JP2014217912A - Suction pad, transfer robot, and suction mechanism - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a suction pad which securely suctions a transfer object and grips and transfers the transfer object in a more reliable manner, and to provide a transfer robot and a suction mechanism.SOLUTION: A suction pad 1 includes: a pad body 2; an inner lip part 3; and an outer lip part 4. The pad body 2 includes a main suction port 5 which is connected with a vacuum pump (not shown) and generates a negative pressure in a region enclosed by the inner lip part 3.

Description

  The present invention relates to a suction pad, a transfer robot, and a suction mechanism. Specifically, the present invention relates to a suction pad, a transport robot, and a suction mechanism that can firmly suck a transported object and can perform gripping and transport more reliably.

  In industrial products and other production sites, machines specialized in work in each process have been introduced for the purpose of improving work efficiency, and work is being automated. In addition, as one of the machines responsible for automation, there is a transfer robot that grips and conveys a conveyed product flowing on a production line to another position and performs alignment.

  In addition, there are types of transfer robots that generate a suction force by attaching a suction pad to the tip of an arm and setting the inside to a negative pressure. In this type of transfer robot, a suction pad is brought into contact with and gripped on a transported object, and the transported object is transported to a target position and arranged at a predetermined position at a high speed.

  In addition, the transfer robot is frequently used in a production line for precision machines that require a precise air-conditioning environment. In this application, as the final product becomes smaller and more accurate, the suction pad and the transfer robot are required to be smaller.

  Under such circumstances, there is a suction pad that is downsized by simplifying the structure. For example, a suction pad described in Patent Document 1 has been proposed.

  Here, Patent Document 1 describes a suction pad 100 as shown in FIG. The suction pad 100 includes a bottom surface 101 connected to an arm (not shown) and a hollow and airtight bellows portion 102. Moreover, it has the pad part 103 which adsorb | sucks a conveyed product, and the pin 104 comprised so that advance / retreat was supported.

  Moreover, the conveyance target object of the suction pad 100 is the glass substrate of the material of a liquid crystal panel. When the pins 104 are in contact with the glass substrate, the pad portion 103 is in close contact with the glass substrate.

Japanese Patent Laid-Open No. 2007-139876

  However, the suction pad described in Patent Document 1 does not have sufficient contact between the conveyed product and the suction pad, and the suction force may be weakened by air leaking during suction. In particular, when transporting an object that is soft like a packaged food and has irregularities on the surface, the object may not be maintained in an adsorbed and gripped state and may be dropped in the middle.

  Even when air does not leak at the time of suction, an inertial force acts on the transported object due to the movement and stop of the transport robot to which the suction pad is attached, and the transported object may be dropped by exceeding the suction force.

  Thus, as a factor that the suction force is weak, the suction area between the conveyed product and the suction pad can be cited. The suction pad described in Patent Document 1 has a small suction area and cannot exert a sufficient suction force on a conveyed product.

  There are also suction pads that are connected to a suction device such as a vacuum pump to generate a suction force. However, since the suction area is small, the transported object may be dropped. Further, since the conveyed product comes into contact with the suction port and closes the suction port, the suction area cannot be further increased, and the suction force is weakened.

  In addition, there is a device provided with a plurality of suction pads to compensate for the weakness of the suction force, but when suctioning with the same suction device, if one suction pad is removed from the transported object, another device is connected in a chain. The suction pad is also removed from the conveyed product, and eventually the conveyed product is dropped.

  Furthermore, when a plurality of suction pads are provided, due to control problems, the timing of switching between suction and non-suction with respect to the transported object is delayed, and there is a problem that the transported object cannot be gripped or separated at a desired position. .

  A method of increasing the suction force of the suction device is also conceivable in order to increase the suction force to the conveyed product. However, there is a problem in that depending on the type of the conveyed product, the attracting force is too strong to cause deformation and damage to the package.

  The present invention was devised in view of the above points, and has an object to provide a suction pad, a transport robot, and a suction mechanism that can firmly suck a transported object and can perform gripping and transport more reliably. To do.

  In order to achieve the above object, a suction pad according to the present invention comprises a main body provided with a first suction port, a convex rib portion provided around the first suction port, and the rib portion. And a first lip portion protruding from the rib portion in the convex direction of the rib portion, a predetermined gap with the first lip portion, and the first lip portion. A second lip portion provided substantially surrounding the lip portion; and a second suction port provided in a gap between the first lip portion and the second lip portion.

  Here, with the convex rib portion provided around the first suction port, the conveyed product abuts on the rib portion, and the first suction port can be hardly blocked by the conveyed product. That is, the pressure receiving area over which the negative pressure is exerted on the conveyed object is increased, and the suction force of the suction pad can be increased. In addition, an air flow path for generating a negative pressure is secured, and the suction force generated stably can be maintained.

  Further, the conveyed product can be gripped by the main body provided with the first suction port and the first lip portion provided so as to substantially surround the rib portion. That is, the negative pressure from the first suction port spreads in the area surrounded by the first lip portion, and can be adsorbed on the conveyed product in this area.

  Moreover, a negative pressure can be generated in the region surrounded by the first lip portion by the first lip portion protruding from the rib portion in the convex direction of the rib portion. That is, the rib portion is accommodated in a region surrounded by the first lip portion, and a closed space can be formed by the first lip portion and the surface on which the conveyed product is adsorbed.

  In addition, a predetermined gap is formed with the first lip portion, and a second lip portion provided so as to substantially surround the first lip portion, and a gap between the first lip portion and the second lip portion. The transported object can be gripped by the second suction port provided in. That is, the negative pressure from the second suction port spreads in the gap between the first lip portion and the second lip portion, and can be attracted to the conveyed product in this region.

  In addition, the first suction port is provided at substantially the center in the region surrounded by the first lip portion, and at least two second suction ports are provided and are substantially opposed with the first suction port as the center. In the case where it is located in the region to be used, each suction port is arranged in a well-balanced manner in the suction pad, and the variation in suction force can be reduced.

  When the first suction port and the second suction port have different suction paths, the suction force can be generated by the two suction paths. That is, it is possible to secure the suction force to the conveyed product with the two suction ports, and it is possible to realize more stable adsorption to the conveyed product. Here, the suction path means a path including a device that sucks air inside the suction port.

  Moreover, when the 1st lip part protrudes in the convex direction of a rib part rather than the 2nd lip part, the 1st lip part can be preferentially adsorbed to a conveyed product. That is, it is attracted to the conveyed product from the central portion of the suction pad, and more stable adsorption to the conveyed product can be realized.

  Further, when the hardness of the first lip portion is smaller than the hardness of the second lip portion, the softer first lip portion can be preferentially adsorbed to the conveyed product. Moreover, compared with the case where the 1st lip | rip part and the 2nd lip | rip part have the same hardness, the repulsive force between conveyed products can be made small, and the adsorption | suction to a conveyed product is made more reliable. be able to.

  Moreover, when a rib part has a groove part, the flow path which a negative pressure produces also in a rib part can be provided, and the adsorption | suction force to the conveyed product of a suction pad can be heightened.

  In order to achieve the above object, a transfer robot according to the present invention includes a main body provided with a first suction port, a convex rib portion provided around the first suction port, The rib portion is provided so as to substantially surround the first lip portion protruding from the rib portion in the convex direction of the rib portion, and a predetermined gap is formed between the first lip portion and the first lip portion. A suction pad having a second lip portion provided so as to substantially surround one lip portion, and a second suction port provided in a gap between the first lip portion and the second lip portion; The robot body is connected to the suction pad and is movable in the horizontal direction and the vertical direction.

  Here, with the convex rib portion provided around the first suction port, the conveyed product abuts on the rib portion, and the first suction port can be hardly blocked by the conveyed product. That is, the pressure receiving area over which the negative pressure is exerted on the conveyed object is increased, and the suction force of the suction pad can be increased. In addition, an air flow path for generating a negative pressure is secured, and the suction force generated stably can be maintained.

  Further, the suction pad can be moved by the robot body that is connected to the suction pad and movable in the horizontal direction and the vertical direction to correspond to the position of the conveyed object. That is, it is possible to track and adsorb a moving conveyed product, for example, a conveyed product flowing on a belt conveyor.

  In order to achieve the above object, the suction mechanism of the present invention includes a main body provided with a first suction port, a convex rib portion provided around the first suction port, The rib portion is provided so as to substantially surround the first lip portion protruding from the rib portion in the convex direction of the rib portion, and a predetermined gap is formed between the first lip portion and the first lip portion. A first lip portion substantially surrounding the lip portion, a second suction port provided in a gap between the first lip portion and the second lip portion, and the first lip portion. A first suction device that is connected to the suction port and sucks air inside the first suction port, and is connected to the second suction port and is air inside the second suction port. A second suction device.

  Further, the convex rib portion provided around the first suction port makes it possible for the conveyed product to come into contact with the rib portion so that the first suction port is not easily blocked by the conveyed product. That is, the pressure receiving area over which the negative pressure is exerted on the conveyed object is increased, and the suction force of the suction pad can be increased. In addition, an air flow path for generating a negative pressure is secured, and the suction force generated stably can be maintained.

  In addition, the first suction device that is connected to the first suction port and sucks the air inside the first suction port can generate an adsorption force due to negative pressure at the first suction port.

  In addition, the second suction device that is connected to the second suction port and sucks the air inside the second suction port can generate an adsorption force due to negative pressure at the second suction port.

The suction pad according to the present invention is capable of firmly sucking a conveyed product and more reliably performing gripping and conveyance.
In addition, the transfer robot according to the present invention can firmly hold the transfer object and can perform gripping transfer more reliably.
In addition, the suction mechanism according to the present invention is capable of firmly sucking a conveyed product and performing gripping and conveyance more reliably.

It is a schematic perspective view which shows an example of the suction pad to which this invention is applied. It is a schematic sectional drawing of a suction pad. It is the schematic plan view (a) of an example of a suction pad, and the schematic plan view (b) of another example. It is the schematic which shows an example of a conveyance robot. It is the schematic (a) when a suction pad grips a conveyed product, and the schematic (b) when a conveyed product is conveyed to a container. It is the schematic sectional drawing (a) of the suction pad to which this invention is applied when a conveyed product is adsorbed, and the schematic sectional drawing (b) of the conventional suction pad. It is the schematic which showed the conventional suction pad.

Hereinafter, embodiments of the present invention relating to a suction pad, a transport robot, and a suction mechanism will be described with reference to the drawings for understanding of the present invention.
FIG. 1 is a schematic perspective view showing an example of a suction pad to which the present invention is applied. FIG. 2 is a schematic cross-sectional view of the suction pad. FIG. 3 is a schematic plan view (a) of an example of the suction pad and a schematic plan view (b) of another example. FIG. 4 is a schematic diagram illustrating an example of the transfer robot.

  Here, as shown in FIG. 1, a suction pad 1, which is an example of a suction pad to which the present invention is applied, includes a pad body 2, an inner lip portion 3, and an outer lip portion 4.

  The pad main body 2 is provided with a main suction port 5 that is connected to a vacuum pump (not shown) and generates a negative pressure in a region surrounded by the inner lip 3.

  A convex rib portion 6 is provided around the main suction port 5 of the pad main body 2. Since the convex rib portion 6 and the surface of the conveyed product come into contact with each other, the main suction port 5 is not easily blocked by the conveyed product.

  The region between the inner lip portion 3 and the outer lip portion 4 is connected to a vacuum pump (not shown) different from the main suction port 5 and is surrounded by the inner lip portion 3 and the outer lip portion 4. Two sub suction ports 7 for generating a negative pressure in the region are provided. That is, the sub suction port 7 has a vacuum path different from that of the main suction port 5.

  A combination of the suction pad 1, the vacuum pump connected to the main suction port 5 and the vacuum pump connected to the sub suction port 7 is an example of a suction mechanism to which the present invention is applied.

  Here, the structure of the suction pad 1 is not particularly limited. The pad main body 2, the inner lip 3 and the outer lip 4 may be assembled as separate parts, or may be formed integrally. However, the suction pad 1 is assembled with the pad body 2, the inner lip portion 3, and the outer lip portion 4 as separate components from the viewpoint that replacement and repair become possible as each component is consumed, and the maintainability of the apparatus is improved. A structure is preferred.

  Further, the sub suction port 7 does not necessarily have to have a vacuum path different from that of the main suction port 5. However, it is preferable that the sub suction port 7 has a vacuum path different from that of the main suction port 5 in that the suction force of the suction pad can be secured by providing two suction paths. That is, even when one of the suction ports is detached from the conveyed product, the other suction port can be made difficult to come off in a chained manner.

  Further, the vacuum pump is an example of a suction device connected to the main suction port 5 and the sub suction port 7, and any type of suction device can be used as long as it can generate a sufficient suction force to the conveyed product. Is not limited.

  As shown in FIG. 2, the inner lip 3 protrudes vertically downward from the outer lip 4. Moreover, the inner lip part 3 and the outer lip part 4 are formed of ethylene propylene diene rubber. Further, the hardness of the inner lip 3 is smaller than the hardness of the outer lip 4.

  Moreover, FIG. 2 shows udon noodles 8 packed in a bag as an example of the conveyed product. The inner lip portion 3 and the outer lip portion 4 are sized to be covered with the udon noodle 8.

  Here, the inner lip portion 3 and the outer lip portion 4 do not necessarily need to be formed of ethylene propylene diene rubber. However, the inner lip portion 3 and the outer lip portion 4 are made of ethylene propylene diene because they are highly airtight materials, can be adjusted in hardness, can be attached with an adhesive, and are easy to manufacture. It is preferably formed of rubber.

  Further, the hardness of the inner lip portion 3 is not necessarily smaller than the hardness of the outer lip portion 4. However, the inner lip portion 3 is improved in that the repulsion between the objects to be conveyed is reduced, the ease of adsorption is improved, and the area surrounded by the inner lip portion 3 is preferentially adsorbed and the adsorption force is increased. Is preferably smaller than the hardness of the outer lip 4.

  Moreover, the inner lip part 3 and the outer lip part 4 do not necessarily have to be made in a size covered with the udon noodle 8. The size can be changed according to the size of the object to be transported. In addition, if the conveyed product is small, it may be adsorbed and conveyed only by the inner lip 3.

  As shown in FIG. 3A, the main suction port 5 is located substantially at the center of the region surrounded by the inner lip portion 3. Further, the plurality of rib portions 6 are respectively provided at approximately half of the region between the main suction port 5 and the inner lip portion 3.

  In addition, the two sub suction ports 7 are provided at substantially opposing positions with the main suction port 5 as the center.

  Here, the main suction port 5 does not necessarily have to be provided at a substantially central position in the region surrounded by the inner lip portion 3. However, the main suction port 5 may be provided at a substantially central position of the region surrounded by the inner lip portion 3 from the viewpoint that uniform negative pressure is easily generated in the region surrounded by the inner lip portion 3. preferable.

  Further, the number and size of the rib portions 6 are not particularly limited, and it is sufficient if the conveyed product is difficult to block the main suction port 5.

  Further, the plurality of rib portions 6 are not necessarily provided at substantially half of the region between the main suction port 5 and the inner lip portion 3. On the other hand, when the rib portion 6 is too close to the main suction port 5, the area of the region surrounded by the rib portion 6 is reduced, and the suction force is reduced. Moreover, when the rib part 6 is too close to the inner lip part 3, the main suction port 5 is likely to be blocked by the conveyed product. Therefore, it is preferable that the plurality of rib portions 6 are respectively provided at substantially half of the region between the main suction port 5 and the inner lip portion 3. However, if a certain level difference can be secured between the main suction port 5 and the rib portion 6, the main suction port 5 can be hardly blocked by the conveyed object even if the position of the rib portion 6 is slightly different.

  Further, the position and number of the sub suction ports 7 are not limited. However, the two sub suction ports 7 are the main suction points because the suction force due to the negative pressure in the region between the inner lip portion 3 and the outer lip portion 4 is increased and the negative pressure is easily generated in the region. It is preferable to be provided at a substantially opposite position with the mouth 5 as the center. It is also possible to provide two or more sub suction ports in order to further increase the suction power.

  FIG. 3B shows another example of the suction pad to which the present invention is applied. The suction pad shown in FIG. 3B is provided with a rib portion 9 having a substantially square cross section in the plane around the main suction port 5.

  Further, the rib portion 9 is formed with a substantially cross-shaped groove 10 serving as an air flow path for generating a negative pressure. In this way, it is also possible to increase the suction force of the suction pad to the conveyed product by providing a flow path in the rib portion.

  As shown in FIG. 4, in the transfer robot 13 to which the present invention is applied, the suction pad 1 is attached to the robot arm 12 via an adapter 11. Further, the robot arm 12 is movable in the horizontal direction and the vertical direction by automatic control, and the suction pad 1 can be brought into contact with the position of the conveyed object.

  The main suction port 5 and the sub suction port 7 are connected to different paths, and are connected to different vacuum pumps (not shown).

Hereinafter, the usage forms of the suction pad and the transfer robot to which the present invention is applied will be described with reference to the drawings for the understanding of the present invention.
FIG. 5 is a schematic diagram (a) when the suction pad grips the conveyed product and a schematic diagram (b) when the conveyed product is conveyed to the container. FIG. 6 is a schematic sectional view (a) of a suction pad to which the present invention is applied when a conveyed product is sucked, and a schematic sectional view (b) of a conventional suction pad.

  FIG. 5 shows a flow of operations for grasping and conveying the udon noodle 8 and placing the constants on the target container 14 as an example of the usage pattern of the present invention.

  First, as shown in FIG. 5A, the packed udon noodles 8 flow randomly on the belt conveyor 15 from the upstream in the direction of arrow Z.

  The transfer robot 13 moves the robot arm 12 in accordance with the movement of the udon noodle 8 that flows. When the suction pad 1 comes above the udon noodle 8, the robot arm 12 is lowered vertically downward to bring the suction pad 1 into contact with the surface of the udon noodle 8.

  Further, the transfer robot 13 operates a vacuum pump to generate a negative pressure at the main suction port 5 and the sub suction port 7. First, the region surrounded by the inner lip 3 is adsorbed to the udon noodle 8. Further, the noodle noodle 8 is adsorbed to the region surrounded by the inner lip 3 and the outer lip 4. In addition, each adsorption | suction here is performed at high speed, and actually, the time difference of adsorption | suction hardly arises.

  As shown in FIG. 5B, the udon noodle 8 held by the suction pad 1 is conveyed to the container 14 by the robot arm 12. When the suction pad 1 comes above the target position of the container 14, the robot arm 12 descends vertically downward. Further, the suction to each suction port is stopped, the suction pad 1 and the udon noodle 8 are separated, and the udon noodle 8 is placed in the container 14.

  The udon noodles 8 are placed side by side in the container 14. A program can be input to the transfer robot 13 and arranged in a desired number and arrangement. Further, it is possible to perform work using a plurality of transfer robots 13 according to the scale of the production line and the installation space.

  FIG. 6A shows a state where the suction pad 1 to which the present invention is applied is adsorbed to the udon noodle 8. The surface of the udon noodle 8 abuts against the rib portion 6, the main suction port 5 is not blocked by the udon noodle 8, and a space is formed between the main suction port 5 and the udon noodle 8. A region indicated by an arrow X in the figure is a region where the udon noodle 8 is adsorbed in the vicinity of the main suction port 5.

  Moreover, the region surrounded by the inner lip portion 3 and the region surrounded by the inner lip portion 3 and the outer lip portion 4 and the udon noodle 8 are adsorbed. Thus, since the main suction port 5 is not blocked by the udon noodle 8, the suction force of the suction pad 1 can be increased. Moreover, the air flow path is ensured by the rib part 6, and the adsorption | suction force produced by the negative pressure can be maintained stably.

  On the other hand, FIG. 6B shows a state where the conventional suction pad 16 and the udon noodle 8 are adsorbed. The surface of the udon noodle 8 comes into contact with the suction port 17, and the udon noodle 8 is gripped and conveyed in a state where the suction port 17 is closed. A region indicated by an arrow Y in the figure is a region where the udon noodle 8 is adsorbed to the suction port 17 and is smaller than the region indicated by the arrow X.

  In the conventional suction pad 16 shown in FIG. 6 (b), the adsorptive power with respect to the udon noodle 8 is weak, and there is a problem that the udon noodle 8 is dropped in the middle of conveyance or the udon noodle 8 cannot be placed at the target position. Conceivable.

  Thus, the suction pad to which the present invention is applied has a large pressure receiving area where negative pressure is exerted on the conveyed product, and has a sufficient suction force. In addition, since a flow path for generating a negative pressure is secured, the conveyance is ensured while maintaining the suction force.

  Further, since the suction force to the conveyed product is increased without increasing the suction force of the suction device, the package of the conveyed product is hardly deformed or damaged.

  In addition, since the inner lip portion and the outer lip portion can be adsorbed to the conveyed product in two regions having different sizes, it is possible to handle conveyed items of different sizes with one suction pad. ing.

  Further, the inner lip portion and the outer lip portion are highly airtight, and are difficult to leak air. That is, it is difficult for the suction force to decrease due to air leakage, and the conveyance can be ensured.

  Further, two suction paths are provided by the inner lip portion and the outer lip portion, and by connecting to an independent suction device, it is possible to realize more stable suction to the conveyed product.

  In addition, since it is not composed of a plurality of suction pads, the problem of delaying the timing of switching between suction and non-suction is less likely to occur.

As described above, the suction pad to which the present invention is applied can firmly suck a conveyed product and can perform gripping and conveyance more reliably.
In addition, the transport robot to which the present invention is applied can firmly attract a transported object and can perform gripping transport more reliably.
In addition, the suction mechanism to which the present invention is applied can firmly suck a conveyed product and can perform gripping and conveyance more reliably.

DESCRIPTION OF SYMBOLS 1 Adsorption pad 2 Pad main body 3 Inner lip part 4 Outer lip part 5 Main suction port 6 Rib part 7 Sub suction port 8 Udon noodle 9 Rib part 10 Groove 11 Adapter 12 Robot arm 13 Transport robot 14 Container 15 Belt conveyor 16 Conventional suction Pad Arrow X Area where udon noodles are adsorbed in the vicinity of the main suction port Arrow Y Area where udon noodles are adsorbed at the suction port Arrow Z Direction of belt conveyor flow

Claims (7)

A main body provided with a first suction port;
Convex ribs provided around the first suction port;
A first lip portion that is provided so as to substantially surround the rib portion and protrudes from the rib portion in the convex direction of the rib portion;
Forming a predetermined gap with the first lip portion, and a second lip portion provided so as to substantially surround the first lip portion;
A suction pad comprising: a second suction port provided in a gap between the first lip portion and the second lip portion. The first suction port is provided at substantially the center in a region surrounded by the first lip portion,
The second suction port is provided in at least two, and is located in a region substantially opposing the first suction port,
The suction pad according to claim 1, wherein the first suction port and the second suction port have different suction paths. The suction pad according to claim 1, wherein the first lip portion protrudes in a convex direction of the rib portion from the second lip portion. The suction pad according to claim 1, wherein the hardness of the first lip portion is smaller than the hardness of the second lip portion. The suction pad according to claim 1, claim 2, claim 3, or claim 4, wherein the rib portion has a groove portion. A main body provided with a first suction port, a convex rib portion provided around the first suction port, and provided so as to substantially surround the rib portion, and the convex direction of the rib portion A first lip portion protruding from the rib portion, a second lip portion formed so as to form a predetermined gap with the first lip portion and substantially surround the first lip portion; A suction pad having a second suction port provided in a gap between the first lip portion and the second lip portion;
A transfer robot comprising a robot body coupled to the suction pad and movable in a horizontal direction and a vertical direction. A main body provided with a first suction port;
Convex ribs provided around the first suction port;
A first lip portion that is provided so as to substantially surround the rib portion and protrudes from the rib portion in the convex direction of the rib portion;
Forming a predetermined gap with the first lip portion, and a second lip portion provided so as to substantially surround the first lip portion;
A second suction port provided in a gap between the first lip portion and the second lip portion, and is connected to the first suction port and sucks air inside the first suction port. A first suction device that
An adsorption mechanism that is connected to the second adsorption port and includes a second suction device that sucks air inside the second adsorption port.

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