JP2014200874A - Suction mechanism - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a suction mechanism which can have a simple configuration and a simple control structure.SOLUTION: A suction mechanism is configured so that the suction mechanism is equipped with an absorbent 2 for adsorbing an object which includes a contact part 8 contacting the object and a deformable deformation part 8B provided to the contact part 8, and an external force application part 3 which applies an external force for deformation of the deformation part 8B. The deformation part 8B in a state of contacting with the object is deformed to a side on which the deformation part 8B is separated from the object by an external force from the external force application part 3. By deformation of the deformation part 8B, a closed space, in which a pressure is reduced further than the exterior, is formed between the contact part and the object, and thus, the adsorbent 2 adsorbs the object.

Description

  The present invention relates to an adsorption mechanism including an adsorbent for adsorbing an object.

  Such a suction mechanism is often used for a robot hand. When this suction mechanism is used in a robot hand, the object is sucked by the suction body with the suction force from the suction unit. The object can be moved by moving to another place in the suction state and releasing the suction. As this suction mechanism, for example, a device that generates a negative pressure by supplying compressed air to a plurality of ejectors, and a suction port that is provided in the same number as the ejectors so as to suck a target object by the negative pressure generated by these devices. (For example, refer patent document 1). Each suction port of the suction mechanism includes a valve for opening and closing. By controlling the opening and closing of these valves, an object can be sucked or released.

  Patent Documents 2 and 3 disclose a configuration in which an object is adsorbed by a suction cup by bringing the suction cup into contact with the object and sucking with a suction force from a vacuum device. The suction cup is integrated with a trumpet-shaped suction part opened at the lower end and expanded toward the lower side, and an upper part of the suction part for supplying vacuum air from a vacuum device to evacuate the inside of the suction part. And a cylindrical portion in which a suction port is formed. Then, an opening / closing valve for opening and closing the suction port is provided at the suction port, and by controlling the valve, it is possible to switch between a sucking state and a non-sucking state and suck or release the object.

JP 2008-507649 A (see FIG. 1) Japanese Patent Laying-Open No. 2004-230550 (see FIG. 1) Japanese Patent Laid-Open No. 6-226684 (see FIG. 1)

  In the configurations of the above three patent documents, it is necessary to provide an electrical configuration such as wiring for switching the valve in addition to the valve for opening and closing at the suction port. Therefore, not only the structure becomes complicated, but also the control configuration for controlling the timing for switching each valve becomes complicated. In particular, the more the suction ports are, the more the inconvenience becomes.

  In view of the above-described situation, the present invention intends to provide an adsorption mechanism capable of simplifying the structure and the control configuration.

  The adsorption mechanism of the present invention is an adsorption mechanism including an adsorbent for adsorbing an object for solving the above-described problem, wherein the adsorbent is in contact with an object and an appropriate contact. A deformable deformable portion provided in a portion, and an external force imparting portion that imparts an external force that deforms the deformable portion, wherein the deformable portion is in contact with an object. Is deformed to the side away from the object by an external force from the object, and the adhering body adsorbs the object by forming a sealed space that is depressurized from the outside by the deformation of the deformation part. It is said.

  According to the above configuration, when the external force of the external force applying portion is applied to the deformable portion in the contact state in which the contact portion of the adsorbent is in contact with the target object, the side where the deformable portion is separated from the target object (suction Deforms to the inside of the body). Due to this deformation, a sealed space is formed between the deformed portion and the target object, the pressure being reduced from the outside. By forming the decompressed sealed space, a pressure difference is generated between the sealed space and the outside, and the object can be adsorbed to the adsorbent by the pressure difference. Moreover, since the adsorbent is not an open configuration but a sealed configuration, dust does not enter the adsorbent. For this reason, the suction force does not decrease due to dust accumulation, and a stable suction force can be exhibited over a long period of time.

  Further, in the suction mechanism of the present invention, the external force imparting portion is configured by a suction portion that generates a suction force, and the suction body further includes a side wall portion that covers a side of the contact portion, from the suction portion. The suction force is supplied to an internal space formed by the contact portion and the side wall portion, and the contact portion includes a plurality of deformation portions, and each deformation portion has a recess on the inside. The thin-walled portion is configured such that all the concave portions communicate with the internal space, and the suction force of the suction portion is transmitted to the concave portion through the internal space, so that the thin-walled portion is deformed. Also good.

  As described above, if the plurality of recesses communicate with the internal space formed by the contact portion and the side wall portion, the suction force of the suction portion can be obtained simply by applying the suction force of the suction portion to the internal space. Is transmitted to all the concave portions through the internal space, and all the thin portions can be deformed. Thereby, compared with the structure which controls each recessed part so that the suction force of a suction part may be transmitted to each recessed part, a control structure can be simplified.

  Moreover, the adsorption | suction mechanism of this invention may be comprised so that the said side wall part can deform | transform.

  If the side wall portion is configured to be deformable as in the above configuration, the side wall portion is deformed along the surface of the object of various shapes such as a sphere, a cube, a rectangular parallelepiped, a cylinder, a polygon, etc. Adsorbs well.

  In the suction mechanism of the present invention, the contact portion and the side wall portion may be integrally formed.

  If the abutment portion and the side wall portion are integrally formed as in the above configuration, the assembly work surface and the component management surface can be compared with the configuration in which the abutment portion and the side wall portion formed separately are connected. Will also be advantageous.

  In the suction mechanism of the present invention, an internal space formed by the contact portion and the side wall portion may be filled with a filler.

  If the internal space is filled with the filler as in the above configuration, the filler becomes an appropriate resistance when the abutting portion that constitutes the adsorbent body abuts on the object, and therefore the side wall portion is unexpected. It is possible to avoid that the contact surface of the contact portion does not satisfactorily follow the object by being deformed (crushed) (larger than necessary). Thereby, even if it is the target object of what shape, it can adsorb | suck reliably.

  According to the present invention, the object can be adsorbed to the adsorbent only by applying the external force of the external force applying unit to the deforming unit, so that it is not necessary to provide an opening / closing valve at the suction port, An electric configuration such as wiring for switching the valve and a control configuration for controlling the timing for switching the valve can be eliminated. Therefore, it is possible to provide an adsorption mechanism that can simplify the structure and the control configuration.

(A) shows the adsorption | suction mechanism of this invention, (b) is an expanded sectional view of the adsorbent in the adsorption | suction mechanism of (a). (A) is sectional drawing which shows the state which adsorbed the rectangular parallelepiped with the adsorption body in an adsorption mechanism, (b) is sectional drawing which shows the state which adsorb | sucked the sphere with the adsorption body in the adsorption mechanism in this invention. The basic principle which can be hold | gripped with the adsorption body in the adsorption | suction mechanism of this invention is shown, (a) is sectional drawing which shows the state which contact | adhered the adsorption body to the target object, (b) is the state which adsorbed the target object with the adsorption body FIG. It is sectional drawing of the principal part which shows another embodiment of the adsorption body in the adsorption | suction mechanism of this invention.

  FIG. 1A shows an adsorption mechanism 1 for adsorbing an object with an adsorption force. The adsorption mechanism 1 includes an adsorbent 2 for adsorbing an object, and an external force applying unit 3 for applying an external force that deforms a deforming unit 8B described later in order to generate an adsorbing force on the adsorbent 2. .

  The external force imparting unit 3 includes a suction unit that generates a suction force, and the suction unit includes a vacuum pump that generates a vacuum.

  A valve 4 is provided between the adsorbent 2 and the vacuum pump 3. By switching the valve 4 automatically or artificially, the air in the adsorbent 2 is discharged and the pressure in the adsorbent 2 is reduced from the pressure outside the adsorbent 2 (outside air). The inside of the adsorbent body 2 can be opened to the outside of the adsorbent body 2 (outside air) and switched to a state in which the pressure is the same as the outside of the adsorbent body 2 (outside air). The object can be adsorbed by the adsorbent 2 by reducing the pressure inside the adsorbent 2 more than outside the adsorbent 2 (outside air). Moreover, the adsorption | suction object can be cancelled | released by releasing the inside of the adsorption body 2 decompressed outside the adsorption body 2 (outside air). The valve 4 and the vacuum pump 3 are connected via a first hose 5, and the adsorbent 2 and the valve 4 are connected via a second hose 6. Accordingly, the suction force from the vacuum pump 3 is transmitted to the adsorbent 2 via the first hose 5, the valve 4, and the second hose 6. In addition, a vacuum gauge P for measuring a pressure equal to or lower than the atmospheric pressure inside the second hose 6 is connected to the middle part of the second hose 6. From the measured value of the vacuum gauge P, it can be determined whether or not the adsorbent 2 is in an adsorbing operation.

  The adsorbing body 2 is attached to a base 7 connected to the second hose 6, and from the outer peripheral edge of the abutting portion 8 so as to cover the abutting portion 8 that abuts against the object and the side of the abutting portion 8. And a side wall 9 extending toward the base 7 side. Although the contact part 8 is comprised by the circular arc shape which protrudes outside as the center part, planar shape may be sufficient and various other shapes may be sufficient. And the contact part 8 and the side wall part 9 are integrally formed from the resin material which has flexibility and elasticity. The adsorbent 2 has an internal space that is sealed from the outside air by the contact portion 8 and the side wall portion 9. As the resin material having flexibility and elasticity, for example, an elastomer such as silicone rubber is optimally used, but various synthetic resins having softness may be used.

  A cylindrical portion 7A to which the second hose 6 is connected is formed at one end (rear end) in the thickness direction of the base 7, and a through hole 7K communicating with the second hose 6 is formed at the center of the cylindrical portion 7A. Is formed. The through-hole 7K includes a small-diameter hole 7a having a circular cross section formed on one end side (rear end side) in the thickness direction of the base 7, and the other end in the thickness direction of the base 7 from the inner side end of the small-diameter hole 7a. A large diameter hole 7b having a circular cross section and having a diameter larger than that of the small diameter hole 7a.

  Further, a concave portion 7B into which the free end portion (rear end portion) 9A of the side wall portion 9 is fitted is formed at the other end (front end) in the thickness direction of the base 7. The side wall 9 fitted in the recess 7B is sandwiched and fixed by a sandwiching member 10 disposed inside the recess 7B. The clamping member 10 includes a disc portion 10A having a through hole 10a communicating with the large-diameter hole 7b at the center, and a cylindrical portion 10B extending in a direction orthogonal to the outer peripheral edge of the disc portion 10A. .

  Concave portions 8 </ b> A are formed in a number of portions on the inner side (back side) of the contact portion 8. By forming these concave portions 8A, the portion constitutes a thin portion 8B. These thin portions 8B constitute deformable deformable portions, and these deformable portions 8B are separated from the object by the suction force from the vacuum pump 3 in the contact state with the object (inside of the adsorbent body 2). ) To be deformed. Due to the deformation of the deforming portion 8B, a sealed space is formed between the deforming portion 8B and the object so that the pressure is reduced from the outside (outside air), and the adsorbent 2 adsorbs the object. The number of thin-walled portions 8B can be set to any number between 12 and 16, but depending on the size of the thin-walled portion 8B, one or two may be used. The number of thin portions 8B can be set according to the shape and size.

  The basic principle of adsorbing an object will be described based on FIGS. 3 (a) and 3 (b). 1 (b), 2 (a), and 2 (b) show a large number of thin portions 8B of the adsorbent 2, but in FIGS. 3 (a) and 3 (b), it is easy to understand. 1 shows one having a thin portion 8B. That is, the abutting portion 8 itself is constituted by the thin portion 8B, and the cylindrical side wall portion 9 is extended in a direction orthogonal to the outer peripheral edge of the thin portion 8B, thereby constituting the adsorbent body 2. In other words, the adsorbent 2 that does not have the recess 8A shown in FIG. When the thin-walled portion 8B configured as described above is brought into contact with the plate-like body S1 which is an object to be adsorbed, as shown in FIG. 3A, the outer surface 8b of the thin-walled portion 8B and the outer surface Sb of the plate-like body S1 A slight space H1 is formed between the two. By switching the valve 4 and supplying the suction force from the vacuum pump 3 to the adsorbent 2, the pressure in the space X <b> 1 inside the adsorbent 2 is reduced from the external (outside air) pressure. Due to this decompression, the thin portion 8B is deformed to the side away from the plate-like body S1 (recessed on the inner side of the adsorbing body 2), and becomes a large space H2 as shown in FIG. When the volume of the space increases in this way, the pressure decreases (decompresses) according to Boyle-Charles' law, and the plate-like body S1 can be adsorbed in the space H2. However, since there is an elastic restoring force of the thin portion 8B, if the pressure in the space X1 inside the adsorbent body 2 is P1, the pressure in the space H2 is P2, and the pressure in the thin portion 8B is P3, then P1 = P2 + P3. Is established and balanced. Further, when the area of the space H2 is S2, the adsorption force F2 of the adsorbent 2 is S2 × P2.

  Further, the inside of the adsorbent 2 is filled with glass beads 11 as a filler, and the filler becomes an appropriate resistance when abutting against the object. Therefore, the side wall 9 constituting the adsorbent 2 is provided. It is possible to avoid that the contact surface (outer surface) 8b of the contact part 8 does not follow the object well due to unexpected deformation (larger than necessary). Thereby, even if it is the target object of what shape, it can adsorb | suck reliably. Here, the inside of the adsorbent 2 is filled with the glass beads 11, but may be a sponge, a rubber chip, sawdust, or the like in addition to particulate substances such as foam beads and calcium carbonate. In short, any shape and material filler may be used as long as the structure allows the air to pass and the side wall 9 can be well deformed along the shape of the object when contacting the object. May be.

  A first filter 12 for preventing the glass beads 11 filled in the adsorbent body 2 from entering the recess 8A of the contact portion 8 is applied to the inner surface (back surface) 8U of the contact portion 8 using an adhesive. Affixed (may be locked and fixed using locking means). By providing the first filter 12, it is possible to reliably avoid the trouble that the glass beads 11 enter the recess 8A and the thin-walled portion 8B is prevented from being deformed. Further, the second filter 13 for preventing the glass beads 11 filled in the adsorbent body 2 from being discharged to the second hose 6 side through the through hole 10a of the holding member 10 is bonded to the holding member 10 with an adhesive. (It may be locked and fixed using locking means).

  For example, when the two objects S2 and S3 placed on the floor G are adsorbed by the adsorbent body 2 (see FIG. 1B) configured as described above, FIG. This will be described based on b). FIG. 2A shows a state in which the rectangular parallelepiped S <b> 2 having the recess 14 formed at the substantially central portion of the upper surface is adsorbed by the adsorbent 2. First, when the abutting surface 8b of the abutting portion 8 of the adsorbing body 2 is brought into contact with the upper surface Sb of the rectangular parallelepiped S2, as described above, there is a slight gap between the outer surface 8b of the thin portion 8B and the upper surface Sb of the rectangular parallelepiped S2. A space (not shown) is formed. Then, by switching the valve 4 and supplying the suction force from the vacuum pump 3 to the adsorbent 2, the pressure in the internal space X2 of the adsorbent 2 is reduced more than the pressure of the outside (outside air). By this decompression, all the thin portions 8B are pulled to the side away from the rectangular parallelepiped S2 and deformed so as to be recessed inside the adsorbing body 2. Due to this deformation, a large space H3 is generated between the outer surface 8b of the thin portion 8B and the upper surface Sb of the rectangular parallelepiped S2. When the volume of the space increases in this way, the pressure decreases (decompresses) according to Boyle-Charles' law, and the cuboid S2 can be adsorbed. Even if the thin portion 8B corresponding to the concave portion 14 of the rectangular parallelepiped S2 is not in contact with the rectangular parallelepiped S2 as shown in FIG. 2A, the internal space X2 of the adsorbing body 2 is a sealed space. The pressure in the internal space X2 of the body 2 can be reliably reduced. Moreover, since the internal space X2 of the adsorbing body 2 is a sealed space, dust does not enter the adsorbing body 2 and the adsorbing force does not decrease due to dust accumulation. A stable adsorption force can be exhibited.

  FIG. 2B shows a state in which the sphere S3 is adsorbed by the adsorbent 2. First, the contact surface 8b of the contact portion 8 of the adsorbent 2 is brought into contact with the upper surface Sb of the sphere S3. Then, as described above, a slight space (not shown) is formed between the outer surface 8b of the thin wall portion 8B and the upper surface Sb of the sphere S3. Subsequently, by switching the valve 4 and supplying the suction force from the vacuum pump 3 to the adsorbent 2, the pressure in the space X <b> 2 inside the adsorbent 2 is reduced more than the external (outside air) pressure. By this decompression, all the thin portions 8B are pulled toward the side away from the sphere S3 and deformed so as to be recessed inside the adsorbent body 2. Thereby, a large space H3 is generated between the outer surface 8b of the thin portion 8B and the upper surface Sb of the rectangular parallelepiped S2. When the volume of the space increases in this way, the pressure decreases (decompresses) according to Boyle-Charles' law, and the sphere S3 can be adsorbed as shown in FIG. In this case as well, as in FIG. 2A, the space X2 inside the adsorbent 2 is a sealed space, so that dust does not enter the adsorbent 2 and the adsorbing power is reduced by the accumulation of dust. It is possible to exhibit a stable adsorption force over a long period of time.

  The timing for switching the valve 4 to supply the suction force from the vacuum pump 3 to the adsorbent 2 may be based on a detection signal when it is detected that the contact portion 8 is in contact with the object. The valve 4 may be switched by artificially operating a switch for switching the valve 4. As a means for detecting that the contact portion 8 is in contact with the object, a magnetic sensor, a light reflection type sensor, or the like can be used.

  In the present invention, the object can be adsorbed to the adsorbent 2 simply by applying the suction force of the vacuum pump 3 to the deformable portion 8B, so that it is not only unnecessary to provide an opening / closing valve at the suction port. In addition, an electrical configuration such as wiring for switching the valve and a control configuration for controlling the timing for switching the valve can be eliminated, and the structure and the control configuration can be simplified.

  Moreover, the adsorption mechanism 1 shown in FIG. 1A was actually produced, and adsorption tests for various objects were performed. Specifically, the diameter of the adsorbing body 2 is 54 mm, the dimension from the contact surface 8b of the adsorbing body 2 to the back surface 7F of the base 7 is 25 mm, the thickness of the adsorbing body 2 is 1 mm, and 12 thin portions with a diameter of 6 mm are provided. The adsorbent 2 set to be prepared. As the vacuum pump 3, a diaphragm pump (model number DA-30S manufactured by ULVAC Kiko Co., Ltd., ultimate vacuum 26.6 kPa) was used. When an object having a flat portion was adsorbed by the produced adsorbent 2, an object of up to 2.1 kg could be adsorbed. In addition, an object of 0.12 kg could be adsorbed by adsorbing only a part of adsorbent 2 (10 thin portions out of 12). Further, a glass bottle containing water having a radius of curvature of 77 mm and a mass of 0.5 kg could be adsorbed in a state where the glass bottle was inclined by 30 degrees.

  In addition, this invention is not limited to the said embodiment, A various change is possible in the range which does not deviate from the summary of this invention.

  For example, the adsorbent 2 may be configured as shown in FIG. That is, the adsorbing body 2 in FIG. 1B is formed with the recess 8A inside the abutting portion 8 to form the thin portion 8B, but the adsorbing body 2 in FIG. 4 is formed inside the abutting portion 8. A recessed portion 8C is also formed on the outer side of the contact portion 8 corresponding to the recessed portion 8A, thereby forming a thin portion 8B. Further, in FIG. 4, the glass beads 11 shown in FIG. 1B are adsorbed by forming the side wall 9 thicker than the contact part 8 to improve the shape retention strength of the side wall 9. It is not necessary to fill the inside of the body 2 (the filters 12 and 13 are also unnecessary). Further, the abutting portion 8 and the side wall portion 9 are formed separately, and the side wall portion 9 is configured to have higher shape retention strength than the abutting portion 8, and they are integrated to constitute the adsorbent 2. Good.

  In the above embodiment, the case where the side wall portion 9 is configured to be deformable has been shown. However, when the suction surface of the object is a flat surface, the side wall portion 9 is configured of a metal or hard plastic that cannot be deformed. Can do.

  Moreover, in the said embodiment, although air (gas) was used as an external force for deform | transforming the deformation | transformation part 8B, you may use a liquid. In the case of this liquid, the liquid inside the adsorbent 2 is removed by a liquid pump. Alternatively, for example, the tip of a rod of a piston rod that can be expanded and contracted may be connected to the deforming portion 8B, and the deforming portion 8B may be pulled and deformed by shortening the piston rod. Moreover, it may replace with the vacuum pump of the said embodiment, for example, the cylinder for attracting | sucking the air inside the adsorption body 2 may be sufficient.

  Moreover, in the said embodiment, although the thin part formed in the contact part was made into the deformation | transformation part, it was set as the contact part of the same thickness over the whole area, and the specific part to deform | transform among the contact parts is another part. The material may be made of a material that is more easily deformed, and the specific portion may be formed as a deformed portion.

  Moreover, in the said embodiment, although the adsorption body 2 was comprised with the contact part 8 and the side wall part 9, you may comprise only the contact part 8. FIG. In this case, an object having a flat surface is sucked.

  The suction mechanism of the present invention can be applied when handling an object using a robot hand, as well as a cleaning machine that performs cleaning by sucking and moving the object on a window surface, a picking device that picks goods for boxing, The present invention can also be applied to a processing apparatus that performs various processes by fixing an object by suction, a transport apparatus that sucks and transports an object, and the like.

  DESCRIPTION OF SYMBOLS 1 ... Adsorption mechanism, 2 ... Adsorption body, 3 ... Vacuum pump (external force provision part, suction part), 4 ... Valve, 5, 6 ... Hose, 7 ... Base, 7A ... Cylindrical part, 7B ... Recessed part, 7K ... Through hole, 7a ... small diameter hole, 7b ... large diameter hole, 8 ... contact portion, 8A ... concave portion, 8B ... thin wall portion (deformed portion), 8b ... outer surface (contact surface), 9 ... side wall portion, 9A ... free play End part, 10 ... clamping member, 10A ... disc part, 10B ... cylindrical part, 10a ... through hole, 11 ... glass beads, 12, 13 ... filter, 14 ... concave part, G ... floor surface, H1, H2, H3 ... Space, P ... Vacuum gauge, S1 ... Plate, S2 ... Rectangular, S3 ... Sphere, Sb ... Outer surface (upper surface), X1, X2 ... Space

Claims (5)

An adsorption mechanism having an adsorbent for adsorbing an object,
The adsorbent is provided with an abutment portion that abuts on an object and a deformable deformable portion provided at the corresponding contact portion, and includes an external force imparting portion that imparts an external force that deforms the deformable portion,
The deforming part is deformed to a side away from the object by an external force from the external force applying part in a contact state with the object, and is hermetically sealed from the outside by the deformation of the deformation part. An adsorption mechanism, wherein a space is formed and the adsorbent adsorbs an object.   The external force applying part is configured by a suction part that generates a suction force, and the adsorbent further includes a side wall part that covers a side of the contact part, and the suction force from the suction part is combined with the contact part. The inner wall formed by the side wall portion is configured to be supplied, and the abutting portion includes a plurality of the deforming portions, and each of the deforming portions includes a thin portion having a concave portion on the inner side, 2. The suction mechanism according to claim 1, wherein the concave portion is in communication with the internal space, and the suction force of the suction portion is transmitted to the concave portion through the internal space to deform the thin-walled portion. .   The suction mechanism according to claim 2, wherein the side wall portion is configured to be deformable.   The suction mechanism according to claim 2, wherein the contact portion and the side wall portion are integrally formed.   The suction mechanism according to claim 3 or 4, wherein a filling material is filled in an internal space formed by the contact portion and the side wall portion.

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