JP2002307356A - Sucking holding device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a sucking holding device to hold a work position without changing it. SOLUTION: This sucking holding device is constituted of a suction pad 3 to be held to freely advance and retreat, a spring 7 to energize the suction pad 3 at an advancing position and a locking mechanism 10 to fix a state free to advance and retreat the suction pad 3 to freely advance and retreat and is constituted not to change a position of a work W at the time of carrying it by working the suction pad 3 to suck the work W in a state of making it contact with the work W while moving the suction pad 3 against the spring 7 and simultaneously working the locking mechanism 10.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suction holding device using a suction pad utilizing a negative pressure suction force by evacuation, and more particularly, to a shape of a work to be suctioned at the time of conveying and holding a plate-like work. The present invention relates to a suction holding device in which the position of a suction pad changes.

[0002]

2. Description of the Related Art In general, as a suction holding device for transporting a plate-like work using a plurality of suction pads, for example, FIG.
There are the following.

[0003] A plurality of suction pads 3 arranged in parallel are provided on a mounting bracket 2 detachable from a robot arm M, and the suction pads 3 are held by a slide shaft 5 so as to be movable in the front-rear direction. 7, the suction pad 3 is urged toward the forward position.

As shown in FIG. 24, when one or a plurality of suction pads 3 which can be stroked in the suction direction are used by being attached to a manipulator M such as a robot, the manipulator M operated by a robot or other driving source is used.
Even if the positioning accuracy of the suction pad 3 is somewhat poor, it is possible to prevent the workpiece W, for example, a body part for an automobile, from being damaged by the movement of the suction pad 3 by an error. I have.

[0005]

When the work W is transported by using the suction pad 3 movable in the front-back direction, the positioning error of the manipulator M can be absorbed. Next, the work W is moved by the manipulator M for transportation or the like.
Is lifted, the suction pad 3 moves to the foremost position, the work W is suddenly lifted by the stopper action of the slide shaft 5, and the work W largely moves by reaction. Furthermore, there is a problem that the work W is subjected to impact or vibration, such as the work W being vibrated when being transported by the manipulator M.

When a plurality of suction pads 3 are used to suck a work W having a difference in height at a suction position, as shown in FIG. 25, a plate-like shape is set from a maximum extension position to a contraction position corresponding to the height difference. Work W can be adsorbed. However, when the work W is lifted for transport, the suction pads 3 are returned to the maximum extension positions, respectively.
At the time when the pressing force to the
And the posture of the work also changes according to the shape and weight of the work during transport.

Due to the difference between the posture of the work being conveyed and the jig posture of the receiving gauge G or the like at the destination, a specific portion of the work W may collide with the receiving gauge G or the like as shown in FIG. May occur. Also, when the work W whose work has been completed is taken out of the jig, the work W is tilted at the moment when the work W is lifted from the jig and cannot be completely removed. W may be rubbed. In any case, there is a possibility that the work W may be damaged.

The present invention has been made in view of the above problems, and has as its object to provide a suction holding device that holds a work without changing its posture.

[0009]

According to a first aspect of the present invention, there is provided a suction pad held so as to be capable of moving forward and backward with respect to a support member within a predetermined range, and attaching the suction pad to a forward position within the predetermined range. The present invention is characterized in that it comprises an urging means for urging, an adsorbing operation means for adsorbing a suction pad in contact with a work, and a lock means for restraining the suction pad from moving forward and backward when the adsorbing operation means is operated.

The moving direction of the suction pad is not limited to the direction in which the suction pad can linearly stroke in the suction direction, and the suction pad may move forward and backward while turning.

The direction of the suction pad is not limited to the one fixed in the forward / backward direction, but may be the one that swings in the forward / backward direction.

According to a second aspect of the present invention, in the first aspect, the lock means uses compressed air from a pneumatic source of the suction operation means as an operation source.

[0013] In a third aspect based on the first aspect, the suction pad is arranged to be swingable with respect to a slide shaft movable forward and backward with respect to a support member, and the suction pad is operated when the suction operation means is operated. It is characterized by having a restraining means for restraining the pad from swinging.

According to a fourth aspect of the present invention, in the first aspect, the suction pad is formed such that a tip ring-shaped portion abutting on a workpiece has a lower hardness than other portions.

In a fifth aspect based on the first aspect, the suction pad is disposed at a tip of a slide shaft guided by a slide guide, and the lock mechanism restrains the slide shaft from an outer periphery at a first position. A lock sleeve for releasing the restraint at the second position, a spring for urging the lock sleeve to the first position, and a lock releasing means for moving the lock sleeve to the second position against the spring. And

In a sixth aspect based on the first aspect, the suction pad is disposed at an end of a slide shaft guided by a slide guide, and the lock mechanism restrains the slide shaft from an outer periphery at a first position. A lock sleeve for releasing the restraint at the second position, a spring for urging the lock sleeve to the second position, and a lock operating means for moving the lock sleeve to the first position against the spring. And

According to a seventh aspect of the present invention, in any one of the first to sixth aspects, a plurality of the suction holding devices are arranged in parallel.

According to an eighth aspect of the present invention, in any one of the first to sixth aspects, a plurality of the suction holding devices are arranged in parallel on a bracket moved by a manipulator as a support member. And

According to a ninth aspect, in any one of the first to sixth aspects, a plurality of the suction holding devices are arranged in parallel on a fixed base as a support member. .

In a tenth aspect based on any one of the first to sixth aspects, the suction holding device is arranged so as to suctionly hold the work in an intersecting direction with respect to the work held upright by the transfer device. It is characterized by being performed.

[0021]

According to the first aspect of the present invention, since the suction position is fixed by the lock means so that the suction position does not move when the work is held by the suction pad which can be moved forward and backward, once the work is sucked, the position of the work is determined. Does not move due to the recoil at the time of lifting or the vibration at the time of conveyance, and the suction posture is maintained, so that damage to the work can be prevented. Further, since the suction position of the sucked work does not move, the positioning accuracy of the work can be improved when the work is transferred and set in the jig.

In the second invention, in addition to the effect of the first invention, the suction operation means and the lock means operate with compressed air from the same pneumatic source, so that the configuration of the pneumatic circuit can be simplified,
Piping can be done together.

In the third aspect, in addition to the effect of the first aspect, the suction pad is arranged so as to be swingable with respect to the slide shaft, and restrains the swing of the suction pad when the suction operation means is operated. Because of the means, the tip side of the suction pad is held at a swinging position that swings according to the shape of the workpiece, and the workpiece is transported and transferred in the same attitude as set on the jig stand or the like. That is, regardless of the shape of the work,
Transfer is possible.

According to the fourth aspect, in addition to the effects of the first aspect, the suction pad has a lower end ring-shaped portion which comes into contact with the work and has a lower hardness than other portions, so that the suction pad has an effect on the work. A dent or a scratch at the time of contact is prevented.

According to the fifth aspect, in addition to the effect of the first aspect, the slide shaft holding the suction pad is prevented from moving by the lock mechanism when external power such as compressed air is not supplied. In addition, the operation timing of the suction pad for suction and the operation timing of the unlocking means are shifted, so that the power from the pneumatic source can be used effectively.

In the sixth aspect, in addition to the effects of the first aspect, the lock mechanism of the slide shaft holding the suction pad is released when external power such as compressed air is not supplied, and the suction pad operates. During the period, the external power is supplied to operate the lock mechanism. Therefore, when both are operated at the same time, the pneumatic circuit can be simplified.

In the seventh invention, in addition to the effects of the first to sixth inventions, when the work is sucked by the respective suction pads, each of the suction pads is set at the advance / retreat position corresponding to the shape of the opposing work. In this state, the workpiece is constrained by the locking means so that it does not advance or retreat, so that the work posture changes when transporting the workpiece, transferring it to the receiving jig, or extracting it from the jig. Therefore, breakage due to interference with jigs can be prevented, and the positioning accuracy can be improved.

Further, since each of the suction pads is restricted to the advancing / retreating position according to the shape of the work, the suction pad can be suction-held without limiting the shape of the work to be supplied and can cope with various work shapes. It can be applied to general-purpose equipment such as FMS equipment, and it is necessary to prepare dedicated holding devices for each model as many as the number of models, and attach expensive hand-change parts to accommodate the model as before. Becomes unnecessary.

In the eighth invention, in addition to the effects of the first to sixth inventions, the plurality of suction holding devices are arranged on the mounting bracket at the tip of the manipulator. The work can be performed with high precision without tilting the work during transfer, transfer, setting in the jig, and removal of the work.

In the ninth invention, in addition to the effects of the first to sixth inventions, since a plurality of suction holding means are arranged on a fixed base, suction is performed according to various work shapes. It can be applied to a cheap general-purpose work table.

A conventional general-purpose table is provided with a plurality of receiving gauges corresponding to each vehicle type corresponding to the number of vehicle types, and a switching actuator for switching the receiving gauges according to the corresponding vehicle type, and a control air for driving the switching actuator. A valve and a sequence device were required, and a considerably expensive capital investment was required. According to the present invention, the prior switching operation according to the above-mentioned vehicle type is not required, and any vehicle type can be automatically handled on the spot without any complicated control device. But it can be made possible.

Further, when it is necessary to add a clamp for restraining the work to each of the receiving gauges of the conventional general-purpose table, the structure becomes larger, but in the present invention, the clamp is originally used for fixing the work with the suction pad. Work position can be fixed without adding.

In the tenth aspect, in addition to the effects of the first to sixth aspects, the suction holding device is arranged so as to suctionly hold the work in a crossing direction with respect to the work held upright by the transfer device. Therefore, even if the shape or the curvature of the surface of the work changes, the slide position and the swing position of the suction pad are correspondingly changed and positioned and held, so that the run-out of the work can be reliably suppressed.

[0034]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the accompanying drawings. 1 and 2 show an example of a suction holding device to which the present invention is applied. FIG. 1 shows an overall view including a robot hand, and FIG. 2 shows a configuration of a suction pad and a configuration of a pneumatic circuit, respectively.

In FIG. 1, a suction holding device 1 to which the present invention is applied is configured such that a plurality of suction pads 3 arranged in parallel are held on a mounting bracket 2 at the end of a robot arm M so as to be able to advance and retreat. The mounting bracket 2 is attached to the tip axis of a robot arm M having a plurality of axes, each axis of the robot arm M is operated, the work W is sucked and held on each suction pad 3, and the work W is lifted, transferred, Mounting,
Perform insertion, etc. In the illustrated robot arm M, one axis for rotating the mounting bracket and two axes for swinging are shown. Each suction pad 3 is fixed to the tip of a slide shaft 5 via a holder 4, and the slide shaft 5 is slidably fitted to a slide guide 6. The slide guide 6 is fixed to the plate 2A at the tip of the mounting bracket 2 by a mounting flange 6A.

The suction pad 3 is urged forward by a spring 7 functioning as urging means disposed around the slide shaft 5, and a stopper 5 provided at the rear end of the slide shaft 5.
A is brought into contact with the slide guide 6 to be positioned at the forward end. Further, when a negative pressure is supplied from a pneumatic circuit 8 described later, the contacted work W is sucked, and when a positive pressure is supplied, the sucked work W is released.

The vertical position of the suction pad 3 and the slide shaft 5 in the illustrated state is slightly raised without the stopper 5A coming into contact with the slide guide 6. This is shown in FIGS. 2, 3, 7 and FIGS.
The same applies to 2. The purpose of the illustration is to clearly show that the stopper 5A is larger in diameter than the slide shaft 5. Actually, the stopper 5A is in contact with the slide guide 6 due to the urging force of the spring 7 and the weight of the suction pad 3 and the slide shaft 5.

The details of the slide guide 6 of the suction pad 3 and the pneumatic circuit 8 will be described with reference to FIG. The slide guide 6 includes a guide tube 11 that slidably holds the slide shaft 5 and a cylinder 12 that is fitted around the guide tube 11 to form a cylindrical space around the guide tube 11. Guide tube 11 and cylinder 1
The cylinder chamber 1 is slidably fitted to the outer peripheral surface of the guide tube 11 and the inner peripheral surface of the cylinder 12 and one of them is connected to the hose 19 from the pneumatic circuit 8.
The lock sleeve 14 formed in 3 is inserted. Also,
A spring 15 that is seated on the lock sleeve 14 and the cylinder 12 and retracts the lock sleeve 14 toward the cylinder chamber 13 is inserted.

On the inner peripheral surface of the lock sleeve 14, there is formed a tapered lock surface 14A whose diameter increases as the distance from the spring 15 side in the axial direction increases. The lock sleeve 14 is moved by the urging force of the spring 15 to the cylinder chamber 13.
When in the retracted position on the side, a through-hole penetrating through the inner and outer surfaces of the guide tube 11 is arranged facing the small diameter portion of the lock surface 14A of the lock sleeve 14. A sphere 16 that contacts the lock surface 14A is inserted into the through hole. The inner peripheral side of the sphere 16 comes into contact with the slide shaft 5 via the brake shoe 17. These cylinder 12, lock sleeve 14, spring 15, sphere 1
6 and the brake shoe 17 constitute a lock mechanism (lock means) 10. 12A is the spring 1
Reference numeral 5 denotes an open hole to the atmosphere in the space where the arrangement is made.

In the lock mechanism 10, when the compressed air is not supplied to the cylinder chamber 13 functioning as the lock releasing means, the lock sleeve 14 is located at the retreat position on the cylinder chamber 13 side by the urging force of the spring 15. In this retracted position, the spherical body 16 is pressed inward in the radial direction by the tapered lock surface 14A, and the brake shoe 17 is pressed against the slide shaft 5 to restrict the sliding movement of the slide shaft 5.

When the fluid is supplied to the cylinder chamber 13, the lock sleeve 14 moves to a forward position opposite to the cylinder chamber 13 against the urging force of the spring 15. In this forward position, the tapered lock surface 14A is retracted from the sphere 16 to allow the sphere 16 to move outward in the radial direction, and the brake shoe 17 is released from being pressed against the slide shaft 5 to release the slide shaft 5. Enables sliding movement.

The suction pad 3 is made of a shallow dish-shaped or cup-shaped rubber and is fitted and held on the outer periphery of the holder 4. The space formed by the suction pad 3 and the holder 4 is formed in the slide shaft 5. It is connected to the hose 18 to the pneumatic circuit 8 through the through hole 5B.

The pneumatic circuit 8 includes a filter 21, a pressure regulating valve 22, a first solenoid valve 23, a second solenoid valve 24, an ejector 25, a venturi 26 and the like. First
The solenoid valve 23 supplies the compressed air from the pneumatic source 20 to each of the cylinder chambers 13 connected in parallel from the common pneumatic circuit 19A at the first switching position, and also communicates with the second solenoid valve 24. To the atmosphere. In the second switching position where the solenoid is operated, the first solenoid valve 23 supplies the compressed air from the pneumatic source 20 to the second solenoid valve 24 and connects each cylinder 13 to the common pneumatic circuit 19A. Open to the atmosphere via.

In the first switching position, the second solenoid valve 24 transfers the compressed air passing through the first solenoid valve 23 from the common pneumatic circuit 18A via the ejector 25 to the suction pads 3 connected in parallel. Supply. At the second switching position where the solenoid is operated, compressed air is supplied to the venturi 26 to generate a negative pressure by the venturi action, and this negative pressure is supplied from the common pneumatic circuit 18A to the suction pads 3 connected in parallel.
Supply to The ejector 25 functions to stop the supply when a predetermined amount of air is supplied to the suction pad 3.

When the first solenoid valve 23 is at the first switching position, the first and second solenoid valves 23 and 24 release the operation of the lock mechanism 10 and the suction pad 3 is moved together with the slide shaft 5. It is possible to advance and retreat. When the first solenoid valve is switched to the second switching position, the lock mechanism 10 operates to restrain the suction pad 3 from moving forward and backward while the second solenoid valve 24
Is operated so as to supply a positive pressure or a negative pressure to the suction pad 3 according to the switching position. The second solenoid valve 24 and the venturi 26 function as a suction operation unit.

FIG. 3 shows an operating state when the first and second solenoid valves 23 and 24 are both switched to the second switching position in a state where the suction pad 3 is in contact with the workpiece W. Since the inside of the cylinder chamber 13 of the lock sleeve 14 of the lock mechanism 10 is opened to the atmosphere, the lock state is locked to restrict the movement of the slide shaft 5. The compressed air from the air pressure source 20 is supplied to the venturi 26 via the first and second solenoid valves 23 and 24, and the generated negative pressure is supplied to each suction pad 3.

The operation of the holding device 1 described above is shown in FIGS.
This will be described below with reference to FIGS.

FIG. 1 shows a state in which the suction holding device 1 is moved closer to the work W by the robot arm M. First,
2 The solenoid valves 23 and 24 are both the first solenoid with the solenoid OFF.
Position, the lock mechanism 10 is released and the slide shaft 5
Is slidable, and neither negative pressure nor positive pressure is supplied to the suction pad 3.

Although the vertical position of the suction pad 3 and the slide shaft 5 in the illustrated state is shown slightly raised without the stopper 5A coming into contact with the slide guide 6, the stopper 5A slides as described above. This is to clearly show that the diameter is larger than the shaft 5. Actually, the stopper 5A is in contact with the slide guide 6 due to the urging force of the spring 7 and the weight of the suction pad 3 and the slide shaft 5, and the position of the suction pad 3 in this contact state is a distance A from the mounting flange 2. It indicates that it is in the position.

When the mounting bracket 2 is moved closer to the work W by the robot arm M, the shape of the work W in this case is a stepped structure, so that one suction pad 3 first comes in contact with a higher step. Further, when the mounting bracket 2 is moved closer to the work W, the suction pad 3 that first comes in contact
Stops and maintains the contact state, and only the slide guide 6 approaches the work W while bending the spring 7.

Next, the other suction pad 3 comes into contact with the lower stage of the work W, and maintains the contact state similarly to the one suction pad 3. After that, only the mounting bracket 2 works W
Therefore, the approach of the mounting bracket 2 is stopped.

FIG. 4 shows a state in which all the suction pads 3 to be contacted are in contact with the work W. As for the position of the suction pad 3, the distance from one mounting flange 2 and the distance from the other mounting flange 2 are unequal due to a step.

In this state, the first and second solenoid valves 23,
24 are both switched from the first position to the second position by the solenoid. While the cylinder chamber 13 is opened to the atmosphere by the first solenoid valve 23 and the slide shaft 5 of each suction pad 3 is restrained by the lock mechanism, the negative pressure obtained by operating the venturi 26 by the second solenoid valve 24 is applied to each suction pad. The workpiece W is sucked and held by supplying the workpiece W to the workpiece 3.

Next, when the work W is lifted to be conveyed to the next step, the state shown in FIG. 5 is obtained. Even in this state, since the slide shaft 5 of each suction pad 3 is locked by the lock mechanism 10, the distance of each suction pad 3 from the mounting flange 2 does not change. Is the same as The posture of the work W does not change even if a reaction occurs when the work W is pulled out or vibration is applied during the conveyance.

In FIG. 6 showing the next step, when the work W is placed on the processing jig G, extracted from the processing jig G, and then transferred to the next step, the slide mechanism 6 and the suction pad are moved by the lock mechanism 10. The relative position of 3 does not change. The posture of the workpiece W is maintained in the expected state, and the processing jig G
Placed with high accuracy.

After the work W is placed on the processing jig G, the second solenoid valve 24 is switched to the first position, whereby a predetermined amount of air is sent to the suction pad 3 via the ejector 25 and the work W of the suction pad 3 is moved. Release the state of adsorption to. Next, by switching the first solenoid valve 23 to the first position, the cylinder chamber 13
Is released to the atmosphere, and the lock mechanism 10 releases the restriction on the slide shaft 5. The mounting bracket 2 is retracted from the workpiece W by the robot arm M, and while the slide shaft 5 is extended by this retraction, the suction pad 3 is moved from just before the most extended position.
To be removed.

In the above description, the suction pad 3 is integrally fixed to the slide shaft 5.
The suction pad 3 may have a structure in which the suction pad 3 swings at the tip of the slide shaft 5. With such a configuration, the work W is not limited to a work formed only by a flat surface, but is a work W having an inclined surface. Even so, it can be applied.

The present invention is not limited to the one that can be linearly stroked in the suction direction by the slide shaft 5, but may be one that moves forward and backward while turning.

According to this embodiment, the following effects can be obtained. That is, the work W is moved by the suction operation of the suction pad 3 which can be moved forward and backward by the slide shaft 5.
Is held by the lock mechanism 10 so that the suction position does not move when the object is held. For this reason, once the work W is sucked, the position of the work W does not move due to the recoil at the time of lifting or the vibration at the time of conveyance, and the suction posture is maintained, thereby preventing the work W from being damaged. Moreover, the work W that has been adsorbed
Does not move, the positioning accuracy of the work W can be improved when the work W is transferred and set in the jig.

When the work W is sucked by the respective suction pads 3, each of the suction pads 3
In this state, the locking means (lock mechanism 10) restrains the robot from retreating. For this reason, the work posture does not change in any case of transferring the work W, transferring the work W to the receiving jig G, and extracting the work W from the jig G, thereby preventing damage due to interference with the jigs G. And the positioning accuracy can be improved.

Since each suction pad 3 is restrained at the advance / retreat position corresponding to the shape of the work W, the suction pad 3 can be sucked and held without limiting the shape of the supplied work W, and can correspond to various shapes of the work W. It can be applied to general-purpose equipment such as FMS equipment in recent years. As in the past, dedicated holding devices for each model are prepared for the number of models, and expensive hand-change parts are attached to handle the models. No capital investment is required.

Since the plurality of suction pads 3, the urging means (spring 7), and the lock mechanism 10 are arranged on the mounting bracket 2 at the tip of the manipulator M, the transfer and transfer of the work W depends on the shape of the work and the position of the center of gravity of the work. The work W can be performed with high accuracy without tilting the work W during transfer, setting in the jig, and removal. Conversely, the processing jig G and the receiving jig G do not need to be formed in consideration of the change in the posture of the work W, and therefore are easily manufactured.

Slide shaft 5 for holding suction pad 3
Is for preventing movement by the lock mechanism 10 when external power such as compressed air is not supplied, the operation timing for suction of the suction pad 3 and the operation timing of the lock release means are shifted, and Power from the pressure source can be used effectively.

Since the compressed air from the same pneumatic pressure source 20 is used, the hose 18 from the second solenoid valve 24 constituting the suction operation means and the first solenoid valve 23 constituting the lock means are used.
And the hose 19 from the pneumatic circuit 8.

FIG. 7 shows a second embodiment of the suction holding device according to the present invention.
Unlike the embodiment shown in FIG. 1, a plurality of suction pads 3 are arranged not on the robot arm M side but on a fixed base E in a regular or random manner. The work W is used by being seated from above the device 1.

In the suction holding device 1, a slide guide 6 is fixed to a mount E fixed to a floor or the like with the suction pad 3 facing upward in the drawing and a mounting flange 6A. The suction pad 3 can be moved vertically by the slide shaft 5, and the suction pad 3 is urged to protrude upward by a spring 7 provided around the slide shaft 5.

It should be noted that the suction pad 3 can be locked by the lock mechanism 10 at an arbitrary position in the vertical direction, that the suction pad 3 sucks the work W by supplying a negative pressure, and that the suction pad 3 receives the positive pressure. The detachment of the work W is performed in the same manner as the lock mechanism 10 and the pneumatic circuit 8 similar to those in FIG. 2, and a specific description thereof will be omitted.

In this configuration, neither the negative pressure nor the positive pressure is supplied to the suction pad 3, the lock mechanism 10 is opened, and the work W is transported above the suction holding device 1 by the robot arm M. It is lowered while maintaining its posture by M.

The work W comes into contact with a part of the suction pads 3 from the portion projecting downward, and when all the suction pads 3 below the work W come into contact with the work W, the pneumatic circuit is activated. 8, the lock mechanism 10 of the suction pad 3 corresponding to the lower portion of the work W is operated (see the operation state of FIG. 8).

In this state, the height of each of the suction pads 3 differs depending on the shape below the work W to be held, whereby the work W is held without changing its posture. Is done. Next, by supplying a negative pressure to the suction pad 3, the work W is held without being separated by an external force, and necessary processing is performed on the work W.

The suction holding device 1 is arranged not only in the form of a bar-shaped work W but also in an orderly or random manner as shown in FIG. 9 so that the work W having a large surface can maintain its posture. Can be held.

In this embodiment, a fixed base E
Above the plurality of suction pads 3 are arranged together with a biasing means such as a spring 7 and a lock mechanism 10. For this reason,
Since the suction pad 3 moves according to the shape of the work W to be placed and is restrained from moving by the lock mechanism 10, the suction pad 3 sucks in accordance with various work shapes, continues to hold the suction position, and is a cheap general-purpose work. It can be applied to a table.

There is no restriction on the shape of the target work W,
Various types of workpieces W can be held in accordance with their shapes, and there is no need for prior switching operation according to the vehicle type, and various types of workpieces W can be controlled by the robot hand M or the manipulator M without any prior notice. Even if it is set, a highly versatile work positioning table that can be held and fixed without changing its transport posture can be provided. That is, it is possible to automatically cope with any type of vehicle without a complicated control device on the spot, and it is possible to cope with any number of types of vehicles without any limitation.

In the conventional general-purpose table, as shown in FIG. 28, a work receiving gauge 51 corresponding to each vehicle type is prepared for each vehicle type, and further, the receiving gauge 51 is switched according to the corresponding vehicle type. This requires a switching actuator 52 and a control air valve and a sequence device (not shown) for driving the switching actuator 52, which requires considerably high capital investment.

Further, the work W is originally fixed by the suction pad 3, and the position of the work W can be fixed without adding a clamp. In the conventional general-purpose table, it is necessary to add a clamp device corresponding to each of the receiving gauges 51 in order to fix the work, and it is inevitably large.

The suction holding device 1 of each of the embodiments shown in FIGS. 1, 7, and 9 having the plurality of suction pads described above has the suction pad 3 arranged so as to face the work W. However, the present invention is not limited to this, and may include a suction pad 3 that does not face the work W.
Only the suction pad 3 facing the work W may be operated to operate as described above.

When the suction pad that does not face the work W is provided as described above, the suction operation of the suction pad 3 that does not face the work W must be prohibited. This is because when the invention disclosed in Japanese Patent Application Laid-Open No. 2000-79589 previously proposed by the applicant of the present application is used in combination, it is not necessary to rearrange the suction pads each time in accordance with the size of the work. It is only necessary to dispose the suction pads in a size range that can be accommodated, so that the control device can be further simplified.

FIG. 10 shows a modification of the suction pad of the present invention. In the example shown in FIG. 2, the lock mechanism 10 is released when compressed air is supplied. When the compressed air is supplied to the lock mechanism 10, the lock mechanism 10 operates. The same parts as those in FIG. 2 are described with the same reference numerals.

In FIG. 10, a spring 35 is disposed at the large-diameter end of the tapered lock surface 14A of the lock sleeve 14, and the lock sleeve 14 is urged in the unlocking direction. Cylinder chamber 33 functioning as lock operating means
Is disposed at the small-diameter end of the tapered lock surface 14A of the lock sleeve 14, and is pressed against the spring 35 by compressed air in the lock operation direction.

The first solenoid valve 23 of the pneumatic circuit 8 shuts off the compressed air to the cylinder chamber 33 at the first position and supplies it at the second position to the lock mechanism solenoid valve 23A and the second solenoid valve 24. And a suction pad solenoid valve 23B for shutting off the compressed air at the first position and supplying the compressed air at the second position.

Until all the suction pads 3 to be brought into contact with the work W, all the solenoid valves 23, 24
Are in the first position, and all the lock mechanisms 10 are released by the springs 35 so that neither the positive pressure nor the negative pressure is supplied to the suction pad 3.

When all of the suction pads 3 to be brought into contact with the workpiece W, both the lock mechanism solenoid valve 23A and the suction pad solenoid valve 23B, which are the first solenoid valves 23, are turned on. 2, the lock mechanism 10 is actuated and compressed air is supplied to the second solenoid valve 24. The second solenoid valve 24 is also simultaneously switched to the second position as described with reference to FIG. Is supplied with a negative pressure, and the suction pad 3 sucks the work W.

When placing the workpiece W on the processing jig G,
As in the example of FIG. 2, by returning the second solenoid valve 24 to the first position, a predetermined amount of positive pressure is supplied to the suction pad 3 to release the suction operation of the suction pad 3. The subsequent operation is shown in FIG.
The description is omitted because it is the same as.

FIG. 11 shows a further modified example of the suction pad 3 of the present invention.
In A, the cylinder chamber 33 of the lock mechanism 10 is opened to the atmosphere at the first position and the compressed air is supplied at the second position. In this example, the chamber in which the spring 35 is disposed is sealed and locked. At a first position of the mechanism solenoid valve 23A, compressed air is supplied to a chamber 38 in which a spring 35 is disposed,
At the second position, the spring chamber 38 is opened to the atmosphere.

In this structure, since the lock sleeve 14 is moved between the open position and the lock position by the compressed air,
It can be operated reliably.

FIG. 12 shows still another modification of the suction pad of the present invention.
And instead of the spring chamber 3 of the lock mechanism 10
8, the air pressure supply passage 18 to the suction pad 3 is branched and connected to the spring chamber 38.

According to this example, the lock sleeve 14 is moved toward the lock side by the negative pressure of the spring chamber 38 only when the negative pressure is supplied to the suction pad 3.

Therefore, a special electromagnetic valve for operating the lock mechanism 10 is not required, and the circuit configuration of the pneumatic circuit 8 can be simplified.

FIGS. 13 to 15 show a third embodiment of the suction holding device according to the present invention.
In addition to the modes shown in 0 to 12, the suction pad 3 is held at the tip of the slide shaft 5 so as to be able to swing and restrain the swing.

In FIG. 13, the suction holding device 1 includes a slide guide 6, a swing restraint mechanism 40 attached to the tip of a slide shaft 5 passing through the slide guide 6, and a suction pad held by the swing restraint mechanism 40. And 3.

The slide guide 6 is constructed similarly to the embodiment shown in FIGS. 1 to 12, and guides the slide shaft 5 so as to be extendable and contractable, and a lock mechanism 10 incorporating the slide shaft 5.
Can be locked. The end of the guide tube 11 on the side of the swing restraining mechanism 40 is reduced in diameter through a step 11A,
The reduced diameter portion is inserted into a hole 2B provided in the plate 2A of the bracket 2, and the nut 11B is screwed into the insertion end to be fixed to the bracket 2. A coil-shaped spring 7 is arranged around the slide shaft 5 to urge the swing restraining mechanism 40 and the suction pad 3 in the advance direction. FIG. 13 shows the limit state of the suction pad 3, and FIG. 14 shows the limit state of return of the suction pad 3 in which the slide shaft 5 has been moved to the retracted position.

As shown in FIG. 15, the swing restraining mechanism 40 includes a spherical top 41 fixed to the suction pad 3 and a fixed spherical guide 4 supporting the top 41 from the suction pad 3 side.
2 and a movable spherical guide 43 that supports the top 41 from the opposite side to the spherical guide 42. Movable spherical guide 4
The cylinder 3 is urged by the spring 44 toward the top 41, and has a cylinder 45 that operates in the direction away from the top 41 against the spring 44.

The top 41 is fixed to the back surface of the suction pad 3 via a bolt 3A, and has a passage 41A for introducing a negative pressure into the suction pad 3 penetrating the center thereof. Top 41
Is formed in a spherical surface, and is supported by the fixed and movable spherical guides 42 and 43. When the movable spherical guide 43 is urged by the spring 44, the movable spherical guide 43 is locked by the two spherical guides 42 and 43, and the swinging movement of the suction pad 3 is restricted. The movable spherical guides 42 and 43 are the cylinder 4
In a state where the suction pad 3 is biased in the separating direction, the movement between the spherical guides 42 and 43 is allowed, and the swing of the suction pad 3 is allowed.

On the suction pad 3 side, the cylinder 45 fixedly holds the fixed spherical guide 42 with an outer peripheral screw 42A, and supports the movable spherical guide 43 in an inner peripheral hole 45A so as to be movable in the axial direction. The slide shaft 5 side has a cylindrical body 45.
B, and its open end is closed by an end cover 46 connected to the slide shaft 5. On the inner circumference of the cylindrical body 45B,
A ring-shaped piston 47 is slidably inserted, and a boss 4 that is slidably fitted to the end cover 46 on the inner periphery of the piston 47.
7A are formed. The inner peripheral side of the piston 47 and the movable spherical guide 43 are connected via a cylindrical member 43A extending in the axial direction from the spherical guide 43, and the piston 47 and the spherical guide 43 move integrally. The cylindrical member 43A is slidably fitted to the tip of a flange 45C extending inward from the cylindrical body 45B, and the cylindrical member 45B and the flange 45C are fitted.
And the cylinder member 43A and the piston 47 form a cylinder chamber 45D. The spring 44 is interposed between the piston 47 and the end cover 46 to urge the piston 47 toward the suction pad 3. A hole 46A provided in the end cover 46 in the axial direction is provided with the slide shaft 5 through the inner periphery of the piston 47 and the cylindrical member 43A and the passage 41A of the top 41.
Is communicated with the inside of the suction pad 3.

In the swing restraining mechanism 40, working fluid is introduced from the pneumatic circuit 19 and the like into the cylinder chamber 45D via the hole 45E in synchronization with the lock mechanism 10. Cylinder chamber 45
When no working fluid is introduced into D, the urging force of the spring 44 acts on the movable spherical guide 43 via the piston 47 and the cylindrical member 43A. In this case, the top 41 is locked and held between the fixed spherical guide 42 and the suction pad 3 is restrained from swinging, and the swinging position is held in a restrained state. When the working fluid is introduced into the cylinder chamber 45D, the spring 4
4, the piston 47 is urged to the opposite side of the suction pad 3 to move the movable spherical guide 43 away from the fixed spherical guide 42 via the cylindrical member 43A. In this case, the rotation of the top 41 is allowed, and the suction pad 3 is in a holding release state in which the suction pad 3 can swing in the swing direction, for example, at a cross-sectional position, a two-dotted line position, or the like as illustrated.

The suction pad 3 has a ring-shaped tip 3 compared to the base 3B fixed to the top 41.
A material having a soft C side is used so that a workpiece such as a panel, which is a partner, is not scratched during suction.

The suction pad 3 is made of a material such as nitrile rubber (NBR), which is an oil-resistant polymer rubber generally used for oil seals and O-rings. In order to obtain a different hardness between the base 3B side and the tip 3C side, the quality and quantity of carbon contained in the polymer base are made different between the tip 3C side and the base end 3B side of the pad, and both are integrally vulcanized. Molding. In the vulcanization molding step, since the distal end 3C side and the proximal end 3B side are the same type of polymer, they are easily chemically bonded and integrated. In this way, the suction pad 3 has high flexibility on the distal end 3C side and high rigidity on the proximal end 3B side.

The material of the suction pad 3 is not limited to the above, but may be formed of another rubber material, and the required hardness between the tip 3C side and the base end 3B side. It just needs to be different. According to a durometer hardness HDA based on a spring-type hardness tester “durometer” used for plastics and rubber materials, the hardness of the suction pad 3 is “40 to 50” on the tip side,
It is desirable that the other parts including the base end have a hardness of "60 to 70".

In this configuration, compressed air as working fluid is supplied to the lock mechanism 10 and the swing restraining mechanism 40. The lock mechanism 10 is released, and the slide shaft 5 is held at the distal end position by the spring 7. Swing restraint mechanism 4
When the compressed air is supplied to the cylinder chamber 45D, the piston 47 moves against the spring 44, and the movable spherical guide 43 loosely contacts the spherical surface of the top 41 or slightly moves away from the spherical surface of the top 41. The top 41 is in a restrained state where it can rotate and slide between the spherical guides 42 and 43.

In this state, the bracket 2 is moved by the robot hand (not shown) so that the suction pad 3 faces the work, and then the tip side of the suction pad 3 is brought into contact with the work. Since the tip 3C is formed to have high flexibility and soft hardness, it is possible to prevent the work from being dented or damaged when it comes into contact with the work.

Since the suction pad 3 which has come into contact with the work is in the restraint released state, the suction pad 3 swings following the inclination of the contact surface of the work, and the entire periphery of the ring-shaped tip 3C comes into contact with the work. . Subsequently, the bracket 2 is moved toward the work until the entire circumference of the ring-shaped portion on the tip end 3C side of the other suction pad 3 comes into contact with the work, and this movement causes the spring 7 to bend and the slide shaft 5 to move the slide guide 6 It is absorbed by moving the contact position with the object.

When all the suction pads 3 have come into contact with the work, the supply of the working fluid to the lock mechanism 10 and the swing restraining mechanism 40 is stopped to bring the pressure to atmospheric pressure. Slide guide 6
Actuates the lock mechanism 10 to lock the movement of the slide shaft 5, and the rocking restraint mechanism 40 applies the piston 47 to the spring 44 to move the movable spherical guide 43 toward the fixed spherical guide 42 by the spring 44. Be inspired. The rotation of the top 41 is restrained, and the suction pad 3 is maintained in a restrained state in which the tip-side ring-shaped tip 3C contacts the work surface.

Next, when a negative pressure is introduced into the suction pad 3 through the through hole 5B of the slide shaft 5, the hole 46A of the end cover 46, the inner periphery of the piston 47 and the cylindrical member 43A, and the passage 41A of the top 41, the work Is sucked by the suction pad 3 and can be transported.

The ring-shaped portion of the suction pad 3 on the tip 3C side is held at a swinging position where the suction pad 3 has swung according to the work shape, and the slide position of the suction pad 3 is also at the position where the slide shaft 5 slides according to the work shape. Locked by the lock mechanism 10. The work posture is conveyed and transferred as it is in the posture set on the jig stand or the like.

Since the ring-shaped portion of the suction pad 3 on the tip 3C side is formed soft and flexible, the work is prevented from being dented or scratched even when it comes into contact with the work.

FIGS. 16 to 23 show a robot hand H constituted by using a plurality of the above-mentioned suction holding devices 1 for transporting a roof assembly R as a work to a body main assembly line in a vehicle assembly process.

FIGS. 16 to 18 show ladder-shaped bases HB connected to the robot arm M. The brackets 2 are fixed to six places around the base HB.
, The suction holding device 1 configured in the present embodiment is mounted with the slide shaft 5 arranged vertically.

The figure shows a state where the roof assembly R is held. The roof assembly R is applied to a wagon type vehicle, and has a large dimension in the front-rear direction and a relatively small curvature on the upper surface. The suction holding device 1 for holding the roof assembly R holds the suction pad 3 in a state where each suction pad 3 swings following the surface of the roof assembly R and the entire surface of the suction pad 3 on the tip 3C side is in reasonable contact. , And the slide shaft 5 is locked by the lock mechanism 10 at a telescopic position moved according to the surface shape of the roof assembly R.

In FIGS. 19 to 21, the same robot hand H is used.
16 shows a state in which a roof assembly R different from those shown in FIGS. 16 to 18 is held by the suction holding device 1 similarly arranged at six locations and configured in the present embodiment. This roof assembly R is applied to a sedan type vehicle, and has a small dimension in the front-rear direction and has a relatively large upper surface curvature. In the suction holding device 1 for holding the roof assembly R, the front four suction pads 3 swing along the surface of the roof assembly R so that the entire surface of the suction pad 3 on the tip 3C side can be easily contacted. The sliding shaft 5 is maintained in the holding state, and the lock shaft 10 is moved in the telescopic position moved according to the surface shape of the roof assembly R.
Locked to.

FIG. 22 shows a state in which the roof assembly R shown in FIGS. 16 to 21 is conveyed and set on the body side assembly BS on the body main assembly line, and the flange BSF of the body side assembly BS is shown. The flange RF of the roof assembly R is overlapped on the
SF and RF are fixed by welding with spots or the like.
Prior to this welding, the roof assembly R needs to be positioned with respect to the body side assembly BS. The positioning method includes the flanges BSF, R of the two assemblies R, BS.
It is also conceivable to use F with a positioning gauge from the bottom, but the flanges BSF and RF are parts to be welded by a spot welding gun, and a positioning gauge that interferes with the welding gun cannot be used.

However, in the robot hand H including the suction holding device 1 of the present embodiment, the robot hand H can be positioned by the positioning function of the robot arm M while the roof assembly R is in the suction holding state.

As described above, even if the size and curvature of the work are different, the suction pad 3 swings along the surface of the work,
The slide shaft 5 slides in accordance with the surface shape of the work, and in each state, the suction pad 3 is held at the swinging position, and the slide shaft 5 is locked at the slide position by the lock mechanism 10. It can be transported and transferred without the need. Further, since the ring-shaped portion on the tip 3C side of the suction pad 3 is formed to be soft and flexible, there is no dent or scratch on the work.

FIG. 23 relates to a suction holding device applied to the body side assembly / transport method of a vehicle body proposed in Japanese Patent Application No. 9-232978 (Japanese Patent Application Laid-Open No. 10-236352).

In this assembling method, the lower end of the side sill is positioned and supported by positioning means G1 to G3 provided on the moving body TS which is moved by the transfer device T, the roof rail side is held by the positioning means G4 and G5,
It is transported with S upright. In each transportation step, a front inner, a wheel house, a rear pillar inner, and the like are mounted and fixed by welding or the like by a welding robot.

The body side BS positioned on the moving body TS has a flange of a side sill and a front door opening, and the flanges of the positioning means G1 to G5 are not shown in the drawing. It has been generalized to correspond. Also, the positioning means G3, the fender panel FP, and the suction pad 3
The suction holding device 1 that abuts and positions the fender panel FP by suction is disposed so as to intersect with the fender panel FP, and is fixed via a bracket BR.

In the suction holding device 1, the suction pad 3 is extended by the spring 7 together with the slide shaft 5, and the entire periphery of the tip 3C of the suction pad 3 is brought into contact with the surface of the fender panel FP by the swing restraining mechanism 40. The supply of the working fluid to the lock mechanism 10 and the rocking restraint mechanism 40 is stopped to bring the pressure to the atmospheric pressure. The slide guide 6 is a lock mechanism 10
Is actuated to lock the movement of the slide shaft 5, and the swing restraint mechanism 40 is maintained in a holding state that regulates the swing of the suction pad 3.

In this state, the body side BS is positioned in an upright state by the respective positioning means G1 to G5, and is positioned in a state in which the fender panel FP is prevented from swinging by the suction holding device 1. Fender panel FP
The shape and the curvature of the surface are different for different types of vehicles. Even if the type of vehicle is different, the suction holding device 1 moves the suction pad 3 forward and backward and swings according to the different shape and the curvature of the surface to suck and hold the fender surface by the suction pad 3 and stop the swing. be able to.

In the above-described method for assembling the body side BS, the case where the suction holding device 1 is applied to the fenders for resting and positioning is described. However, although not shown, positioning of other parts, for example, the roof rail side, is performed. The suction holding device 1 can be applied to the portions G4 and G5.

In the present embodiment, the following effects can be obtained in addition to the effects obtained by the first embodiment. The suction pad 3 is provided so as to be swingable with respect to the slide shaft 5 and has a swing restraint mechanism 40 as a restraining means for restraining the swing of the suction pad 3 during the suction operation of the suction pad 3. Is held at a swinging position where the tip 3C is swung according to the shape of the work, and the work is conveyed and transferred in the same state as set on the jig stand or the like. That is, regardless of the shape of the work,
Transfer is possible.

Suction pad 3, tip 3C contacting work
Since the hardness of the ring-shaped portion is lower than that of the other portions, it is possible to prevent dents and scratches at the time of contact with the workpiece.

In the application example of FIG. 23, the suction holding device 1 is arranged so as to suctionly hold the work in a cross direction with respect to the work held upright by the transfer device.
Even if the shape and the curvature of the surface of the work change, the slide position and the swinging position of the suction pad 3 are changed and the positioning and holding are performed, so that the run-out of the work can be reliably suppressed.

[Brief description of the drawings]

FIG. 1 is a front view showing a suction holding device according to a first embodiment of the present invention.

FIG. 2 is a diagram showing a suction pad and a pneumatic circuit shown in FIG. 1;

FIG. 3 is a diagram showing an operation state of FIG. 2;

FIG. 4 is a state diagram showing the operation of the suction holding device shown in FIG. 1 during suction.

FIG. 5 is a state diagram showing a state in which the work is lifted after suction by the suction holding device shown in FIG. 1;

FIG. 6 is a diagram showing a state in which the work after suction by the suction holding device shown in FIG.

FIG. 7 is a front view showing a suction holding device according to a second embodiment of the present invention.

FIG. 8 is a state diagram showing an operation state of the suction holding device shown in FIG. 7;

9 is a perspective view showing conversion of the suction holding device shown in FIG. 7 to a general-purpose table.

FIG. 10 is a diagram showing a suction pad and a pneumatic circuit showing a modification of the lock mechanism of the present invention.

FIG. 11 is a diagram showing a suction pad and a pneumatic circuit showing another modification of the lock mechanism of the present invention.

FIG. 12 is a view showing a suction pad and a pneumatic circuit showing still another modified example of the lock mechanism of the present invention.

FIG. 13 is a front view showing a suction holding device in a limit state according to a third embodiment of the present invention.

FIG. 14 is a front view showing the suction holding device in the return limit state in FIG. 13;

FIG. 15 is a sectional view of a swing restraining mechanism of the suction pad.

FIG. 16 is a front view showing an application example of the suction holding device.

FIG. 17 is a plan view of the application example shown in FIG. 16;

FIG. 18 is a sectional view taken along the line AA of FIG. 17;

FIG. 19 is a front view showing another application example of the suction holding device.

FIG. 20 is a plan view of the application example shown in FIG. 19;

FIG. 21 is a sectional view taken along the line BB of FIG. 20;

FIG. 22 is a sectional view showing a positioning state of the roof assembly according to an application example of the suction holding device shown in FIGS. 16 to 21;

FIG. 23 is a front view showing still another application example of the suction holding device.

FIG. 24 is a front view showing a conventional suction holding device.

FIG. 25 is a state diagram showing the work suction state of FIG. 24;

FIG. 26 is a state diagram showing the state of lifting the work of FIG. 24;

FIG. 27 is a state diagram showing a state where the work of FIG. 24 is mounted on a receiving jig.

FIG. 28 is a perspective view of a general-purpose table using a conventional vehicle type switching gauge device.

[Explanation of symbols]

 M Robot arm (manipulator) W Work G Jig E Stand (support member) 1 Suction holding device 2 Mounting bracket (support member) 3 Suction pad 5 Slide shaft 6 Slide guide 7 Spring (biasing means) 8 Pneumatic circuit 10 Lock Mechanism (locking means) 13 Cylinder chamber (unlocking means) 14 Lock sleeve 15, 35 Spring 16 Sphere 17 Brake shoe 23 First solenoid valve 24 Second solenoid valve (Suction operation means) 26 Venturi (Suction operation means) 33 Cylinder chamber (lock actuating means) 40 Swing restraining mechanism (restraining means) 41 Frame 42 Fixed spherical guide 43 Movable spherical guide 44 Spring 45 Cylinder 47 Piston

Continued on the front page F term (reference) 3C007 AS23 DS02 FS01 FT00 FT03 FT17 FT18 FU00

Claims (10)

[Claims] 1. A suction pad which is held in a predetermined range so as to be able to advance and retreat with respect to a support member; an urging means for urging the suction pad in a forward direction within the predetermined range; A suction operation unit for performing suction operation of the suction pad, and a lock unit for restraining the suction pad from moving forward and backward when the suction operation unit is operated. 2. The suction holding device according to claim 1, wherein the lock means uses compressed air from a pneumatic source of the suction operation means as an operation source. 3. The suction pad is arranged so as to be swingable with respect to a slide shaft which is movable forward and backward with respect to a support member, and a restraining means for restraining the swing of the suction pad when the suction operating means is operated. The suction holding device according to claim 1, further comprising: 4. The suction holding device according to claim 1, wherein the suction pad has a lower end ring-shaped portion that comes into contact with the work and has a lower hardness than other portions. 5. The lock device according to claim 1, wherein the suction pad is disposed at a tip of a slide shaft guided by a slide guide, and the lock mechanism restrains the slide shaft from an outer periphery at a first position and releases the restraint at a second position. 2. The suction holding device according to claim 1, further comprising a sleeve, a spring for urging the lock sleeve to the first position, and a lock releasing means for moving the lock sleeve to the second position in opposition to the spring. apparatus. 6. A lock for positioning the suction pad at a tip of a slide shaft guided by a slide guide, wherein the lock mechanism restrains the slide shaft from an outer periphery at a first position and releases the restraint at a second position. 2. The suction holding device according to claim 1, further comprising a sleeve, a spring for urging the lock sleeve to the second position, and a lock operating means for moving the lock sleeve to the first position against the spring. apparatus. 7. The suction holding device according to claim 1, wherein a plurality of the suction holding devices are arranged in parallel.
The suction holding device according to any one of the above. 8. The suction holding device according to claim 1, wherein a plurality of the suction holding devices are arranged in parallel on a bracket moved by a manipulator as a support member. Suction holding device. 9. The suction device according to claim 1, wherein a plurality of the suction holding devices are arranged in parallel on a fixed base as a support member. Holding device. 10. The suction holding device according to claim 1, wherein the suction holding device is arranged so as to suck and hold the work in a cross direction with respect to the work held by the transfer device. A suction holding device according to one of the preceding claims.