JP2004306179A - Sucking device with suction pad - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a sucking device capable of preventing a trouble due to direct suction of a suction pad to an article placing surface or the like when an article to be sucked as an object is not present without being accompanied with a structural limitation causing delay of the operation time taken in sucking the article with the suction pad. <P>SOLUTION: A suction pipe 7 slidably mounted on a cylindrical guide member 4 set on a support member 2 on a moving means side and provided with a suction pad 5 at one end which is sucked from the other end is energized by an energizing means 8 so that the suction pad 5 approaches the cylindrical guide member 4. Further, a hole part 10 is formed in the peripheral wall part in the cylindrical member 4 of the suction pipe 7, thereby it is constituted so that, when the tensile force applied to the suction pipe 7 through the suction pad 5 becomes larger than a value determined by the energizing means 8, the hole part 10 is drawn to the outside of the cylindrical guide member 4 and opened to the outside so that the suction force of the suction pad 5 is lowered. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a suction device provided with a suction pad, which is installed in a moving means for moving an article such as a robot hand by suction while holding the article.
[0002]
[Prior art]
With respect to this type of suction device, a suction tube having a suction pad at one end and a suction port at the other end is inserted under a state in which the suction tube is urged in a direction protruding outward with respect to a suction chamber held at a negative pressure. When the suction tube is pushed into the suction chamber against the biasing force, the suction port provided at the end of the suction tube communicates with the suction chamber to suction and hold the article via the suction pad. Japanese Patent Application Laid-Open No. H11-163,086 discloses an adsorption device that performs the above operation. In this conventional technique, if for some reason the article is not sucked and held on the suction pad or the article held and sucked off the suction pad, the urging force causes the suction pipe to protrude outward, and the The communication between the suction port provided at the end and the suction chamber is cut off, and the negative pressure state in the suction chamber is maintained. Therefore, it is possible to avoid affecting the suction holding state of the article by the suction pad of another suction pipe installed in the same suction chamber. In other words, the above-described conventional technique has a function of using a common suction chamber and avoiding the influence of a suction error of an article by some suction pads on the suction holding state of an article by another suction pad. When there is no article to be sucked corresponding to the suction pad, the article to be sucked has a certain thickness, and the space formed below the suction pad causes the suction pad to be placed on the article. When the suction tube is not in contact with the surface, the suction tube is not pushed into the suction chamber, and no suction force is generated in the suction pad. However, when the thickness of the article to be sucked is small, the gap formed below the suction pad is thin, so that the suction pad abuts on the mounting surface side of the article, and the suction pipe is pushed into the suction chamber. Since the suction port provided at the end of the suction tube is communicated with the suction chamber, the suction pad is suctioned to the mounting surface side of the article. However, if the process moves to the step of lifting the next article in a state where the suction pad is suctioned on the mounting surface side of the article, excessive tensile force acts via the suction pad to cause trouble. There was a case.
[0003]
As described above, the prior art is excellent in that it is possible to avoid the influence of a suction error of an article by some suction pads on the suction holding state of another suction pad to the article. In order to adsorb the gas, the suction tube must be pushed into the suction chamber against the urging force and the suction port of the suction tube must communicate with the suction chamber. There is a technical problem that it takes time for the suction holding operation and is not suitable for high-speed operation. Further, depending on the type of the article, the reaction force acting on the article when the suction tube is pushed into the suction chamber against the urging force may be a problem. Further, when the thickness of the target article to be sucked is small, as described above, when there is no article, the suction pad directly sucks the article on the mounting surface side, and the process shifts to the article lifting step. Technical problems such as excessive tensile force acting at the time and causing troubles have not been eliminated.
[0004]
[Patent Document 1]
Japanese Patent No. 2542159 [0005]
[Problems to be solved by the invention]
The present invention has been developed in view of the above-described conventional technical situations, and does not involve a structural restriction that causes a delay in the operation time required for adsorbing an article as in the conventional art. It is another object of the present invention to provide an article suction device capable of preventing a trouble caused by a suction pad directly adsorbing to a mounting surface of an article when an article to be adsorbed does not exist.
[0006]
[Means for Solving the Problems]
In the present invention, in order to solve the above-mentioned problem, in a suction device provided with a suction pad, which is installed in an article moving means for sucking, holding, and moving an article, a tubular shape installed in an appropriate portion on the moving means side A guide member, a suction pipe slidably provided inside the cylindrical guide member, a suction pipe provided at one end thereof, and a suction pipe sucked from the other end side; and the suction pad guides the suction pipe by the cylindrical guide. A biasing means for biasing in a direction approaching the member is provided, and an opening portion for communicating the inside and the outside is formed in a peripheral wall portion of the suction tube located inside the cylindrical guide member, and the suction pad is provided. When a tensile force greater than the value determined by the urging means acts on the suction pipe through the suction pipe, the opening portion is pulled out of the cylindrical guide member and opened to the outside, so that the suction pad is opened. As the suction power of the Using technical means of configuring. Here, the value determined by the urging means is a value required for pulling out the opening to the outside of the cylindrical guide member against the urging force under the urging means. It means a value of a predetermined tensile force determined by the characteristics of the urging means. Incidentally, the characteristic of the urging means depends on how large the lifting force on the article to be sucked reaches when the suction state of the suction pad is released, such as the spring constant of the spring. Will be set via.
[0007]
BEST MODE FOR CARRYING OUT THE INVENTION
INDUSTRIAL APPLICABILITY The present invention can be widely applied to any suction device provided with a suction pad, which is installed in a moving means of an article such as a robot hand that sucks, holds and moves an article. For example, as the moving means on which the suction device according to the present invention is installed, any means that can move along a single axis, as long as it can move while holding the article by suction on the suction pad, can be used in two vertical and horizontal directions. It may be one that moves two-dimensionally along the axis, or one that moves three-dimensionally, such as a robot hand. Further, the present invention can be widely applied to articles regardless of their planar shape, thickness, and lightness. Regarding the urging means for urging the suction pipe, at least when the suction pad is brought into contact with the target article to be suctioned and lifted while sucking, the suction pipe is urged in a direction in which the suction pad approaches the cylindrical guide member. An appropriate form is possible as long as it can be performed. Also, regarding the connection form between the suction pipe and the suction means side, a form in which each suction pipe is individually connected to the suction means side via a suction hose or the like may be used, or a plurality of suction pipes may be collectively collected. It may be of a form connected to one suction chamber.
[0008]
【Example】
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIGS. 1 and 2 illustrate a first embodiment of the present invention. FIG. 1 is a longitudinal sectional view showing a normal operation state in which an article is sucked by a suction pad, and FIG. FIG. 7 is a vertical cross-sectional view illustrating an operation state when the suction pad is suctioned to the mounting surface side of the article without performing the operation. In the drawing, reference numeral 1 denotes a suction device according to the present invention, which is installed on a support member 2 on the moving means side, and is configured to move to a target position while adsorbing and holding the article 3 by the operation of the moving means. The suction device 1 is provided slidably with respect to the support member 2 on the moving means side via a cylindrical guide member 4, provided with a suction pad 5 at one end and a suction hose 6 connected to the other end. The suction pipe 7 is provided with an urging means 8 such as a spring for urging the suction pipe 7 in a direction in which the suction pad 5 approaches the cylindrical guide member 4. Then, in the normal state in which the article 3 is suction-held, a peripheral wall located inside the cylindrical guide member 4 of the suction tube 7, for example, a peripheral wall located between the sliding members 9 as shown in FIG. An opening 10 is formed in the peripheral wall of the sliding portion that is in close contact with the inner surface of the sliding member 9 to allow communication between the inside and the outside of the peripheral wall, and the present invention is characterized in this point.
[0009]
Thus, as shown in FIG. 1, in a normal case where the article 3 exists on the mounting surface of the article 3, for example, the upper surface of the mounting member 11 such as a conveyor belt, the suction pad 5 is moved via the moving unit. After lowering the support member 2 so as to be in contact with the article 3, suction is started through the suction pipe 7, and the article 3 is sucked by the suction pad 5. Thereafter, the moving means is operated to raise the support member 2, lift the article 3 sucked and held by the suction pad 5, and move the article 3 to a predetermined target position. When the article 3 is lifted, the suction pipe 7 is urged by the urging force of the urging means 8 in a direction in which the suction pad 5 approaches the cylindrical guide member 4. The locking member 13 attached to the connecting member 12 is moved up while being in contact with the lower end of the cylindrical guide member 4, and further moved to the target position. In the drawing, reference numeral 14 denotes a nut for tightening and fixing the cylindrical guide member 4 to the support member 2 on the moving means side, 15 denotes a male screw formed on the outer peripheral portion of the cylindrical guide member 4, and 16 denotes an urging means 8 And 17 are connection members for the suction hose 6.
[0010]
Next, a case where the article 3 does not exist on the mounting surface of the mounting member 11 as shown in FIG. 2 will be described. In this case, as in the case described above, the support member 2 is lowered via the moving means, and when suction is started through the suction pipe 7, the suction pad 5 is attached to the mounting member 11 as shown in the figure. It will be directly adsorbed on the upper surface. Thereafter, when the moving means is operated to start raising the support member 2, a tensile force in the direction of lifting the mounting member 11 is applied to the suction pipe 7 in accordance with the urging force of the urging means 8. . Then, as the amount of deformation of the urging means 8 increases as the support member 2 rises and the urging force increases, the pulling force also gradually increases, and when the pulling force becomes larger than the value determined by the urging means 8, the drawing shown in FIG. Thus, the opening 10 is pulled out of the tubular guide member 4 and is opened to the outside. As a result, the atmosphere flows into the suction pipe 7, and the suction pad 5 is separated from the mounting member 11 due to a decrease in suction force. Therefore, the application of an excessive tensile force to the suction tube 7 is avoided, and troubles can be prevented.
[0011]
3 to 5 exemplify a second embodiment of the present invention. FIG. 3 shows a standard state before the article is sucked, and FIG. 4 shows a vertical section showing a normal operation state where the article is sucked by the suction pad. FIG. 5 is a longitudinal sectional view showing an operation state in a case where the article to be sucked does not exist and the suction pad is sucked on the mounting surface side of the article. Since the suction device 18 according to the present embodiment has many portions common to the first embodiment, basically the same components are denoted by the same reference numerals, and the description is used. In the case of the suction device 18 in this embodiment, as in the case of the first embodiment, the suction device 18 is slidably provided via the cylindrical guide member 4 installed on the support member 2 on the moving means side, and has one end. The suction pipe 19 provided with the suction pad 5 on the side and the suction hose 6 connected to the other end is set to be longer than that of the suction pipe 7 of the first embodiment. Is biased in the direction in which the suction pad 5 moves away from the cylindrical guide member 4 in addition to the first biasing means 20 composed of a spring or the like that biases the suction tube 5 in the direction approaching the cylindrical guide member 4. It is characterized in that it has a second biasing means 21 made of a spring or the like. Then, similarly to the urging means 8, the first urging means 20 lifts the article 3 in a state where the article 3 does not exist on the upper surface of the mounting member 11 and the suction pad 5 is directly adsorbed on the upper surface of the mounting member 11. It is used in order to avoid excessive tensile force acting at the time. On the other hand, the second urging means 21 is used as a buffer means when the article 3 is sucked.
[0012]
Thus, in the standard state before the article 3 of the suction device 18 according to the present embodiment is suctioned, as shown in FIG. 3, the suction pipe 19 includes the first urging means 20 and the second urging means 21. Accordingly, the cylindrical guide member 4 provided on the support member 2 is held in a predetermined state. In this standard state, the opening 22 formed in the suction tube 19 is located at a portion in close contact with the inner surface of the sliding member 9 below the cylindrical guide member 4 in this embodiment. Then, as shown in FIG. 4, when holding the article 3 by suction, the supporting member 2 is lowered via the moving means so that the suction pad 5 comes into contact with the article 3, and suction is performed through the suction pipe 19. Starting, the article 3 is sucked by the suction pad 5. In this case, in the present embodiment, since the second urging means 21 functions as a buffer means, when the suction pad 5 is pressed against the article 3, the second urging means 21 compresses the article 3. Thus, the pressing state on the article 3 is made steady, so that an excessive pressing force on the article 3 is avoided. It is needless to say that the opening 22 formed in the suction tube 19 is located inside the tubular guide member 4 as shown in the drawing when the article 3 is sucked. Further, in the present embodiment, the upper end of the first urging means 20 is separated from the locking portion 16 so as not to generate an urging force when the article 3 is sucked, but other forms are also possible. . Then, after the suction pad 5 sucks the article 3, the moving means is operated to raise the support member 2, lift the article 3, and move to the predetermined target position. (2) The urging means 21 expands and returns to the standard state of FIG. 1, and thereafter, the article 3 is lifted and moved to a predetermined target position while compressing the first urging means 20 to take a reaction force. become.
[0013]
Next, a case where the article 3 does not exist on the upper surface of the mounting member 11 as shown in FIG. 5 will be described. In this case, as in the case described above, the support member 2 is lowered via the moving means, and when suction is started through the suction pipe 19, the suction pad 5 is placed on the upper surface of the mounting member 11 as shown in the figure. Will be directly adsorbed. Thereafter, when the moving means is actuated to raise the support member 2, the second urging means 21 expands and returns to the standard state as shown in the figure, and the upper end of the first urging means 20 is It comes into contact with the locking portion 16. Thereafter, when the support member 2 is further raised via the moving means, the upper end of the second urging means 21 is separated from the lower end of the cylindrical guide member 4, and the urging force is released. The compression of the urging means 20 is started, and the suction tube 19 is urged in the direction in which the suction pad 5 approaches the cylindrical guide member 4. When the support member 2 is further raised in this state, as the amount of deformation of the first urging means 20 increases and the urging force increases, the pulling force acting on the suction pipe 19 in the direction of lifting the placing member 11 gradually increases. When the tensile force becomes larger than the value determined by the first urging means 20, the opening 22 is pulled out of the cylindrical guide member 4 and opened to the outside as shown in the figure. become. As a result, as in the first embodiment, the atmosphere flows into the suction pipe 19, and the suction pad 5 separates from the mounting member 11 due to a decrease in suction force. Therefore, the application of an excessive tensile force to the suction tube 19 can be avoided, and a trouble can be prevented.
[0014]
【The invention's effect】
According to the present invention, a suction pipe having a suction pad at an end is slidably provided on the cylindrical guide member, and the suction pipe is urged in a direction in which the suction pad approaches the cylindrical guide member. With a simple configuration of forming an opening communicating between the inside and the outside in the peripheral wall of the suction tube, without the structural restriction that delays the operation time required for adsorbing articles as in the prior art, Moreover, if the suction pad directly adheres to the mounting surface of the article or the like when the target article to be sucked is not present, a tensile force acting on the suction pipe via the suction pad is applied by the urging means. When the value is larger than the determined value, the opening portion is pulled out of the cylindrical guide member and is opened to the outside, and the function of reducing the suction force of the suction pad is achieved. Therefore, without delaying the operation time of adsorbing the article, when the suction pad is directly adsorbed on the mounting surface of the article or the like and the process shifts to the lifting process, an excessive load is applied to the suction pipe and other components. Conventional technical problems, such as acting and causing trouble, can be solved exactly.
[Brief description of the drawings]
FIG. 1 is a longitudinal sectional view illustrating a normal operation state in which an article is sucked by a suction pad, illustrating a first embodiment of the present invention.
FIG. 2 is a longitudinal sectional view showing an operation state in a case where an article to be sucked does not exist and a suction pad is sucked on a mounting surface side of the article in the embodiment.
FIG. 3 is a longitudinal sectional view illustrating a second embodiment of the present invention and showing a standard state before an article is sucked by a suction pad.
FIG. 4 is a longitudinal sectional view showing a normal operation state in which the article is sucked by the suction pad in the embodiment.
FIG. 5 is a longitudinal sectional view showing an operation state in a case where the article to be sucked is not present and the suction pad is sucked on the mounting surface side of the article in the embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Suction device, 2 ... Support member on the moving means side, 3 ... Article 4, 4 ... Cylindrical guide member, 5 ... Suction pad, 6 ... Suction hose, 7 ... Suction tube, 8 ... Urging means, 9 ... Sliding Member, 10: Opening portion, 11: Mounting member, 12: Connection member, 13: Locking member, 14: Nut, 15: Male screw, 16: Locking portion, 17: Connection member, 18: Suction device, 19 ... suction tube, 20 ... first urging means, 21 ... second urging means, 22 ... opening

Claims (1)

In a suction device provided with a suction pad, which is provided in an article moving means for sucking, holding, and moving an article, a tubular guide member provided in an appropriate portion on the moving means side, and an inner side of the tubular guide member. A suction pipe provided at one end thereof with a suction pad and sucked from the other end, and a biasing means for urging the suction pipe in a direction in which the suction pad approaches the cylindrical guide member. Means, an opening portion for communicating the inside and the outside is formed in a peripheral wall portion of the suction tube located inside the cylindrical guide member, and the urging force is applied to the suction tube via the suction pad. When a tensile force greater than the value determined by the means is applied, the opening is drawn out of the cylindrical guide member and opened to the outside, so that the suction force of the suction pad is reduced. With suction pad characterized by Chakusochi.

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