JP2017113870A - Component holding nozzle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To achieve a component holding nozzle that can adsorb a component more surely regardless of the size and the like of the component for example.SOLUTION: The component holding nozzle has a plurality of nozzle members having opening end parts, whose sizes are different from each other, provided at first tip parts thereof respectively, which comprises: an extendable portion that can be brought into a contracted state where a second nozzle whose opening end part is smaller in size of two nozzle members is stored inside a first nozzle member whose opening end part is larger in size of two adjacent nozzle members and therefore a gap is generated between a peripheral edge part of the opening end part of the first nozzle member and the second nozzle member and an extended state where part of the second nozzle member is protruded from the opening end part of the first nozzle member; and a changing mechanism that extends and contracts the extendable portion, which holds a component by suctioning air from the opening end part positioned at a second tip part of the extendable portion.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a component holding nozzle.

  Conventionally, a component holding nozzle that sucks and holds a component is known (for example, Patent Document 1).

JP-A-8-150586

  In this type of component holding nozzle, for example, it is significant if a component holding nozzle that can adsorb components more reliably is obtained regardless of the size of the component.

  The component holding nozzle of the present invention has a plurality of nozzle members each having an opening end portion at each first tip portion and having different sizes of the opening end portions, and of the two adjacent nozzle members, Inside the first nozzle member having a large opening end portion, the second nozzle member having a small opening end portion among the two nozzle members is accommodated, and the first nozzle A contracted state in which a gap is generated between a peripheral edge of the opening end of the member and the second nozzle member, and a part of the second nozzle member from the opening end of the first nozzle member. A projecting stretched state, a stretchable portion that can be stretched, and a change mechanism that stretches and contracts the stretchable portion, by sucking air from the opening end located at the second tip of the stretchable portion Hold the parts.

  According to the present invention, a component holding nozzle capable of adsorbing components more reliably is obtained.

FIG. 1 is an exemplary view of a robot arm equipped with a component holding nozzle according to the first embodiment. FIG. 2 is a perspective view of the stretchable part of the component holding nozzle of the first embodiment, and is a perspective view of the stretchable part in the stretched state. FIG. 3 is a perspective view of the stretchable portion of the component holding nozzle of the first embodiment, and is a perspective view of the stretchable portion in the contracted state. FIG. 4 is a cross-sectional view of a part of the expansion / contraction part of the component holding nozzle of the first embodiment, and is a cross-sectional view of the expansion / contraction part in a contracted state. FIG. 5 is a perspective view of a part of the stretchable part of the component holding nozzle of the first embodiment, and is a cross-sectional view of a part of the stretchable part in the stretched state. FIG. 6 is a plan view of a part of the expansion / contraction part of the component holding nozzle of the first embodiment, and is a plan view of a part of the expansion / contraction part in the contracted state. FIG. 7 is a perspective view of the telescopic part and the changing mechanism of the component holding nozzle of the first embodiment. FIG. 8 is a diagram of a part of the component holding nozzle changing mechanism of the first embodiment. FIG. 9 is a cross-sectional view of a part of the expansion / contraction part of the component holding nozzle according to the second embodiment, and is a cross-sectional view of the expansion / contraction part in a contracted state. FIG. 10 is a perspective view of a part of the stretchable part of the component holding nozzle according to the second embodiment, and is a cross-sectional view of a part of the stretchable part in the stretched state. FIG. 11 is a perspective view of the interposition member of the component holding nozzle according to the second embodiment. FIG. 12 is a cross-sectional view of a telescopic part of the component holding nozzle of the third embodiment. FIG. 13 is a cross-sectional view of a part of the expansion / contraction part of the component holding nozzle according to the fourth embodiment, and is a cross-sectional view of the expansion / contraction part in a contracted state. FIG. 14 is a perspective view of a part of the expansion / contraction part of the component holding nozzle according to the fourth embodiment, and is a cross-sectional view of a part of the expansion / contraction part in an extended state.

  Hereinafter, exemplary embodiments of the present invention are disclosed. The configuration and control of the embodiment shown below, and the operation and result (effect) brought about by the configuration and control are examples. The present invention can be realized by means other than the configuration and control disclosed in the following embodiments, and various effects (including derivative effects) obtained by the basic configuration and control can be obtained. is there.

  The following exemplary embodiments include components having similar functions. Constituent elements having similar functions are denoted by common reference numerals and redundant description may be omitted.

<First embodiment>
An air passage 102 (opening, FIGS. 2 and 3) is provided inside the component holding nozzle 100 illustrated in FIG. An opening end portion 102 a (FIGS. 2 and 3) of the air passage 102 is provided at the tip end portion 100 a of the component holding nozzle 100. The component holding nozzle 100 sucks air from the opening end portion 102a into the internal air passage 102, thereby sucking the component P in contact with the front end surface 100b and maintaining the sucked state to hold the component P. . When the suction of air is stopped, the component P is released from the tip 100a. That is, the component holding nozzle 100 can switch between the holding state and the released state of the component P by switching between air suction and suction stop.

  The component holding nozzle 100 can be supported by a transport mechanism such as the robot arm 10, for example. In the present embodiment, the robot arm 10 includes a deformable arm including a plurality of movable portions that are rotatably connected to each other by a plurality of rotation axes Ax, and the component holding nozzle 100 supported by the tip portion of the arm. The position, posture, angle, etc. can be changed. Therefore, the component P can be carried by controlling the robot arm 10 and the component holding nozzle 100 by a control unit (not shown). That is, the component holding nozzle 100 picks up the component P at the start point position, and the robot arm 10 moves the component P by moving the component holding nozzle 100 holding the component P. The component holding nozzle 100 moves at the end point position. Is released, the part P is transported from the start point position to the end point position. The transport mechanism is not limited to the robot arm 10 and can be configured in various forms. The component holding nozzle 100 can also be referred to as a hand or a robot hand.

  As illustrated in FIGS. 1 to 4, the component holding nozzle 100 has a stretchable portion 25 extending in the Z direction so as to be able to correspond to the depth of a container (not shown) in which the component P is accommodated. . The component P is adsorbed to the distal end portion 100a of the extendable portion 25. The distal end portion 100 a is an end portion in the Z direction of the component holding nozzle 100 and the extendable portion 25. The Z direction can also be referred to as the axial direction. The stretchable part 25 can also be referred to as a protruding part.

  As illustrated in FIG. 1, the component holding nozzle 100 includes a suction mechanism 50. The suction mechanism 50 generates a flow of air having a higher flow rate by using the negative pressure generated in the vicinity thereof by blowing out air. Such a suction mechanism 50 can also be referred to as a jet pump. As shown in FIGS. 2 and 3, the expansion / contraction part 25 is provided with an air passage 102. For example, the air passage 102 is provided with an air outlet (not shown) for blowing out air. When air blows out from the air outlet, an air flow Fj is generated in the air passage 102 due to the negative pressure generated by the flow of the blown air. The shape of the nozzle can be adjusted as appropriate. The suction mechanism 50 generates air flow sucked from the open end 102a by supplying air to the outlet of the component holding nozzle 100 via a flexible hose (such as a high pressure hose). Therefore, it is possible to obtain an air flow necessary for the adsorption of the component P by a relatively compact configuration and in a facility provided with an air supply device. As long as the flexible hose can be reached, the suction mechanism 50 can generate an air flow regardless of the position, posture, angle, and the like of the component holding nozzle 100.

  As shown in FIGS. 2 and 3, the stretchable part 25 has a plurality (for example, three) of nozzle members 30-1 to 30-3, and these nozzle members 30-1 to 30-3. Expands and contracts by moving relatively. Hereinafter, the nozzle member 30 may be used as a generic term for the nozzle members 30-1 to 30-3. Of the two adjacent nozzle members 30, the nozzle member 30 is positioned relatively upstream (the tip end side of the expansion / contraction part 25) in the air flow direction of the air passage 102 with the expansion / contraction part 25 extended. Is also referred to as a nozzle member 30U, and the nozzle member 30 located on the relatively downstream side in the air flow direction of the air passage 102 (the base end side opposite to the distal end portion of the telescopic portion 25) is also referred to as a nozzle member 30D. .

  The plurality of nozzle members 30 are configured in a similar shape and have different sizes. The nozzle member 30 has a cylindrical shape with a diameter that decreases from the downstream base end 30c toward the upstream tip 30b. That is, the outer shape of the nozzle member 30 is substantially conical. The outer peripheral surface 30g and the inner peripheral surface 30h of the nozzle member 30 have a cylindrical surface shape whose diameter decreases from the base end portion 30c toward the tip end portion 30b. Inside the cylinder of the nozzle member 30 is an opening 30 a included in the air passage 102. The tip 30b is opened in a circular shape, and an opening end 30d of the opening 30a is provided. Further, the base end portion 30c is opened in a larger circular shape than the tip end portion 30b, and an opening end portion 30e of the opening portion 30a is provided. The opening end portions 30 d and 30 e are smaller in size (diameter) as the upstream nozzle member 30 is located in the plurality of nozzle members 30. That is, the opening end portions 30d and 30e of the plurality of nozzle members 30 have different sizes. The tip portion 30b is an example of a first tip portion.

  As shown in FIGS. 2 and 3, a relatively small nozzle member 30 is accommodated in a relatively large nozzle member 30 through an opening end 30 d so as to advance and retract. Of the two adjacent nozzle members 30, the two nozzle members 30 are disposed on the inner side (opening portion 30 a) of the first nozzle member 30 (nozzle member 30 U, FIGS. 4 and 5) whose opening end portion 30 d is large. Among them, the second nozzle member 30 (nozzle member 30D) having a small opening end 30d is accommodated. And the expansion-contraction part 25 is a contraction state (FIG. 3) in which the clearance gap produced between the peripheral part 30f of the opening edge part 30d of the 1st nozzle member 30, and the outer peripheral surface 30g of the 2nd nozzle member 30, The first nozzle member 30 can be expanded and contracted to an extended state (FIG. 2) in which a part of the second nozzle member 30 protrudes from the opening end 30 d of the nozzle member 30. The gap between the inner peripheral surface of the first nozzle member 30 between the peripheral edge portion 30f of the opening end portion 30d of the first nozzle member 30 and the outer peripheral surface 30g of the second nozzle member 30 is in an extended state with respect to the contracted state. Is smaller. In the present embodiment, in the extended state, the first nozzle member 30 is in the state where the outer peripheral surface 30g of the second nozzle member 30 overlaps (contacts) the inner peripheral surface 30h of the first nozzle member 30. Two nozzle members 30 are fitted. In this embodiment, in the nozzle member 30-1 and the nozzle member 30-2, the nozzle member 30-1 is a first nozzle member, and the nozzle member 30-2 is a second nozzle member. Moreover, in the nozzle member 30-2 and the nozzle member 30-3, the nozzle member 30-2 is a 1st nozzle member, and the nozzle member 30-3 is a 2nd nozzle member.

  In the contracted state of the expansion / contraction part 25 (FIG. 3), the opening end part 30d of each nozzle member 30-1 to 30-3 is located in the front-end | tip part 25a of the expansion / contraction part 25, These nozzle members 30-1 to 30-3. The opening end portion 30a is constituted by the opening end portion 30d. In the stretched state of the expansion / contraction part 25 (FIG. 3), only the open end 30d of the nozzle member 30-3 on the most upstream side (the most distal end side of the expansion / contraction part 25) is positioned at the distal end 25a of the expansion / contraction part 25. The opening end portion 102a is configured by the opening end portion 30d of the nozzle member 30-3. Therefore, the size (opening amount) of the opening end portion 102a is smaller in the stretched state than in the contracted state of the stretchable portion 25 (FIG. 3). That is, the size of the opening end portion 102a differs between the contracted state and the expanded state of the expandable portion 25. Therefore, the size of the open end 102a can be changed by changing the expansion / contraction state of the expansion / contraction part 25. The component holding nozzle 100 holds the component P by sucking air from the opening end portion 30d located at the distal end portion 25a of the extendable portion 25. The tip portion 25a is an example of a second tip portion.

  As shown in FIGS. 4 to 6, the nozzle member 30 </ b> D (first nozzle member) is guided to guide the nozzle member 30 </ b> U (second nozzle member) in the expansion / contraction direction (Z direction) of the expansion / contraction part 25. A portion 30i is provided. The guide part 30 i is provided on the inner peripheral surface 30 h and extends in the extension / contraction direction of the extension / contraction part 25. The guide part 30i is provided with a groove part 30j extending in the extension / contraction direction of the extension / contraction part 25. An interposition member 31 is interposed between the nozzle member 30D and the nozzle member 30U, and the interposition member 31 is placed in the groove 30j. The interposition member 31 is a leaf spring (elastic member), and one end thereof is fixed to the outer peripheral surface 30g of the nozzle member 30U. The guide part 30 i guides the nozzle member 30 D in the extension / contraction direction of the extension / contraction part 25 by guiding the interposition member 31 placed in the groove part 30 j in the extension / contraction direction of the extension / contraction part 25. Further, the guide part 30 i restricts the rotation of the nozzle member 30 </ b> U via the interposition member 31. In the extended state of the telescopic part 25, the interposition member 31 fills the groove part 30j. Therefore, in the extended state of the expansion / contraction part 25, it is suppressed that air flows through the groove part 30j.

  As shown in FIGS. 7 and 8, the changing mechanism 26 includes a motor 40, a pinion 41, and a rack 42. For example, the motor 41 is coupled to the nozzle member 30-1 on the most downstream side (most proximal end side of the telescopic portion 25) via a coupling member (not shown). The pinion 41 is coupled to the motor 40. The rack 42 is coupled to the base end portion 30c of the most upstream nozzle member 30-3 and moves integrally with the nozzle member 30-3. Further, the rack 42 meshes with the pinion 41. When the motor 40 rotates the pinion 41, the rack 42 moves integrally with the nozzle member 30-3 in the expansion / contraction direction. The moving direction of the nozzle member 30-3 changes according to the rotation direction of the motor 40. When the nozzle member 30-3 moved in the shrinking direction is accommodated in the nozzle member 30-2, the nozzle member 30-3 comes into contact with the hooking portion 43 provided in the nozzle member 30-2. Thereby, the nozzle member 30-3 and the nozzle member 30-2 move integrally. Then, when the nozzle members 30-2 and 30-3 are accommodated in the nozzle member 30-1, the nozzle member 30-2 comes into contact with the stopper 44 provided in the nozzle member 30-1, and the nozzle member 30-2. , 30-3 is restricted. That is, the stopper 44 positions the expansion / contraction part 25 of the nozzle member 30U with respect to the nozzle member 30D in the expansion / contraction direction with the expansion / contraction part 25 contracted. As described above, in the present embodiment, the plurality of nozzle members 30 are moved by the single motor 40. The stopper 44 is an example of a positioning part.

  As described above, the component holding nozzle 100 according to the present embodiment includes the peripheral portion 30f of the open end 30d of the nozzle member 30D (first nozzle member) and the outer peripheral surface of the nozzle member 30U (second nozzle member). The expansion / contraction part 25 that can be expanded and contracted, and the expansion / contraction part 25 are expanded and contracted into a contracted state in which a gap is formed between the nozzle member 30D and an expanded state in which a part of the nozzle member 30U protrudes from the opening end 30d of the nozzle member 30D. And a change mechanism 26. Therefore, according to this embodiment, the specification (size or shape) of the open end 102a can be changed by changing the expansion / contraction state of the expansion / contraction part 25 by the change mechanism 26, for example. Therefore, for example, the opening end 102a can be set to a size according to the specifications (size and shape) of the component P.

  Moreover, in this embodiment, the diameter of the nozzle member 30 becomes small as it goes to the front-end | tip part 30b. Therefore, since the diameter of the front-end | tip part 25a of the expansion-contraction part 25 becomes small by extending the expansion-contraction part 25, it is easy to hold | maintain the small components P. FIG.

  In the present embodiment, the nozzle member 30 </ b> D is provided with a guide portion 30 i that guides the nozzle member 30 </ b> U in the expansion / contraction direction of the expansion / contraction portion 25. Therefore, the expansion / contraction part 25 can be expanded and contracted satisfactorily.

  In addition, the component holding nozzle 100 of the present embodiment includes a suction mechanism 50 that sucks air from the opening end 30d. Therefore, according to the present embodiment, for example, it is easy to obtain a higher suction force than when the suction mechanism 50 is provided apart from the component holding nozzle 100.

<Second Embodiment>
As shown in FIGS. 9 to 11, the present embodiment is mainly different from the first embodiment in the interposition member 31. In the present embodiment, the interposition member 31 includes an elastic portion 31a coupled to the outer peripheral surface 30g of the nozzle member 30U, and a spherical hooking portion 31b connected to the elastic portion 31a and inserted into the groove portion 30j. Yes. The elastic part 31a is configured by, for example, a coil spring, a rubber member, or the like, and can elastically expand and contract. The groove 30j is provided with concave positioning portions 30m and 30n. A positioning portion 30n is provided on the upstream side of the positioning portion 30m. In the contracted state of the extendable portion 25 (FIG. 9), the hooking portion 31b is placed in the positioning portion 30m and positioned by the positioning portion 30m (movement is restricted). From this state, when the nozzle member 30U is moved upstream by the changing mechanism 26, the hooking portion 31b is disengaged from the positioning portion 30m while being compressed and deformed by the elastic portion 31a, and moves upstream along the groove portion 30j. . And the hook part 31b is pushed into the positioning part 30n by the restoring deformation of the elastic part 31a, and is positioned by the positioning part 30n (movement is limited). The state in which the hooking portion 31b is positioned on the positioning portion 30n is the extended state of the extendable portion 25.

  According to the above configuration, since the nozzle member 30U is positioned by positioning the hooking portion 31b in the extended state and the contracted state, the movement of the nozzle member 30U when holding the component P is suppressed. Cheap.

<Third embodiment>
As shown in FIG. 12, in the present embodiment, the center Ax1 of the opening end portion 30d of the nozzle member 30 is increased toward the distal end portion 25a of the expansion / contraction portion 25 in the plurality of nozzle members 30 in the extended state of the expansion / contraction portion 25. It is moved in a first direction (X direction) that intersects (as an example, orthogonal) with the expansion / contraction direction (Z direction) of the expansion / contraction part 25. Specifically, when the center Ax1-1 is used as a reference among the centers Ax1-1 to Ax1-4 of the opening end portions 30d of the plurality of nozzle members 30-1 to 30-4, the centers Ax-2 to Ax1- In the order of 4, the distance from the center Ax1-1 is the first direction. Therefore, it is easy to hold the parts P arranged at the corners of the container.

<Fourth embodiment>
As shown in FIGS. 13 and 14, the present embodiment is mainly different from the first embodiment in the shape of the nozzle member 30. In this embodiment, the nozzle member 30 has two nozzle members 30-1 and 30-2 as an example. The nozzle member 30-1 is an example of a first nozzle member, and the nozzle member 30-2 is an example of a second nozzle member.

  The nozzle member 30-1 has a cylindrical part 30p and a wall part 30q provided at one end of the cylindrical part 30p. The nozzle member 30-2 is accommodated in the cylinder part 30p. The wall 30q is provided with an opening 30qa (through hole), and an opening end 30d is provided in the opening 30qa. The wall portion 30p is included in the tip portion 30b of the nozzle member 30-1. The 0 wall portion 30q is an example of a first wall portion.

  The nozzle member 30-2 includes a cylindrical part 30r, a wall part 30s provided at one end of the cylindrical part 30r, and a convex part 30t protruding from the wall part 30s toward the wall part 30q. The nozzle member 30-2 is provided with an opening 30u penetrating the cylindrical portion 30r, the wall portion 30s, and the convex portion 30t, and the tip portion 30b of the convex portion 30t (nozzle member 30-2) of the opening 30u. The portion opened at is the opening end 30d of the nozzle member 30-2. The wall portion 30s is an example of a second wall portion.

  In the contracted state of the expansion / contraction part 25 (FIG. 13), the wall part 30q and the wall part 30s are separated from each other and between the peripheral edge part 30f of the opening end part 30d of the nozzle member 30-1 and the nozzle member 30-2. There is a gap. On the other hand, in the contracted state of the expansion / contraction part 25 (FIG. 14), the wall part 30s is overlapped with the wall part 30q, and the convex part 30t protrudes from the opening end part 30d of the nozzle member 30-1.

  According to the above configuration, as in the first embodiment, for example, the specification (size or shape) of the opening end 102a can be changed by changing the expansion / contraction state of the expansion / contraction part 25 by the change mechanism 26. it can. Therefore, for example, the opening end 102a can be set to a size according to the specifications (size and shape) of the component P.

  Of the component holding nozzles 100 described in the above embodiments, the suction mechanism 50 is replaced with a blowing mechanism (discharge mechanism) that blows (discharges) air into the air passage 102, whereby air is blown out from the opening end 30d. A blowing device (air blowing device) can be configured. That is, the blowing device includes a configuration other than the suction mechanism 50 in the component holding nozzle 100, and a blowing mechanism that is provided through the air passage 102 and blows air into the air passage 102.

  As mentioned above, although embodiment of this invention was illustrated, the said embodiment is an example and is not intending limiting the range of invention. These embodiments can be implemented in various other forms, and various omissions, replacements, combinations, and changes can be made without departing from the scope of the invention. These embodiments are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof. In addition, the configuration and shape of each embodiment and each modification may be partially exchanged. In addition, specifications (structure, type, direction, shape, size, length, width, thickness, height, number, arrangement, position, material, etc.) of each configuration and shape, etc. are changed as appropriate. can do.

  25 ... telescopic part, 25a ... tip part (second tip part), 26 ... change mechanism, 30, 30-1 to 30-4, 30D, 30U ... nozzle member, 30b ... tip part (first tip part) 30d ... Open end, 30i ... Guide part, 30j ... Groove part, 30m, 30n ... Positioning part, 30q ... Wall part (first wall part), 30s ... Wall part (second wall part), 30t ... Convex Part 31, interposition member 44, stopper (positioning part), 100 part holding nozzle P, part.

Claims (7)

Each of the first tip portions has an opening end portion, and has a plurality of nozzle members having different opening end sizes, and the opening end portion of the two adjacent nozzle members has a large size. Inside the first nozzle member, the second nozzle member having a small opening end portion of the two nozzle members is accommodated, and the peripheral edge of the opening end portion of the first nozzle member Expansion and contraction in a contracted state in which a gap is formed between the first nozzle member and an extended state in which a part of the second nozzle member protrudes from the opening end of the first nozzle member A possible elastic part,
A change mechanism for expanding and contracting the stretchable part;
With
A component holding nozzle that holds a component by sucking air from the opening end located at the second tip of the expandable portion.   The component holding nozzle according to claim 1, wherein the nozzle member has a diameter that decreases toward the first tip. The first nozzle member has a first wall provided with the opening end and included in the first tip.
The second nozzle member has a second wall portion facing the inner surface of the first wall portion, and a convex portion protruding from the second wall portion toward the first wall portion. ,
The opening end portion of the second nozzle member is provided on the convex portion,
In the contracted state, the first wall portion and the second wall portion are separated from each other, and in the extended state, the second wall portion is overlapped with the first wall portion and the The component holding nozzle according to claim 1, wherein a convex portion protrudes from the opening end of the first nozzle member.   4. The component holding nozzle according to claim 1, wherein the first nozzle member is provided with a guide portion that guides the second nozzle member in a direction of expansion and contraction of the expansion and contraction portion. An interposed member interposed between the first nozzle member and the second nozzle member and elastically deformed;
The guide portion is provided with a groove portion extending in the expansion / contraction direction,
The component holding nozzle according to claim 4, wherein the interposition member is placed in the groove.   The component holding nozzle according to any one of claims 1 to 5, further comprising a positioning portion that positions the second nozzle member in the expansion / contraction direction with respect to the first nozzle member.   The component holding nozzle according to any one of claims 1 to 6, further comprising a suction mechanism that sucks air from the opening end.

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