is a suction cup including: a support body provided with a suction passage; and a skirt member that is provided around a lower portion of the support body and that comes into contact with the object to be conveyed when performing a suction operation through the suction passage, wherein the skirt member is formed with elastic petal-shaped portions that are divided by a plurality of concave portions that are formed in a range from an outer periphery of the skirt member to an inner periphery of the skirt member.
According to the present invention, it is possible to provide a suction cup that ensures compliance during suction even for a workpiece that is easily deformed, and does not impair the durability of the member relating to the compliance.
Drawings
Fig. 1 is a perspective view of a suction cup according to a first embodiment of the present invention.
Fig. 2 is a sectional view of a suction cup according to a first embodiment of the present invention.
Fig. 3 is a bottom view of the suction cup according to the first embodiment of the present invention.
Fig. 4 is a state diagram illustrating a state in which the suction pad according to the first embodiment of the present invention sucks and holds a workpiece.
Fig. 5 is a perspective view of a suction cup according to a second embodiment of the present invention.
Fig. 6 is a sectional view of a suction cup according to a second embodiment of the present invention.
Fig. 7 is a bottom view of the suction cup according to the second embodiment of the present invention.
Fig. 8 is a state diagram illustrating a case where the suction pad according to the second embodiment of the present invention sucks and holds a workpiece.
Description of the reference numerals
10. 10' … suction cup; 20. 20' … support; 21. 21' … outer peripheral surface; 22. 22' … aspiration path; 24. 24' … opening; 26. 26' … inner wall; 28. 28' … are captured in the recesses; 30. 30' … interior space; 40. 40' … skirt; 41. 41' … outer end; 42. 42' … resilient petals; 44. 44' … first inclined surface; 441. 441' … a first outer surface; 46. 46' … second angled surface; 461. 461' … second outer surface; 48. 48' … ribs; 480. 480' … inclined plane; 50. 50' … independent interior space; 60. 60' … recess; a W … workpiece; MF … buckle; VF … is concave.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the drawings. The present invention is not limited to the following description, and can be modified as appropriate without departing from the scope of the present invention.
[ first embodiment ]
The perspective view of fig. 1, the cross-sectional view of fig. 2, and the bottom view of fig. 3 show the suction cup 10 according to the present embodiment in a state where it is not substantially deformed by an external force. The suction pad 10 according to the present embodiment holds a workpiece by causing the skirt 40 to adsorb to the surface of the workpiece by bringing the workpiece as a conveyed object into contact with the skirt 40 as a skirt member provided around the lower portion of the support body 20 and bringing the internal space formed in the skirt 40 into a reduced pressure state as compared with the environment around the suction pad 10.
As shown in fig. 1 to 3, the support body 20 and the skirt 40 constituting the suction cup 10 can be formed by integral molding or can be formed by joining after separately molding. The support body 20 and the skirt portion 40 may be formed of the same resin material, or may be formed by combining different resin materials. As the resin material constituting the support body 20 and the skirt portion 40, for example, synthetic rubber materials such as nitrile rubber, nitrile rubber hydroxide, silicone rubber, urethane rubber, butyl rubber, styrene-butadiene rubber, acrylic rubber, fluorine rubber, silicone rubber fluoride, ethylene-propylene rubber, chloroprene rubber, and natural rubber materials can be used so that these members become elastic bodies. In addition, a thermoplastic elastomer or a thermosetting elastomer can be used.
In addition, a resin material exhibiting specific properties by adding a filler to the above resin material can be used. Specifically, a resin material that can obtain conductivity by adding carbon black, black lead, carbon fiber, metal powder, or metal foil, a resin material that can obtain heat resistance by adding carbon nanotubes, carbon black, talc, calcium carbonate, or the like, a resin material that can obtain detectability under a metal detector by adding metal powder, or the like can be given. For structural strength improvement, for example, a resin material to which wollastonite, potassium titanate, saponite, gypsum fiber, aluminum borate, MOS, aramid fiber, carbon fiber, glass fiber, talc, mica, glass flake, or polyoxybenzoyl whisker is added can be used, and for weight reduction, for example, a resin material to which silica balloon, glass balloon, or silicon balloon is added can be used.
The suction cup 10 according to the present embodiment can be formed by a known molding method such as compression molding, transfer molding, injection molding, or cast molding.
The support body 20 is formed in a cylindrical shape having a suction passage 22 formed therein. The opening 24 of the suction passage 22 is formed with a predetermined inner diameter D1, for example, so that a structural body such as a not-shown setscrew can be inserted into the opening for screwing with an article holding portion of an article transport apparatus such as a robot arm. An engaged recess 28 having an inner diameter D2 larger than the inner diameter D1 of the opening 24 and into which a structure such as a setscrew inserted through the opening 24 can be engaged is provided in a part of the inner wall 26 of the suction passage 22. The suction pad 10 is configured such that the skirt portion 40 can be attracted to the surface of the workpiece to hold the workpiece by discharging air from the internal space 30 communicating directly below the suction passage 22 and the independent internal space 50 described later by a vacuum source such as a vacuum ejector or a vacuum pump provided to the article transport machine connected via engagement of the engaged recess 28 with a structure such as a stopper screw, and by bringing the internal space 30 and the independent internal space 50 into a reduced pressure state with respect to the ambient environment. The support body 20 is formed in a cylindrical (columnar) shape as an example, but is not limited thereto and may have another polygonal shape. Further, the support body 20 may be formed in a corrugated structure extending and contracting in the vertical direction in fig. 2 as a whole or in a part thereof, and may provide a buffer function when the suction pad 10 abuts against the workpiece W. The diameter of the support body 20 (the outer diameter of the opening 24) can be any size depending on the characteristics of the workpiece, the size of the article holding portion of the article transport apparatus, and the like.
A skirt 40 is formed below the outer peripheral surface 21 of the support body 20. The skirt 40 is formed to extend gradually expanding from the lower portion of the outer peripheral surface 21 of the support body 20 toward the radial outside and the lower side. When the lower periphery of the outer peripheral surface 21 of the support body 20 is defined as an inner periphery (IC) and the outer end 41 of the skirt portion 40 is defined as an outer periphery (OE) formed to have the maximum diameter, the skirt portion 40 is formed with elastic petal-shaped portions 42 separated by a plurality of recessed portions 60 formed in a range from the outer periphery (OE) to the inner periphery (IC). That is, the peripheral edge portion of the skirt portion 40 is configured such that the elastic petal-shaped portions 42 and the recessed portions 60 alternately appear continuously. In the present embodiment, an example is shown in which 10 elastic petal-shaped portions 42 are formed so as to be divided by 10 concave portions 60. The elastic petal-shaped portion 42 according to the present embodiment has an outer appearance in which the first outer surface 441 corresponding to the outer surface side of the first inclined surface 44 is formed in a substantially rectangular shape, the first outer surface 441 is formed to extend in the vertical direction from each edge of the second outer surface 461 formed in a substantially rectangular shape, the second outer surface 461 corresponds to the outer surface side of the second inclined surface 46 described below, and the elastic petal-shaped portion 42 is configured as an elastic member that elastically deforms by contact with a workpiece and can follow the deformation of the workpiece. That is, the elastic petal-shaped portions 42 according to the present embodiment are configured such that the peripheral edge portion of the skirt portion 40 has two inflection points so that the shape of the second outer surface 461 divided by the adjacent recessed portions 60 is substantially rectangular.
In the sectional view of fig. 2, the elastic petal-shaped portion 42 has a first inclined surface 44 rising from the outer end portion 41 and a second inclined surface 46 continuously formed from the center side end portion 43 of the first inclined surface 44 and extending to the periphery of the lower portion of the support body 20. The first inclined surface 44 and the second inclined surface 46 form the outline of the independent internal space 50 communicating with the internal space 30 located immediately below the suction passage 22. The first inclined surface 44 has a cross-sectional shape having a predetermined thickness toward the lower side, and the independent inner spaces 50 each having the contour including the second inclined surface 46 as the surfaces can independently follow the deformation of the workpiece, so that the workpiece can be reliably sucked and held. In this case, the first inclined surface 44 is preferably thinner than the second inclined surface 46 in order to improve the work compliance of the outer end portion of the suction cup 10 and prevent vacuum leakage. In the present embodiment, for the purpose of improving the compliance with the deformation of the workpiece, the thickness of the first inclined surface 44 in the cross-sectional view does not need to be gradually reduced toward the lower side, and therefore there is no concern that the durability of the member for ensuring the compliance with the deformation of the workpiece is impaired.
A plurality of (10 in the present embodiment) ribs 48 are formed to face the inner space 30 of the skirt 40, and the ribs 48 extend from the second inclined surface 46 in the radial direction of the skirt 40 until reaching the independent inner space 50 of the first inclined surface 44. The plurality of ribs 48 are protruding members protruding from the inner surface of the skirt portion 40 toward the independent inner spaces 50 formed by the elastic petal-shaped portions 42, and can be formed integrally with the skirt portion 40 from the same material. The rib 48 may be formed separately from the skirt 40, and for example, a resin material having rigidity higher than that of the skirt 40 may be used. The ribs 48 themselves extend radially in the radial direction of the skirt portion 40 at equal intervals to the first inclined surface 44. The bottom surface of the rib 48 is an inclined surface 480 that gradually descends toward the radial outside. The shape and material of the rib 48 are appropriately selected according to the work or the like in order to smoothly perform air suction and air discharge and suppress the occurrence of the side slip phenomenon of the work, but the bottom surface (inclined surface 480) of the rib 48 is preferably configured to be positioned closer to the support body 20 than the outer periphery (OE) of the outer end portion 41 of the skirt portion 40 so that the reduced pressure state generated in the internal space 30 can be maintained.
When the workpiece abuts against the first inclined surface 44 during suction, the first inclined surface 44 elastically deforms in the direction of arrow X (diameter expansion) in fig. 3 while conforming to the shape of the workpiece. As the first inclined surface 44 deforms, the work gradually comes into contact with the outermost portion of the inclined surface 480 of the rib 48. The first inclined surface 44 and the second inclined surface 46, which form the outline of the independent internal space 50 based on the rib 48, are bent in the arrow Y direction (in the radial direction) in fig. 3, and as a result, the workpiece is deformed into a convex fold. The workpiece is deformed into a convex fold in the independent inner space 50, whereby the workpiece is deformed into a concave fold on the basis of the adjacent concave portions 60. As described above, in the suction cup 10 according to the present embodiment, the work is sucked by deforming the work into the corrugated folded state in which the convex folding and the concave folding are alternately repeated, and thereby the occurrence of the gap between the skirt portion 40 and the work in the independent internal space 50 can be suppressed, and the work which is easily deformed can be reliably sucked and held. In the suction cup 10 according to the present embodiment, the elastic petal-shaped portions 42 are formed in a substantially square barrel shape from the first outer surfaces 441 extending in the vertical direction from the respective edges of the second outer surfaces 461 formed in a substantially rectangular shape, and therefore the suction area in the elastic petal-shaped portions 42 can be increased, and therefore the suction force can be increased.
Here, the workpiece to be processed by the suction pad 10 according to the present embodiment is not particularly limited, but the surface shape thereof is deformed by a relatively weak force when the workpiece is sucked, such as a thin object or a bag-like object.
Fig. 4 is a state diagram illustrating a state in which the suction pad 10 according to the present embodiment suctions and holds the workpiece W. At the time of suction, the suction pad 10 is connected to an article conveyance device such as a robot arm via a structural body such as a stopper screw screwed to an article holding portion, not shown. It is needless to say that the number of suction pads 10 that operate simultaneously can be adjusted according to the weight and shape of the workpiece W. When the workpiece W abuts on the outer end 41 of the skirt 40 of the suction pad 10, that is, the elastic petal-shaped portion 42, suction (evacuation) of air by the vacuum source is started. As a result, the air in the internal space 30 and the independent internal space 50 located immediately below the suction passage 22 is discharged, and the internal space 30 and the independent internal space 50 are in a pressure-reduced state compared to the ambient environment. When the workpiece W abuts against the first inclined surface 44, the first inclined surface 44 elastically deforms in the direction of arrow X (diameter expansion) in fig. 3 while conforming to the shape of the workpiece W. As the first inclined surface 44 is deformed, the work W gradually comes into contact with the outermost portion of the inclined surface 480 of the rib 48. The first inclined surface 44 and the second inclined surface 46, which form the outline of the independent internal space 50 based on the rib 48, are bent in the arrow Y direction (in the radial direction) in fig. 3, and as a result, the workpiece W is deformed into the bulge MF. In the independent internal space 50, the workpiece W is deformed into the convex fold MF, and thus the workpiece W is deformed into the concave fold VF on the basis of the adjacent concave portions 60. The workpiece W is deformed into a corrugated folded state in which the convex folds MF and the concave folds VF are alternately repeated, and is sucked by the suction pad 10.
When the suction pad 10 sucked to the workpiece W is removed, after the suction (exhaust) of air by the vacuum source is stopped, for example, a vent for ventilation provided in an unillustrated article conveyance device is opened, and air is caused to flow into the internal space 30 and the independent internal space 50 located directly below the suction passage 22, thereby releasing the reduced pressure state. As the decompression state is released, the elastic deformation of the first inclined surface 44 abutting on the workpiece W is also released, and the first inclined surface 44 is separated from the workpiece W. Next, the work W separates from the inclined surface 480 of the rib 48, and the deformation of the bulge MF in the independent space 50 of the work W is also released. Since the deformation of the convex folds MF of the workpiece W in the independent internal space 50 is released, and the deformation of the concave folds VF in the adjacent concave portions 60 is also released, the suction pad 10 can be removed from the workpiece W.
[ second embodiment ]
The perspective view of fig. 5, the cross-sectional view of fig. 6, and the bottom view of fig. 7 show the suction cup 10' according to the present embodiment in a state where it is not substantially deformed without receiving an external force. In the suction cup 10 'according to the present embodiment, similarly to the suction cup 10 according to the first embodiment, the work as the object to be conveyed is brought into contact with the skirt 40' as the skirt member provided around the lower portion of the support body 20', and the internal space formed in the skirt 40' is brought into a reduced pressure state as compared with the environment around the suction cup 10', whereby the skirt 40' is adsorbed to the surface of the work to hold the work.
As shown in fig. 5 to 7, the support body 20' and the skirt 40' constituting the suction cup 10' may be formed by integral molding or may be formed by separately molding and then joining. The support body 20 'and the skirt portion 40' can be formed of the same resin material as shown in the first embodiment, or can be formed of a material in which different resin materials are combined.
The support body 20 'is formed in a cylindrical shape in which a suction passage 22' is formed. The opening 24' of the suction passage 22' is formed with a predetermined inner diameter D1', for example, so that a structural body such as a stopper screw, not shown, that is screwed into an article holding portion of an article transport apparatus such as a robot arm can be inserted. A portion of the inner wall 26' of the suction passage 22' is provided with an engaged recess 28' having an inner diameter D2' larger than the inner diameter D1' of the opening 24' and capable of engaging a structure such as a setscrew inserted through the opening 24 '. The suction pad 10 'is configured such that the skirt portion 40' can be attracted to the surface of the workpiece and the workpiece can be held by discharging air from the internal space 30 'located directly below the suction passage 22' and the independent internal space 50 'described later to a reduced pressure state with respect to the ambient environment by a vacuum source such as a vacuum ejector or a vacuum pump provided in the article carrying machine connected through engagement of the engaged recess 28' with a structure such as a setscrew. The support body 20' is formed in a cylindrical (columnar) shape as an example, but is not limited thereto and may be formed in other polygonal shapes. Further, the support body 20 'may be formed in a corrugated structure extending and contracting in the vertical direction in fig. 6 as a whole or in a part thereof, and may provide a buffer function when the suction pad 10' abuts on the workpiece W. The diameter of the support body 20 '(the outer diameter of the opening 24') can be any size depending on the characteristics of the workpiece, the size of the article holding portion of the article transport apparatus, and the like.
A skirt 40' is formed below the outer peripheral surface 21' of the support body 20 '. The skirt 40' is formed to extend gradually expanding from the lower portion of the outer peripheral surface 21' of the support body 20' toward the radial outside and the lower side. When the lower periphery of the outer peripheral surface 21 'of the support body 20' is defined as an inner periphery (IC) and the outer end 41 'of the skirt portion 40' is defined as an outer periphery (OE) having the largest diameter, the skirt portion 40 'is formed with elastic petal-shaped portions 42' separated by a plurality of recessed portions 60', and the plurality of recessed portions 60' are formed in a range from the outer periphery (OE) of the skirt portion 40 'to the inner periphery (IC) of the skirt portion 40'. That is, the peripheral edge portion of the skirt portion 40' is configured such that the elastic petal-shaped portions 42' and the recessed portions 60' continuously alternate. In the present embodiment, an example is shown in which 6 elastic petal-shaped portions 42 'separated by 6 recessed portions 60' are formed. The elastic petal-shaped portion 42 'according to the present embodiment has an outer appearance formed in a substantially triangular barrel shape by a first outer surface 441' corresponding to the outer surface side of the first inclined surface 44', wherein the first outer surface 441' is formed by extending in the vertical direction at a gentle inclination angle from each side of a substantially triangular second outer surface 461 'formed in a rounded shape, and the second outer surface 461' corresponds to the outer surface side of a second inclined surface 46 'described below, and the elastic petal-shaped portion 42' is configured as an elastic member that is elastically deformed by contact with a workpiece and can follow the deformation of the workpiece. That is, the elastic petal-shaped portions 42' according to the present embodiment are configured such that the peripheral edge portion of the skirt portion 40 has one inflection point, and the shape of the second outer surface 461' divided by the adjacent concave portions 60' is a substantially triangular shape with rounded corners.
In the sectional view of fig. 6, the elastic petal-shaped portion 42' has a first inclined surface 44' rising from the outer end portion 41' and a second inclined surface 46' formed continuously from the center side end portion 43' of the first inclined surface 44' and formed to the periphery of the lower portion of the support body 20 '. The first inclined surface 44' and the second inclined surface 46' form the outline of the independent internal space 50' communicating with the internal space 30' located immediately below the suction passage 22 '. The first inclined surface 44' has a cross-sectional shape having a predetermined thickness, for example, toward the lower side, and the independent inner spaces 50' each having the contour including the second inclined surface 46' can independently follow the deformation of the workpiece, so that the workpiece can be reliably sucked and held. In this case, in order to improve the work compliance of the outer end portion of the suction cup 10' and prevent the vacuum leakage, the first inclined surface 44' is preferably thinner than the second inclined surface 46 '. In the present embodiment, for the purpose of improving the compliance with the deformation of the workpiece, the wall thickness of the first inclined surface 44' in the cross-sectional view does not need to be gradually thinner toward the lower side, and therefore there is no concern that the durability of the member for ensuring the compliance with the deformation of the workpiece is impaired.
A plurality of (6 in the present embodiment) ribs 48 'are formed to face the inner space 30' of the skirt 40', and the ribs 48' are extended from the second inclined surface 46 'in the radial direction of the skirt 40' until reaching the independent inner space 50 'of the first inclined surface 44'. The plurality of ribs 48' are protruding members protruding from the inner surface of the skirt portion 40' toward the independent inner spaces 50' formed by the elastic petal-shaped portions 42', and can be formed integrally with the skirt portion 40' from the same material. The rib 48' may be formed separately from the skirt 40', and for example, a resin material having higher rigidity than the skirt 40' may be used. The ribs 48' themselves have a longitudinal direction that is a radial direction of the skirt portion 40' and extend radially at equal intervals toward the first inclined surface 44', respectively. The bottom surface of the rib 48 'is an inclined surface 480' that gradually decreases radially outward. The shape and material of the rib 48' are appropriately selected according to the work or the like in order to smoothly perform air suction and air discharge and suppress the occurrence of the side slip phenomenon of the work, but the bottom surface (inclined surface 480') of the rib 48' is preferably located closer to the support 20' than the outer periphery (OE) of the outer end 41' of the skirt 40' so that the reduced pressure state generated in the internal space 30' can be maintained.
When the workpiece abuts against the first inclined surface 44' during suction, the first inclined surface 44' follows the shape of the workpiece and is elastically deformed in the direction of arrow X ' (diameter expansion) in fig. 7. As the first inclined surface 44' deforms, the workpiece gradually abuts the outermost portion of the inclined surface 480' of the rib 48 '. The first inclined surface 44' and the second inclined surface 46' that form the outline of the independent internal space 50' on the basis of the rib 48' are bent in the direction of arrow Y ' in fig. 7 (in the radial direction), and as a result, the workpiece is deformed into a convex fold. The workpiece is deformed into a convex fold in the separate interior space 50', whereby the workpiece is deformed into a concave fold on the basis of the adjacent concave portion 60'. As described above, in the suction cup 10' according to the present embodiment, the work is sucked by deforming the work into the corrugated folded state in which the convex folding and the concave folding are alternately repeated, and thereby it is possible to suppress the occurrence of the gap between the skirt portion 40' and the work in the independent internal space 50', and to reliably suck and hold the work which is easily deformed. In the suction cup 10' according to the present embodiment, the elastic petal-shaped portions 42' are formed in a substantially triangular barrel shape from the first outer surfaces 441' extending in the vertical direction at a gentle inclination angle from the respective sides of the second outer surfaces 461' formed in a substantially triangular shape with rounded corners, and therefore the work compliance of the elastic petal-shaped portions 42' can be increased, and therefore the reliability of suction holding of a work which is easily deformed can be improved.
Fig. 8 is a diagram illustrating a state in which the suction pad 10' according to the present embodiment suctions and holds the workpiece W. At the time of suction, the suction pad 10' is connected to an article conveyance device such as a robot arm via a structural body such as a stopper screw screwed to an article holding portion not shown. In addition, the number of suction pads 10' that operate simultaneously can be adjusted, of course, according to the weight and shape of the workpiece W. When the workpiece W abuts on the outer end 41 'of the skirt 40' of the suction pad 10', that is, the elastic petal-shaped portion 42', suction (evacuation) of air by the vacuum source is started. As a result, the air in the internal space 30' and the independent internal space 50' located immediately below the suction passage 22' is discharged, and the internal space 30' and the independent internal space 50' are in a pressure-reduced state compared to the ambient environment. When the workpiece W abuts against the first inclined surface 44', the first inclined surface 44' follows the shape of the workpiece W and is elastically deformed in the arrow X (diameter expansion) direction in fig. 7. As the first inclined surface 44' is deformed, the work W gradually abuts against the outermost portion of the inclined surface 480' of the rib 48 '. The first inclined surface 44 'and the second inclined surface 46' that form the outline of the independent internal space 50 'on the basis of the rib 48' are bent in the arrow Y direction (in the radial direction) in fig. 7, and as a result, the workpiece W is deformed into the bulge MF. In the independent inner space 50', the work W is deformed into the convex folds MF, and thereby the work W is deformed into the concave folds VF on the basis of the adjacent concave portions 60'. The workpiece W is deformed into a corrugated folded state in which the convex folds MF and the concave folds VF are alternately repeated, and is adsorbed by the chuck 10'.
When the suction pad 10 'sucked to the workpiece W is removed, after the suction (exhaust) of air by the vacuum source is stopped, for example, a vent for ventilation provided in an article transport apparatus (not shown) is opened, and air is caused to flow into the internal space 30' and the independent internal space 50 'located immediately below the suction passage 22', thereby releasing the reduced pressure state. As the decompression state is released, the elastic deformation of the first inclined surface 44 'abutting on the workpiece W is also released, and the first inclined surface 44' is separated from the workpiece W. Next, the work W separates from the inclined surface 480' of the rib 48', and the deformation of the bulge MF in the independent space 50' of the work W is also released. Since the deformation of the convex folds MF of the workpiece W in the independent internal space 50' is released, and the deformation of the concave folds VF of the adjacent concave portions 60' is also released, the suction pad 10' can be removed from the workpiece W.
As described above, according to the present invention, it is possible to provide a suction cup that ensures compliance during suction even for a workpiece that is easily deformed, and does not impair the durability of the member relating to the compliance.
In the description of the present embodiment, a suction cup in which 10 or 6 elastic petal-shaped portions are formed in the skirt portion has been described, but the number of elastic petal-shaped portions formed in the skirt portion is not limited thereto, and can be appropriately changed in consideration of the material, shape, ease of deformation, and the like of the work to be sucked and held. The shape of the external appearance of the elastic petal-shaped portions is not limited to the square barrel shape exemplified in the first embodiment or the triangular barrel shape exemplified in the second embodiment, and is not limited as long as the internal portions of the elastic petal-shaped portions can form independent spaces by the recesses alternately provided in series. That is, the elastic petal-shaped portions may be configured to have a plurality of inflection points (3 or more points) in the peripheral edge portion of the skirt portion so that the shape of the second outer surface divided by the adjacent concave portions becomes a predetermined shape (for example, a pentagonal shape) other than a rectangular shape or a triangular shape.
Claims (8)
1. A suction cup, comprising: a support body provided with a suction passage; and a skirt member provided around a lower portion of the support body and abutting against the object to be conveyed when performing a suction operation via the suction passage, wherein the suction cup is characterized in that,
elastic petal-shaped portions separated by a plurality of recessed portions are formed in the skirt member, the plurality of recessed portions being formed in a range from an outer periphery of the skirt member to an inner periphery of the skirt member.
2. The suction cup according to claim 1,
the elastic petal-shaped portion includes:
a first inclined surface rising from an outer end portion of the skirt in an axial cross section of the support body; and
and a second inclined surface formed continuously from the first inclined surface to a periphery of a lower portion of the support body.
3. Suction cup according to claim 1 or 2,
the elastic petal-shaped portions form an independent inner space in the inner space of the skirt portion communicating with the suction passage.
4. The suction cup according to claim 3,
a rib portion is formed in the elastic petal-shaped portion, the rib portion facing the independent internal space and extending in the outer circumferential direction of the skirt member on the second inclined surface.
5. The suction cup according to claim 4,
an inclined surface is formed on the rib portion in the outer circumferential direction of the skirt member.
6. Suction cup according to claim 4 or 5,
the elastic petal-shaped portions deform into convex folds based on the rib portions when performing a suction operation through the suction passage.
7. The suction cup according to claim 6,
the object to be conveyed deforms into a convex fold with the deformation of the elastic petal-shaped portions and deforms into a concave fold on the basis of the concave portions.
8. A suction cup according to any of claims 1 to 7,
the support body and the skirt member are integrally formed with each other.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018-227818 | 2018-12-05 | ||
| JP2018227818A JP7289439B2 (en) | 2018-12-05 | 2018-12-05 | suction pad |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111302046A true CN111302046A (en) | 2020-06-19 |
Family
ID=71012226
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911225717.5A Pending CN111302046A (en) | 2018-12-05 | 2019-12-04 | Suction cup |
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| CN (1) | CN111302046A (en) |
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| CN114174017A (en) | 2019-08-08 | 2022-03-11 | 伯克希尔格雷股份有限公司 | Systems and methods for providing compliant end effectors with noise reduction in programmable motion devices |
| JP2021184678A (en) | 2020-05-22 | 2021-12-02 | キヤノン株式会社 | Power transmission device, power reception device, control method and program |
| CN116133975A (en) | 2020-07-22 | 2023-05-16 | 伯克希尔格雷营业股份有限公司 | System and method for object handling using vacuum grippers that provide object retention by evacuation |
| US11945103B2 (en) | 2020-07-22 | 2024-04-02 | Berkshire Grey Operating Company, Inc. | Systems and methods for object processing using a passively collapsing vacuum gripper |
| JP7339978B2 (en) | 2021-03-30 | 2023-09-06 | 株式会社日本ピスコ | Adsorption mechanism of moving device |
| TW202342252A (en) * | 2022-01-12 | 2023-11-01 | 日商東京威力科創股份有限公司 | Transfer arm and substrate transfer device |
| JP7383085B1 (en) | 2022-06-27 | 2023-11-17 | ヤマハ発動機株式会社 | picking equipment |
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| JPH02122788U (en) * | 1989-03-17 | 1990-10-09 | ||
| JPH03117583U (en) * | 1990-03-16 | 1991-12-04 | ||
| JP3048420B2 (en) * | 1991-06-26 | 2000-06-05 | 住友重機械工業株式会社 | Suction hand |
| AU2008246203B2 (en) * | 2007-04-26 | 2012-08-16 | Omron Robotics And Safety Technologies, Inc. | Vacuum gripping apparatus |
| JP2018065194A (en) * | 2016-10-17 | 2018-04-26 | 株式会社妙徳 | Adsorption pad device |
| JP6829383B2 (en) * | 2017-02-17 | 2021-02-10 | 三菱電機株式会社 | Grip device, grip system and control device |
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| JP2020089936A (en) | 2020-06-11 |
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