JP2008132541A - Robot hand suction device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot hand suction device removing defects such as inconvenience, increase of the number of components, complication of the device, and manufacturing cost increase with respect to enlarging of a suction area of a suction pad included in a conventional robot hand suction device. <P>SOLUTION: The robot hand suction device is comprised of a block attached in a hollow of a robot hand with a hollow and square cylindrical interior and provided with a hole connected to a piping for vacuum, the suction pad for the robot hand having a vacuum hole communicated with the hole connected to the piping for vacuum of the block and sucking conveyance objects, a flexible cylindrical joint provided between the suction pad and the block and communicating the vacuum hole of the suction pad with the hole connected to the piping for vacuum in the block, and a member facing the conveyance object of the robot hand holding the suction pad such that the suction pad is held within a predetermined size from a surface of the robot hand. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an industrial robot hand, and more particularly to a suction device thereof.

Conventionally, it is well known that the suction device of this kind of robot hand is configured to transport a transported object with a vacuum suction pad. Such a suction pad is incorporated in the robot hand as a pad unit assembled separately from the robot hand, for example, as shown in FIGS.
The details will be described. A pad unit 2 attached to a robot hand 1 such as a fork made of a thin member having a hollow and square cylindrical shape with a bolt (not shown), as shown in FIG. A vacuum circuit is formed from the block 5 provided with the hole 4 connected to the vacuum pipe 3 to the hole 8 of the pad 7 through a joint 6 such as elastic rubber, and the pad 7 is put into the pad unit by the lid 9. The pad 7 is stored within the predetermined dimension L from the surface of the hand 1. The conveyed product 10 indicated by the chain line placed on the pad 7 is sucked and adsorbed from the formed vacuum circuit by a vacuum pump (not shown).

Further, the suction device shown in Japanese Patent Application Laid-Open No. 11-188861 as shown in FIG. 4 includes a base member 13 having a hole connected to the vacuum hole of the suction pad 11 and connected to a vacuum pipe (air tube) 12. The suction pad 11 and the base member 13 are not attached to the fork-like member 14 from the predetermined dimension on the upper surface of the fork-like member 14 by the substrate holding member 15 and the screws 16 and the like. It is fixed by.
JP 11-1882681 A

  However, recently, the objects to be adsorbed are becoming larger, and it is desired to increase the adsorption area of the adsorption pad in order to convey the large conveyance objects. Increasing the adsorption area was inconvenient. That is, in the former, in order to increase the suction area of the suction pad 7, it is necessary to enlarge the block 5 and the lid 9. As a result, the hand 1 such as a fork needs to increase the width W. There is a drawback that the entire hand 1 becomes large.

In the latter case, in order to increase the suction area of the suction pad 11, it is necessary to increase the size of the base member 13 and the substrate holding member 15 as well as the suction pad 11, as in the former case. is there.
Furthermore, both of them have many parts such as a lid and a substrate holding member, which may lead to complication of the apparatus and increase in manufacturing costs.

  The object of the present invention is, as described above, inconvenient for increasing the suction area of the suction pad in the suction device of the conventional robot hand, and has many parts, leading to complication of the device and an increase in manufacturing cost. The suction area of the suction pad can be increased without using a lid, substrate holding member, etc. without expanding the fork, etc., and there are many parts, making the device more complicated and manufacturing. An object of the present invention is to provide a robot hand suction device that does not increase costs.

  In order to achieve the above-mentioned object, the present invention includes a block that is mounted in the hollow of a robot hand such as a fork made of a hollow, square-shaped member, and that has a hole connected to a vacuum pipe. Adsorption that has a vacuum hole that communicates with the hole connected to the vacuum piping of the block, and that protrudes within the specified dimension from the surface of the robot hand that sucks the conveyed object by the vacuum pressure from this vacuum hole when conveying the conveyed object The suction pad is defined by a pad, a telescopic cylindrical joint that is provided between the suction pad and the block, and communicates a vacuum hole of the suction pad and a hole connected to a vacuum pipe in the block. A robot hand suction device including a member facing the transported object of the robot hand such as a fork for pressing the suction pad protruding within a predetermined dimension from the surface of the robot hand.

  According to the present invention, there is provided a suction device for a robot hand which can increase the suction area of the suction pad without increasing the width of a fork, etc., and which has many parts and does not complicate the device or increase the manufacturing cost. It became possible.

Next, an embodiment of the present invention will be described with reference to FIG. In the description, in the present invention, the same members as those of the configuration of the conventional apparatus and the members thereof are denoted by the same reference numerals, the description thereof is omitted, and only newly added members are denoted by the new numbers and described.
Reference numeral 20 denotes a suction device for a robot hand, and a block 5 having a hole 4 connected to a vacuum pipe 3 in the hollow of a robot hand 1 such as a fork made of a hollow cylindrical member having a hollow cylindrical shape. It is fixed.

  The block 5 is provided with a pad 7 having a hole 8 through a flexible cylindrical joint 6 such as rubber, etc., and a vacuum pump not shown in the figure, a vacuum pipe 3 and a hole 4- A vacuum circuit communicating with the cylindrical joint 6-hole 8 and the like is formed, and the conveyed product 10 indicated by a chain line placed on the pad 7 is sucked and adsorbed by a vacuum pump. The pad 7 is pressed by the member 21 of the robot hand 1 facing the conveyed product 10 so as to be within a predetermined dimension L from the surface of the robot hand 1.

  Since it is configured as described above, the suction device of this robot hand is inconvenient for increasing the suction area of the suction pad, and there are no lids or pressers. The fault was removed.

1 is a schematic explanatory diagram of a robot hand suction device showing an embodiment to which the present invention is applied. It is a general | schematic explanatory drawing of the conventional robot hand adsorption | suction apparatus, and is the perspective view. It is outline | summary explanatory drawing of the conventional robot hand adsorption | suction apparatus, and is AA sectional drawing expanded in FIG. It is outline | summary explanatory drawing of the other conventional robot hand adsorption | suction apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Robot hand 2 Pad unit 3 Vacuum piping 4, 8 holes 5 Block 6 Joint 7 Pad 10 Carrying object 20 Robot hand adsorption device 21 Robot hand member facing conveyance object

Claims (1)

A block provided with a hole connected to a vacuum pipe, which is mounted in the hollow of a robot hand such as a fork made of a hollow and square cylindrical member,
Adsorption that has a vacuum hole communicating with the hole connected to the vacuum piping of the block and protrudes within a predetermined dimension from the surface of the robot hand that sucks the conveyed object by the vacuum pressure from the vacuum hole when conveying the conveyed object Pad,
A telescopic tubular joint provided between the suction pad and the block, which communicates a vacuum hole of the suction pad and a hole connected to a vacuum pipe in the block;
A member facing the transported object of the robot hand such as a fork for holding the suction pad so that the suction pad is held within a predetermined dimension from the surface of the robot hand;
A robot hand suction device characterized by comprising:

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