JP2006224199A - Suction apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a suction apparatus capable of adsorbing a work furnished with various rigidity while restraining its deformation. <P>SOLUTION: This suction apparatus 1 is furnished with a suction pad 2 to adsorb the work W by negative pressure, and an elastic member 20 as a work deformation preventing means 5 to be elastically deformed by following deformation of the work W to the side of a negative load chamber 4 by making contact with the work W of a thin plate to be sucked is arranged in the negative load chamber 4 surrounded by the suction pad 2. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a suction device that holds or transports a workpiece while being sucked by a suction pad, and particularly relates to a suction device suitable for a workpiece made of a large thin member.

  2. Description of the Related Art Conventionally, there has been proposed an adsorption device that reduces the amount of deformation of a portion that is not adsorbed and adsorbs the object to be conveyed without causing damage (see Patent Document 1).

This is because a vacuum suction pipe is inserted through the upper bottom of the suction pad recess, and four protrusions are provided at 90 ° intervals around the pipe. When the mask of the aperture grill is sucked by the suction pad, even if the mask is sucked into the concave portion and deformed, the deformed portion comes into contact with the convex portion and further deformation is prevented. For this reason, the deformation amount of the portion in the concave portion of the mask is small, and wrinkles are not generated in the mask around the suction pad.
JP-A-6-143176

  However, in the above-described conventional example, a convex portion having a constant height is brought into contact with the work to suppress deformation of the work. Therefore, when the height of the convex portion is low with respect to the rigidity of the work, The workpiece does not come into contact with the portion, deformation of the workpiece cannot be prevented, and when the height of the convex portion is high, deformation of the workpiece due to the convex portion may occur.

  Then, this invention is made | formed in view of the said problem, and it aims at providing the adsorption | suction apparatus which can adsorb | suck, suppressing the deformation | transformation with respect to the workpiece | work provided with various rigidity.

  The present invention is a suction device including a suction pad that sucks a workpiece by a negative pressure, and a negative pressure chamber surrounded by the suction pad is brought into contact with a thin plate workpiece to be sucked, so that the workpiece is deformed to the negative pressure chamber side. A work deformation preventing means that is elastically deformed following the above is arranged.

  Therefore, in the present invention, the workpiece deformation preventing means is disposed in the negative pressure chamber surrounded by the suction pad so as to contact the thin plate workpiece to be sucked and elastically deform following the deformation of the workpiece to the negative pressure chamber side. Since the pushing back force to the workpiece changes in accordance with the deformation amount of the thin plate to be attracted, the permanent deformation of the workpiece can be prevented even if the rigidity of the workpiece changes.

  Hereinafter, the adsorption device of the present invention is explained based on each embodiment.

(First embodiment)
1 to 3 show a first embodiment of an adsorption apparatus to which the present invention is applied, respectively, FIG. 1 is a sectional view of the adsorption apparatus of the first example, and FIG. 2 shows an operating state of the adsorption apparatus shown in FIG. FIG. 3 is a cross-sectional view of the suction device of the second embodiment.

  In FIG. 1, the suction device 1 includes a suction pad 2, a holder 3 that holds the suction pad 2, a workpiece deformation prevention member 5 disposed on the negative pressure chamber 4 side of the holder 3, a robot hand (not shown) And a rod 6 attached to the transport hand.

  The suction pad 2 includes a mounting base portion 10 made of a hard synthetic rubber fitted to the holder 3 and a suction portion 11 made of a soft synthetic rubber that spreads in a disk shape from the mounting base portion 10 and is sucked to the workpiece W. The mounting base 10 is provided with a circumferential groove 12 on the inner circumferential side, and the axial movement is restricted by fitting the circumferential groove 12 to a flange 13 provided to protrude from the outer circumference of the holder 3, and is fitted on the outer circumference. The combined mounting ring 14 is fastened to the holder 3 by tightening. The suction portion 11 is provided to be inclined with respect to the mounting base 10 and is arranged in a conical shape as a whole. When the tip of the suction portion 11 contacts the work W, the suction pad 2, the holder 3, and the work W A negative pressure chamber 4 is configured.

  The negative pressure chamber 4 communicates with a nipple 16 provided on the rod 6 via a flow path 15 provided on the holder 3 and is connected to a negative pressure source via a negative pressure hose (not shown) connected to the nipple 16. In addition, the positive pressure source is switched and connected. The flow path 15 is provided with a branch passage 17 in which a plurality of flow paths are branched before communicating with the negative pressure chamber 4, and the branch passage 17 is opened at a portion shifted outward from the center of the negative pressure chamber 4. . Although not shown in the drawings, the plurality of branch passages 17 expand the diameter of the flow path 15A in the central portion of the holder 3 on the negative pressure chamber 4 side to form a large hole, and have a gap with respect to the surface of the expanded diameter hole. A plug body may be inserted and formed by a gap between the plug body and the diameter expansion hole. In this case, by forming a rib having a height corresponding to the gap on the surface of the plug body in the axial direction, the plug body can be securely fixed to the diameter expansion hole of the holder.

  On the periphery of the opening of the flow path 15A of the negative pressure chamber 4 formed by the plug or the holder 3, a work deformation preventing member formed of a soft and flexible material, for example, soft rubber, urethane foam, sponge, or the like. 5 is fixed by adhesion or the like. The workpiece deformation prevention member 5 is formed in a cup shape as a whole with a ring-shaped annular lip 20, and the lip 20 is formed with a thick wall at the base side and a reduced wall thickness as it moves to the tip side. ing. When the workpiece W is a thin plate when the workpiece W is sucked by the suction pad 2 and the vacuum in the negative pressure chamber 4 is increased to a value necessary to hold the weight of the workpiece W by suction, the workpiece W is moved to the suction pad 2. Is adsorbed and deformed toward the negative pressure chamber 4 within the contact range.

  The workpiece deformation preventing member 5 functions to prevent the workpiece W from coming into contact with the workpiece W due to the deformation of the workpiece W during the suction, and the workpiece W from being deformed beyond the elastic limit. The ring-shaped annular lip 20 has a non-linear load-elastic deformation characteristic. For this reason, when the workpiece W is attracted and deformed and comes into contact with the surface of the workpiece W, the workpiece deformation prevention member 5 makes a slight contact at the initial contact stage and increases the repulsive force nonlinearly as the workpiece W is deformed. Deform. In other words, the workpiece deformation preventing member 5 functions to suppress the deformation amount of the workpiece W by its repulsive force that increases nonlinearly while deforming itself against a deformation load from the outside.

  FIG. 2 shows a state in which a work W is sucked by introducing a negative pressure from a negative pressure source into the negative pressure chamber 4 of the suction device 1. The negative pressure to be introduced is introduced into the suction pad 2 through the flow path 15A and the branch flow path 17 in the initial stage of the work W suction, and the negative pressure chamber 4 between the suction pad 2 and the work W is introduced. Air is blown out. As indicated by a chain line in FIG. 2, from the stage where the workpiece deformation preventing member 5 and the workpiece W are in contact with each other, a negative pressure is generated in the space formed by the workpiece deformation preventing member 5 and the workpiece W via the flow path 15A. The negative pressure is introduced into the space between the workpiece deformation preventing member 5 and the suction pad 2 through the branch flow path 17.

  The workpiece W to be sucked is a thin plate as shown in the figure, for example, in the case of a relatively large and heavy workpiece W such as an automobile body side outer or roof panel, the suction surface is formed to be flat or slightly curved. Even if the workpiece suction surface is flat as shown in the figure, it is necessary to increase the negative pressure value introduced into the negative pressure chamber 4 in order to maintain the weight of the workpiece W until a necessary suction force is exhibited. . In that case, as the negative pressure value of the negative pressure chamber 4 increases, the part of the workpiece W surrounded by the ring that contacts the suction pad 2 is drawn to the negative pressure chamber 4 side. When the pull-in becomes larger than a predetermined limit (elastic limit of the workpiece W), permanent deformation that swells slightly toward the negative pressure chamber 4 is generated in the workpiece W in contact with the suction pad 2.

  However, since the suction device 1 of the present embodiment includes the workpiece deformation preventing member 5 that contacts the workpiece W and suppresses deformation of the workpiece W toward the negative pressure chamber 4 at the central portion of the negative pressure chamber 4. Deformation of the workpiece W toward the negative pressure chamber 4 can be suppressed within a predetermined limit, and generation of permanent distortion due to the workpiece deformation exceeding the predetermined limit can be suppressed.

  This operation is performed in the vicinity of the tip of the ring-shaped lip 20 because the deformation of the work W is relatively small in the work W having high rigidity, so that the work deformation prevention member 5 is contacted by the work deformation. Further, since the deformation amount of the workpiece W is relatively large in the workpiece W having low rigidity, the contact with the workpiece deformation preventing member 5 due to the workpiece deformation is performed by largely deforming the ring-shaped lip 20. In any case, since the workpiece deformation preventing member 5 is configured to gradually elastically deform itself according to the pressing load due to the deformation, the repulsive force based on the elastic deformation increases with the elastic deformation, and the workpiece W The amount of deformation is effectively suppressed. For this reason, the workpiece | work W is not damaged locally.

  Further, as the suction load increases, the deformation of the workpiece W tends to increase, but the repulsion force of the workpiece deformation preventing member 5 for preventing the deformation of the workpiece also increases, so that the workpiece W deforms beyond a predetermined deformation amount. Is effectively suppressed D, and a sufficient suction force to hold the weight of the workpiece W can be secured.

  FIG. 3 shows a second example of the suction device of the present embodiment. The workpiece deformation preventing member 5 is a soft and flexible material in which a base portion is inserted into a hole 22 formed in the plug or holder 3. The plug 23 is made of a material such as soft rubber, urethane foam, sponge, or the like.

  Also in the plug 23 of the workpiece deformation preventing member 5 in the suction device 1, due to its own elasticity, the workpiece W is brought into contact with the workpiece W due to the deformation of the workpiece W during suction, and the workpiece W is prevented from being deformed beyond the elastic limit. To function. In this case, when the workpiece W is attracted and deformed and comes into contact with the workpiece surface, the workpiece deformation prevention member 5 makes a slight contact at the initial contact stage and linearly increases the repulsive force as the workpiece W is deformed. However, it is formed to be greatly deformed. That is, the workpiece deformation preventing member 5 functions to suppress the deformation amount of the workpiece W by linearly increasing the repulsive force while deforming itself against a deformation load from the outside. Therefore, it can be operated in the same manner as in the first embodiment.

  In the present embodiment, the following effects can be achieved.

  (A) A suction device 1 including a suction pad 2 that sucks a workpiece W by negative pressure, and comes into contact with a workpiece W of a thin plate to be sucked in a negative pressure chamber 4 surrounded by the suction pad 2. Since the elastic members 20 and 23 as the work deformation preventing means 5 that are elastically deformed following the deformation toward the negative pressure chamber 4 side are arranged, the work W is pushed back according to the deformation amount of the thin plate work W to be adsorbed. By changing the force, permanent deformation of the workpiece W can be prevented even if the stiffness of the workpiece W changes. For this reason, it is possible to sufficiently secure an adsorption force sufficient to hold the workpiece weight.

  (A) When the elastic member is formed of the annular lip 20 that is annular and is erected in the workpiece contact direction, a negative pressure can be introduced into the space surrounded by the annular lip 20, and the adsorption of the adsorption device 1 The ability can be increased.

  (C) Since the annular lip 20 has a thick base and thins toward the tip, the load-elastic deformation characteristic can be made non-linear, and the deformation that changes due to a change in the rigidity of the workpiece W It can be deformed following the amount, and permanent deformation of the workpiece W can be suppressed.

(Second Embodiment)
FIG. 4 shows a cross-sectional view of the adsorption device of the second embodiment. In this embodiment, the work deformation preventing member is projected and urged toward the work contact side by an elastic member. The same devices as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted or simplified.

  In the suction device of the second embodiment, the workpiece deformation preventing member 5 is formed of a soft and flexible material, such as soft rubber, urethane foam, sponge, or the like, disposed so as to be able to appear and retract in a hole 25 formed in the holder 3. The plug 26 is formed. The plug 26 is urged so as to be in a position protruding by an elastic member 27, for example, a coil spring, seated on the bottom of the hole 25, and when a pressing load from the tip side acts, Accordingly, it is configured to be retracted against the elastic member 27. Other configurations are the same as those in the first embodiment. In addition, the front-end | tip part contact | abutted to the workpiece | work W of the plug 26 aims at reducing a contact load at the time of the contact to the workpiece | work W by forming wide.

  In the suction device 1 of the second embodiment having the above-described configuration, the plug 26 of the workpiece deformation preventing member 5 is disposed so as to project and be urged by an elastic member 27 such as a coil spring. The repulsive force can be increased linearly or nonlinearly, and workpiece deformation can be suppressed in accordance with the rigidity of the workpiece W. In addition, an elastic member having a load-elastic deformation characteristic matched to the rigidity of the workpiece W can be selected, and a workpiece deformation suppressing force can be appropriately ensured.

  In the present embodiment, in addition to the effect (a) in the first embodiment, the following effects can be achieved.

  (D) As the workpiece deformation preventing means 5, the plug 26 as a workpiece abutting member arranged so as to be able to advance and retreat with respect to the workpiece W is urged toward the workpiece abutting side by the elastic member 27. The elastic member 27 having a load-elastic deformation characteristic matched to the rigidity can be selected, and the work deformation suppressing force can be appropriately ensured.

(Third embodiment)
FIG. 5 shows a cross-sectional view of a third embodiment of the adsorption device to which the present invention is applied. In the present embodiment, the workpiece deformation preventing member is urged and urged by compressed air. In addition, the same code | symbol is attached | subjected to the same apparatus as 1st, 2 embodiment, and the description is abbreviate | omitted or simplified.

  In the suction device 1 according to the third embodiment, the workpiece deformation preventing member 5 is made of a soft and flexible material, such as soft rubber, urethane foam, sponge, or the like, which is disposed so as to be able to appear and retract in a hole 25 formed in the holder 3. The plug 26 is formed. The hole 25 into which the plug 26 is inserted is formed in a space 28 sealed by the plug 26, and compressed air can be introduced from an external positive pressure source (not shown) through a hose 29 or the like.

  In the suction device 1 of the present embodiment, the plug 26 of the workpiece deformation preventing member 5 is projected and urged by the compressed air, so that the plug 26 moves forward by the introduced compressed air and actively works on the workpiece W. It abuts and actively suppresses deformation of the workpiece W toward the vacuum chamber 4 side. The pressure of the compressed air to be introduced is adjusted so that the pressure is increased in proportion to the negative pressure value introduced into the vacuum chamber 4. However, the deformation can be effectively suppressed.

  In the present embodiment, in addition to the effect (a) in the first embodiment, the following effects can be achieved.

  (E) A plug 26 as a contact member that contacts the workpiece W of the thin plate to be sucked is pressed against the negative pressure chamber 4 surrounded by the suction pad 2 against the deformation of the workpiece W toward the negative pressure chamber 4 side. Since the workpiece deformation preventing means 5 is arranged, the plug 26 is advanced by the introduced compressed air and positively contacts the workpiece W, so that the deformation of the workpiece W toward the vacuum chamber 4 can be positively suppressed.

The sectional view of the adsorption device which shows the 1st example of one embodiment of the present invention. Sectional drawing which similarly shows the operating state of the adsorption | suction apparatus shown in FIG. Sectional drawing of the adsorption | suction apparatus which shows the 2nd Example of 1st Embodiment. Sectional drawing of the adsorption | suction apparatus of 2nd Embodiment of this invention. Sectional drawing of the adsorption | suction apparatus of 3rd Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Suction device 2 Suction pad 3 Holder 4 Negative pressure chamber 5 Work deformation prevention means, work deformation prevention member 6 Rod

Claims (6)

A suction device including a suction pad for sucking a workpiece by negative pressure,
The negative pressure chamber surrounded by the suction pad is provided with a work deformation preventing means that comes into contact with a thin plate workpiece to be sucked and elastically deforms following the deformation of the workpiece toward the negative pressure chamber. Adsorption device.   The suction device according to claim 1, wherein the workpiece deformation preventing means is configured by an elastic member disposed on a bottom portion of the suction pad or a holder that supports the suction pad.   The suction device according to claim 1, wherein the elastic member is formed by an annular lip that is annular and is erected in a workpiece contact direction.   The adsorbing device according to claim 3, wherein the annular lip has a thick base portion and a thin thickness toward the tip.   The suction device according to claim 1, wherein the workpiece deformation preventing means is configured by urging a workpiece contact member arranged so as to be movable back and forth with respect to the workpiece toward the workpiece contact side by an elastic member. A suction device including a suction pad for sucking a workpiece by negative pressure,
The negative pressure chamber surrounded by the suction pad is provided with a workpiece deformation preventing means for pressing a contact member that contacts the workpiece of the thin plate to be sucked against the deformation of the workpiece toward the negative pressure chamber side. Adsorption device.

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