JP2022037330A - Suction member - Google Patents

Abstract

To suck and hold an object without generating wrinkles on a wrap of the object.SOLUTION: A suction member 100 is equipped with a sucker member 110, and a supporting member 120 that supports the sucker member 110. The sucker member 110 is equipped with a cylindrical connecting portion 111, and a lip portion 112 projecting out in a sucker space from a tip end portion of the connecting portion 111. The supporting member 120 has a cylindrical shape to be inserted into the connecting portion 111, and is equipped with a tip end surface 121 that is disposed flush with a suction plane formed by a lip portion 112 in a suction state, a tip end flange portion 122 that is disposed flush with the suction plane, projects outward in a diametrical direction from the tip end surface 121, and embeds a chamfering portion 118 provided between an inner surface 116 of the connecting portion 111 and an inside surface of the lip portion 112, and a suction port 123 that opens to the tip end surface 121.SELECTED DRAWING: Figure 6

Description

The present invention relates to a suction member that is attached to a robot or the like and generates a force for sucking and holding an object by adsorbing it on the surface of the object.

In the suction member used when transporting the object to be transported automatically or manually, by optimizing the shape, size, and material of the suction cup member called a pad, etc., for the object wrapped in wrap. Also known is a technique that enables adsorption and retention (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2002-184835

However, with the conventional suction member, there is a high possibility that problems such as wrinkles, suction marks, and tears will occur on the lap that is in direct contact with the suction member. Further, if the vacuum pressure for adsorption is weakened, the probability of occurrence of wrinkles and the like decreases, but the possibility that the object falls increases.

The present invention has been made in view of the above problems, and an object of the present invention is to provide an adsorption member capable of reducing the possibility of wrinkling of the wrap for packaging the object while reducing the possibility of the object falling. And.

In order to achieve the above object, the suction member, which is one of the present inventions, includes a suction cup member and a support member for supporting the suction cup member, and is a suction member that sucks on the surface of the object. The member includes a tubular connection portion and a suction cup-like lip portion protruding from the tip end portion of the connection portion, and the support member is a tubular shape inserted into the connection portion and is in a suction state. The tip surface arranged flush with the suction plane formed by the lip portion and the tip surface arranged flush with the suction plane and protruding outward in the radial direction from the tip portion including the tip surface of the connection portion. It is provided with a tip brim portion for filling a chamfered portion provided between the inner peripheral surface and the inner side surface of the lip portion, and a suction port opening to the tip surface.

According to the present invention, it is possible to suppress the fall of the object and the generation of wrinkles of the wrap for packaging the object at the same time.

FIG. 1 is a perspective view showing the suction member from the holding side (Z + side). FIG. 2 is a perspective view showing the suction member from the suction side (Z− side). FIG. 3 is a perspective view showing a state in which the suction cup member is removed from the support member 120. FIG. 4 is a cross-sectional view showing a state in which the suction cup member is cut on a plane including the pipe axis (Z axis). FIG. 5 is a cross-sectional view showing a state in which the support member is cut on a plane including the pipe axis (Z axis). FIG. 6 is a cross-sectional view showing a state before the suction member comes into contact with the object and is sucked. FIG. 7 is a cross-sectional view showing a state in which the suction member is in contact with the object and is sucked.

Hereinafter, embodiments of the suction member according to the present invention will be described with reference to the drawings. It should be noted that the following embodiments are intended to give an example for explaining the present invention, and are not intended to limit the present invention. For example, the shape, structure, material, component, relative positional relationship, connection state, numerical value, mathematical formula, content of each stage in the method, order of each stage, etc. shown in the following embodiments are examples. May contain content not listed in. In addition, geometrical expressions such as parallel and orthogonal may be used, but these expressions do not indicate mathematical rigor and include substantially permissible errors and deviations. In addition, expressions such as simultaneous and identical also include a range that is substantially permissible.

Further, the drawings are schematic views in which emphasis, omission, or ratio adjustment is appropriately performed to explain the present invention, and are different from the actual shape, positional relationship, and ratio.

Further, in the following, a plurality of inventions may be comprehensively described as one embodiment. In addition, some of the contents described below are described as arbitrary components relating to the present invention.

FIG. 1 is a perspective view showing the suction member from the holding side (Z + side). FIG. 2 is a perspective view showing the suction member from the suction side (Z− side). FIG. 3 is a perspective view showing a state in which the suction cup member is removed from the support member 120.

The suction member 100 includes a suction cup member 110 and a support member 120, and is a target by removing air inside the suction cup member 110 that has come into contact with the object 200 (see FIG. 7) via the support member 120. It is a member that adsorbs to the object 200. The object 200 can be held and moved by lifting the adsorption member 100 adsorbed on the object 200 using a robot (not shown) or the like. Further, the suction member 100 adsorbed on the object 200 can open the object 200 by supplying air to the inside of the suction cup member 110.

FIG. 4 is a cross-sectional view showing a state in which the suction cup member is cut on a plane including the pipe axis (Z axis). The suction cup member 110 is a member whose tip portion abuts on the object 200 and is deformed by being sucked by the air inside to come into close contact with the surface of the object 200. I have.

The connecting portion 111 is a cylindrical member, and is a portion supported by the support member 120 by being inserted in the support member 120 in a tightened state. The shape of the connecting portion 111 is not particularly limited as long as it is cylindrical, but in the case of the present embodiment, the connecting portion 111 has a cylindrical shape. Specifically, the connecting portion 111 corresponds to the outer peripheral shape of the support member 120, and pipes the small diameter portion 113 having a relatively narrow inner peripheral diameter and the large diameter portion 114 having an inner diameter wider than the small diameter portion 113. It is provided in a row in the axial direction (Z-axis direction in the figure). Further, on the side of the small diameter portion 113 opposite to the lip portion 112 (Z + side in the drawing), an engaging surface 115 perpendicular to the pipe axis is provided. The engaging surface 115 is a stepped portion at the boundary between the small diameter portion 113 and the large diameter portion 114.

In order to fit the tightening member for improving the tightening strength of the connecting portion 111, a groove may be provided on the entire outer peripheral surface of the connecting portion 111, particularly the outer peripheral surface of the large diameter portion 114. By tightening the relatively thin large-diameter portion 114, the mounting strength to the support member 120 can be improved, and it is possible to suppress the generation of unbalanced stress or the like on the lip portion 112.

The lip portion 112 is a portion having flexibility and resilience that deforms along the surface of the object 200 when adsorbed to the object 200 and returns to the original shape when the object 200 is opened, and is a connection portion. It is a portion protruding like a suction cup from the tip end portion (Z-side end portion in the figure) of 111. The lip portion 112 has a shape that gradually inclines toward the front side (Z-side in the figure) of the connecting portion as it goes outward in the radial direction from the tip portion of the connecting portion 111. In the case of the present embodiment, the lip portion 112 has a dome shape, and the thickness of the lip portion 112 is uniform in a range of two-thirds or more of the distance from the connection portion 111 to the tip edge. In FIG. 4, the range L is shown as a range of two-thirds of the distance from the connection portion 111 of the lip portion 112 to the tip edge. In the case of the present embodiment, the thickness of the lip portion 112 of the lip portion 112 is substantially uniform. In addition, uniform is described as including a change (error) of about ± 0.5 mm.

The material constituting the suction cup member 110 is not particularly limited, but in the case of the present embodiment, silicon rubber is adopted, and the connection portion 111 and the lip portion 112 are integrally molded by the silicon rubber. .. The hardness of the suction cup member 110, particularly the lip portion 112, is 20 ° (shore A). The specific thickness of the lip portion 112 is not particularly limited, but is about 1.5 mm ± 0.5 mm, the thickness in the vicinity of the connecting portion 111 is about 2 mm, and the thickness of the tip edge is about 1 mm. ..

A chamfered portion 118 is arranged at a corner portion between the inner surface 116 of the small diameter portion 113 of the connecting portion 111 and the inner surface 117 of the lip portion 112. The shape of the chamfered portion 118 is not particularly limited, but in the case of the present embodiment, it is an R chamfered shape. The shape of the chamfered portion 118 may be a C chamfered shape or another shape.

FIG. 5 is a cross-sectional view showing a state in which the support member is cut on a plane including the pipe axis (Z axis). The support member 120 is a member that is inserted into the connection portion 111 of the suction cup member 110 in a tightly fitted state utilizing the elasticity of the suction cup member 110 to support the suction cup member 110, and includes a front end surface 121, a tip brim portion 122, and the like. It is provided with a suction port 123. The shape of the support member 120 is not particularly limited as long as it has a tubular shape capable of sucking air in the lip portion 112, but in the case of the present embodiment, it is a cylindrical shape as a whole. The support member 120 includes a base end brim portion 124, a suction path 125, a thin shaft portion 126, a thick shaft portion 127, a mounting portion 128, and a rotary engaging portion 129.

The material constituting the support member 120 is not particularly limited, but in the case of the present embodiment, a material that is harder (higher) than the hardness of the material constituting the suction cup member 110 is adopted. Specifically, polyacetal can be exemplified as the material of the support member 120, and M78 (rockwell) can be exemplified as the hardness of the material constituting the support member 120.

The tip surface 121 is an end surface on the suction side (Z-side in the drawing) of the support member 120, and is arranged flush with the suction plane formed by the inner surface 117 of the lip portion 112 in the suction state, as shown in FIG. To. Since the lip portion 112 has the flexibility to be deformed according to the surface shape of the object 200, the suction plane is formed when the surface of the object 200 to be sucked by the suction member 100 is an ideal plane. To.

The tip brim portion 122 is an annular portion that protrudes radially outward from the tip portion of the support member 120 including the tip surface 121 in the entire circumferential direction and fills the chamfered portion 118 of the suction cup member 110. The surface of the tip brim portion 122 on the suction side (Z-side in the figure) is flush with the tip surface 121, and when the object 200 having a flat surface is sucked, the surface becomes the suction plane in the same manner as the tip surface 121. Be flush. The shape of the surface of the tip brim portion 122 on the holding side (Z + side in the figure) matches the shape of the chamfered portion 118 of the suction cup member 110. In the case of the present embodiment, since the chamfered portion 118 has an R chamfered shape, the shape of the surface on the holding side of the tip brim portion 122 is curved along the shape of the chamfered portion 118 so as to fill the chamfered portion 118. ..

The base end brim portion 124 is arranged so as to face the base end brim portion 124 in the pipe axis direction (Z-axis direction in the drawing), and engages with the connection portion 111 of the suction cup member 110 to cause the tip surface 121 of the support member 120. It is a part that determines the position of the lip portion 112 and the inner side surface 117 of the lip portion 112. In the case of the present embodiment, the base end brim portion 124 is engaged with the engaging surface 115 whose surface faces toward the holding side opposite to the lip portion 112 of the connecting portion 111 in an abutting state to be engaged with the support member 120. And the position of the suction cup member 110 is determined. The base end brim portion 124 is a stepped portion between the thin shaft portion 126 and the thick shaft portion 127, and is a suction cup member between the tip brim portions 122 and the base end brim portion 124 at both ends of the thin shaft portion 126. The small diameter portion 113 of 110 is fitted.

The suction port 123 is an opening provided in the tip surface 121, and sucks air in the lip portion 112 that comes into contact with the object 200 through the suction port 123. The number and shape of the suction ports 123 are not particularly limited, but in the case of the present embodiment, one circular suction port 123 is opened at the center of the circular tip surface 121.

The suction path 125 is a path that is connected to the vacuum system and communicates with the suction port 123 to suck the air inside the lip portion 112. In the case of this embodiment, the cross-sectional area of the flow path of the suction path 125 is larger than the opening area of the suction port 123. This makes it possible to accelerate the response when sucking the air in the lip portion 112 from the suction port 123 and the response when the air is discharged through the suction port 123.

The mounting portion 128 is a portion to be mounted on the robot. In the case of the present embodiment, a male screw is provided on the outer periphery, and the suction member 100 is attached to the robot by screwing the attachment portion 128 into the screw hole communicating with the vacuum system provided in the robot. When screwing the mounting portion 128 of the suction member 100 into the screw hole, a tool such as a wrench is engaged with the rotary engaging portion 129 to rotate the entire support member 120.

Next, for example, the operation of the suction member 100 when the food placed on the tray is wrapped in a wrap together with the tray and the object 200 is sucked will be described. It is assumed that the surface of the object 200 to be adsorbed by the adsorption member 100 is a flat surface. As shown in FIG. 6, the suction member 100 is moved by the robot so that the peripheral edge of the lip portion 112 comes into contact with the surface of the object 200. Next, the air in the lip portion 112 is sucked through the suction port 123 and the suction path 125. As a result, as shown in FIG. 7, the lip portion 112 is deformed so as to follow the surface state of the suction member 100 and form a suction plane. Further, the tip surface 121 of the support member 120 also exists in the suction plane and abuts on the surface of the wrap on the surface of the object 200. Further, the suction-side surface of the tip brim 122 also exists in the suction plane and abuts on the surface of the wrap. Further, the tip brim portion 122 fills the chamfered portion 118 so that there is almost no gap between the inner side surface 117 of the lip portion 112 and the surface of the tip brim portion 122 on the suction surface side.

As described above, the suction member 100 is attracted to the wrap of the object 200 on a flat surface formed on the inner surface of the tip surface 121, the tip brim portion 122, and the lip portion 112 of the support member 120 with almost no gap. While generating an adsorption force that resists the gravity when lifting the 200 and the inertial force generated when moving the lifted object 200, the wrap is sucked into the gap and the wrap stretches to generate wrinkles. And it is possible to prevent the wrap from being damaged.

Further, since the cross-sectional area of the flow path of the suction path 125 is larger than that of the suction port 123, air can be supplied to the gap between the lip portion 112 and the object 200 with high responsiveness, and the transport efficiency of the object 200 can be improved. Can be improved.

The present invention is not limited to the above embodiment. For example, another embodiment realized by arbitrarily combining the components described in the present specification and excluding some of the components may be an embodiment of the present invention. The present invention also includes modifications obtained by making various modifications that can be conceived by those skilled in the art within the scope of the gist of the present invention, that is, the meaning indicated by the wording described in the claims, with respect to the above-described embodiment. Will be.

For example, the tip brim portion 122 has been described as having a shape that follows the surface shape of the chamfered portion 118 of the suction cup member 110, but the tip brim portion 122 may have a shape that slightly bites into the chamfered portion 118.

The present invention can be used as a suction member when sucking and holding an object by a robot or the like.

100 Suction member 110 Sucker member 111 Connection part 112 Lip part 113 Small diameter part 114 Large diameter part 115 Engagement surface 116 Inner surface 117 Inner surface 118 Chamfering part 120 Support member 121 Tip surface 122 Tip brim 123 Suction port 124 Base end brim 125 Suction path 126 Thin shaft part 127 Thick shaft part 128 Mounting part 129 Rotational engagement part 200 Object

Claims (6)

A suction member that includes a suction cup member and a support member that supports the suction cup member, and is adsorbed on the surface of an object.
The suction cup member
Cylindrical connection and
A lip portion that protrudes like a suction cup from the tip portion of the connection portion is provided.
The support member is
A cylindrical shape inserted into the connection portion, and a tip surface arranged flush with the suction plane formed by the lip portion in the suction state.
A chamfered portion that is arranged so as to be flush with the suction plane, projects radially outward from the tip portion including the tip surface, and is provided between the inner peripheral surface of the connection portion and the inner surface surface of the lip portion. The tip brim that fills the
A suction member including a suction port that opens on the tip surface. The support member is
A claim including a base end brim that is arranged so as to face the tip brim and that engages with the connection of the suction cup member to determine the position of the tip surface of the support member and the inner surface of the lip. Item 1. The suction member according to item 1. The support member is
The suction member according to claim 1 or 2, further comprising a suction path that communicates with the suction port and has a flow path cross-sectional area larger than the opening area of the suction port. The suction member according to any one of claims 1 to 3, wherein the hardness of the material constituting the support member is harder than the hardness of the material constituting the suction cup member. The suction member according to any one of claims 1 to 4, wherein the thickness of the lip portion is uniform in a range of two-thirds or more of the distance from the connection portion to the tip edge. The suction member according to any one of claims 1 to 5, wherein the thickness of the lip portion is 1.5 mm ± 0.5 mm.

Images