JP2023088204A - sucker - Google Patents

Abstract

To provide a sucker that is easily changed over between positive pressure and negative pressure with a single drive source.SOLUTION: A sucker 1 comprises an injection port 16, an exhaust port 11 and a suction port 13 which are opened to the outside, and the suction port 13 is provided on a top surface of a plate-like member. The plate-like member internally comprises: a main flow passage guiding a gas injected from the injection port 16 to the exhaust port 11, a stop part 12 where the main flow passage 14 becomes thinner in part, and a brach flow passage 17 which branches off from in the flow passage guided from the stop part 12 to the exhaust port 11 in the main flow passage 14 to be connected to the suction port 13. A valve 20 which blocks the main flow passage 14 is provided at a downstream place closer to the exhaust port 11 than the branch point to the branch flow passage 17 in the main flow passage 14, and the valve 20 is closed when pressure with which the gas injected from the injection port 16 presses the valve 20 is equal to or larger than a predetermined value.SELECTED DRAWING: Figure 1

Description

The present invention relates to suction cups.

Suction cups for use in robots and the like have been proposed. Patent Literature 1 discloses a suction cup used in a wall-climbing robot.

Masahiro Fujita, Suguru Ikeda, Toshiaki Fujimoto, Toshihiko Shimizu, Shuhei Ikemoto & Takeshi Miyamoto (2018) Development of universal Sal vacuum gripper for wall-climbing robot, Advanced Robotics

However, the conventional technology described above has a problem that it is difficult to switch between positive pressure and negative pressure with a single drive source.

Accordingly, the present invention provides a suction cup that facilitates switching between positive pressure and negative pressure with a single drive source.

A suction cup according to an aspect of the present invention includes a plate-like member having an injection port, an ejection port, and a suction port that are open to the outside, and gas injected from the injection port is filled inside the plate-like member. a main flow path leading to the jet outlet; a constricted portion in which the main flow path is partially narrowed; and a valve that closes the main flow path is provided at a downstream location in the main flow path that is closer to the ejection port than the branch point to the branch flow path, the valve When the pressure of the gas injected from the injection port pushing the valve is equal to or higher than a predetermined value, the valve is opened.

A suction cup according to an aspect of the present invention can easily switch between positive pressure and negative pressure with a single drive source.

FIG. 1 is a cutaway cross-sectional view showing the structure of a suction cup in an embodiment. FIG. 2A is a top view showing the fitting mechanism of the suction cups in the embodiment. FIG. 2B is a top view showing the constricted portion of the suction cup and the ejection port in the embodiment. FIG. 3 is another cutaway sectional view showing the structure of the suction cup in the embodiment. FIG. 4 is a diagram showing suction and release of air by the suction cups in the embodiment.

(Embodiment)
In this embodiment, a suction cup that can easily switch between positive pressure and negative pressure with a single drive source will be described. It should be noted that each of the embodiments described below is a specific example of the present invention. Therefore, the numerical values, shapes, materials, components, arrangement of components, connection forms, and the like shown in the following embodiments are examples, and are not intended to limit the present invention. Therefore, among the constituent elements in the following embodiments, constituent elements not described in independent claims will be described as optional constituent elements.

Each figure is a schematic diagram and is not necessarily strictly illustrated. Therefore, for example, scales and the like do not necessarily match in each drawing. Moreover, in each figure, the same code|symbol is attached|subjected about the substantially same structure, and the overlapping description is abbreviate|omitted or simplified.

Also, in this specification, terms that indicate the relationship between elements such as parallel or perpendicular, terms that indicate the shape of elements such as rectangles or straight lines, and numerical ranges are not expressions that express only strict meanings. , is an expression that means that a difference of a substantially equivalent range, for example, a few percent, is also included.

In this specification, the terms "upper" and "lower" do not refer to the upward direction (vertically upward) and the downward direction (vertically downward) in absolute spatial recognition, but are based on the stacking order in the stacking structure. It is used as a term defined by a relative positional relationship.

[composition]
FIG. 1 is a cutaway cross-sectional view showing the structure of a suction cup in an embodiment. First, this sucker structure consisting of the upper board part 40 and the lower board part 50 is referred to as a sucker 1 . The upper plate portion 40 includes an injection port 16 , a flow path 10 and a conforming mechanism 30 , and a suction port 13 . The lower board portion 50 includes a flow path 14 (not shown) connected from the upper board portion 40 , a throttle portion 12 , a valve 20 , and an ejection port 11 . Channel 14 is a specific example of a main channel.

The upper board part 40 is a square-shaped board of 50 mm square. The upper board portion 40 is made of resin, metal, silicone, or the like. The upper board part 40 is installed on the lower board part 50 in a direction perpendicular to the direction in which the plate-like shape of the lower board part 50 extends.

The lower board part 50 is a square-shaped board of 50 mm square. The lower board portion 50 is formed of resin, metal, silicone, or the like. The suction cup 1 may include only the lower plate portion 50 and may not include the upper plate portion 40 . When the suction cup 1 does not have the upper plate portion 40 , the inlet 16 is provided at the end of the flow path 14 of the lower plate portion 50 . The lower board part 50 is a specific example of a plate-like member. Alternatively, the upper board part 40 and the lower board part 50 may be integrally molded as an integral part.

By forming the upper board part 40 and the lower board part 50 with silicone or the like, the suction cup 1 can realize softness. In addition, by forming the upper board part 40 and the lower board part 50 from silicone or the like, it is possible to reduce the resistance at the time of contact with the human body.

The channel 10 is a groove provided in the upper board portion 40 . An inlet 16 through which air is injected is provided at the end of the channel 10 . The flow path 10 is provided as a concave portion in the central portion of the side of the upper board portion 40 and extends in a straight line toward the center of the upper board portion 40 . The flow path 10 is connected to the conforming mechanism 30 and also connected to the flow path 14 .

The conforming mechanism 30 is a circular groove provided in the center of the upper board portion 40 . The circular groove is connected to the flow path 10 , and the air injected from the end of the flow path 10 flows into the circular groove that constitutes the conforming mechanism 30 . A thin film made of silicone or the like is formed so as to cover the conforming mechanism 30, so that the thin film of the conforming mechanism 30 swells, and suction can be performed while conforming to the uneven shape of the contact portion.

The suction port 13 is a circular through-hole provided in the center of the upper board portion 40 . The suction port 13 is provided on the upper surface of the upper board portion 40 . The suction port 13 is provided on the upper surface of the plate-like member that is the lower plate portion 50 when the suction cup 1 does not include the upper plate portion 40 . Air outside the suction cup 1 is sucked from the suction port 13 toward the inside of the suction cup 1 . Alternatively, the air inside the suction cup 1 is discharged to the outside from the suction port 13 . The suction port 13 may extend in a direction perpendicular to the extending direction of the plate-like shape of the lower board portion 50 and form a branch channel 17 connected to the channel 14 .

The narrowed portion 12 is a channel with a width narrower than that of the channel 14 . The pressure of the air that has passed through the flow path 14 is increased at the narrowed portion 12 . Constriction 12 may consist of a groove connecting with channel 14 and vertical walls surrounding the top and sides of the groove. The narrowed portion 12 does not have a groove, and is realized as a passage formed by a wall and a ceiling provided on the upper portion of the lower plate portion 50 in a direction perpendicular to the direction in which the plate-like shape of the lower plate portion 50 extends. may be

The valve 20 is made of an elastic body. Valve 20 may be realized, for example, in silicone, rubber, or thin metal. Valve 20 may be rectangular in shape. A valve 20 is provided between the throttle portion 12 and the ejection port 11 . The width of the valve 20 substantially matches the width of the spout 11 where the valve 20 is installed.

The valve 20 is positioned to generate a force that opposes the direction of air flow from the flow path 14 towards the jet 11 . The valve 20 is provided at a downstream portion of the flow path 14 closer to the ejection port 11 than the branch point to the branch flow path 17 . The valve 20 is opened when the pressure of the gas injected from the injection port 16 pushing the valve 20 is equal to or higher than a predetermined value.

[structure]
FIG. 2A is a top view showing conforming mechanism 30 of suction cup 1 in the embodiment. As described above, the conforming mechanism 30 is a circular groove provided in the center of the upper board portion 40 . The suction cup 1 has a conforming mechanism 30 which is a circular groove connected to the flow path 14 provided on the upper disk portion 40 on the opposite side of the flow path 14 when viewed from the suction port 13 . A thin film is provided on the upper portion of the conforming mechanism 30 in a direction perpendicular to the extending direction of the plate-like shape of the lower plate portion 50 so as to conform to the unevenness of the contact portion. Moreover, folds for expanding the suction area may be provided on the upper portion of the thin film of the preceding paragraph. The folds cover the outside of the suction port 13 . The folds may be circular or rectangular silicone membranes and may have a circular or rectangular hole in the center to provide a suction port.

As shown in FIG. 2A, for example, the suction port may have an outer diameter of 12 mm and the groove of the conforming mechanism 30 may have an outer diameter of 20 mm. Moreover, the width of the flow path 10 may be 2 mm, and the width of the groove of the conforming mechanism 30 may be 2 mm. Also, the width of the narrowed portion 12 may be 4 mm.

Further, the groove depth of the conforming mechanism 30 may be 1 mm.

FIG. 2B is a top view showing throttle portion 12 of the suction cup and ejection port 11 in the embodiment. As described above, the constricted portion 12 is a channel with a width narrower than that of the channel 14 . The narrowed portion 12 is connected to a channel 14 that is connected to the channel 10 . A connecting portion between the flow path 14 and the narrowed portion 12 is narrower than the width of the flow path 14 .

The constricted portion 12 may have grooves extending in the direction in which the flow channel 14 extends in a plan view, which is the direction opposite to the flow channel 14 when viewed from the constricted portion 12 . The width of the groove may be the same as the channel 14 or may be narrower than the channel 14 .

Also, the narrowed portion 12 may have rectangular spaces 15 on both sides of the groove connected to the flow path 14 and connected to the central flow path of the narrowed portion 12 . Also, walls may be provided at the top and sides of the rectangular space 15 .

The narrowed portion 12 is connected to the ejection port 11 . The ejection port 11 may be a fan-shaped groove whose apex is the connection point with the throttle portion 12 . Alternatively, the ejection port 11 may be a space formed by a wall and a ceiling that form a fan-shaped contour with the point of connection with the throttle portion 12 as the apex. The internal angle of the sector formed by the ejection port 11 may be, for example, 60 degrees.

A valve 20 is provided at a connection point between the throttle portion 12 and the ejection port 11 . The valve 20 may be installed inside the ejection port 11 and in the vicinity of the connection point of the ejection port 11 with the throttle portion 12 . The height of the valve 20 is the same as the depth of the spout 11, and the width of the valve 20 is the same as the width of the spout 11 at the position where the valve 20 is installed. Alternatively, the height of valve 20 may be less than the depth of spout 11 by 1 mm.

The valve 20 has a partial notch, and has a structure in which an opening in the space of the ejection port 11 is formed by elastic deformation. It should be noted that the valve 20 may substantially completely block the space of the flow path formed by the spout 11 at the position where the valve 20 is installed. In addition, the shape of the valve 20 is not restricted to said shape. For example, the valve 20 may have a columnar shape, and may have a structure in which an opening provided in the center is opened to the left and right by air pressure.

The width of the channel 14 may be 2 mm, and the length of the channel 14 may be 10 mm. Also, the size of the throttle opening of the throttle portion 12 may be 2 mm×0.4 mm. The size of the space 15 may be 3 mm×12 mm. The width of the connecting portion between the space 15 and the narrowed portion 12 may be 1 mm. Also, the length from the connecting portion of the ejection port 11 to the throttle portion 12 to the outlet portion of the ejection port 11 may be 19 mm. The length from the connecting portion of the spout 11 to the throttle portion 12 to the valve 20 may be 5 mm.

FIG. 3 is another cutaway sectional view showing the structure of the suction cup 1 in the embodiment. Air injected from the inlet 16 passes through the flow path 10 and flows into the flow path 14 (not shown) of the bottom plate portion 50 . Also, part of the air injected from the inlet 16 flows into the conforming mechanism 30 . The conforming mechanism 30 is composed of a groove formed by surrounding the inner wall 31 and the outer wall 32 and a thin film covering the upper part of the groove.

The air that has flowed into the flow path 14 flows into the narrowed portion 12 . When the pressure at which the gas injected from the inlet 16 presses the valve 20 is below a predetermined value, substantially all of the air that has flowed into the restrictor 12 flows into the space 15 and is discharged from the suction port 13 .

Further, when the pressure of the gas injected from the injection port 16 pushing the valve 20 is equal to or higher than a predetermined value, external air is sucked from the suction port 13 toward the space 15 .

When the pressure of the gas injected from the injection port 16 pushing the valve 20 is less than a predetermined value, the valve 20 does not tilt from the installed position, and the opening in the space of the ejection port 11 formed by the elastic deformation of the valve 20 The section becomes relatively narrow compared to when the valve 20 is tilted further from the installed position.

When the pressure of the gas injected from the injection port 16 pushing the valve 20 is greater than or equal to a predetermined value, the valve 20 is further tilted from the installed position, and the gap between the flow path formed by the valve 20 and the ejection port 11 becomes It is relatively wide compared to when the valve 20 is not tilted from the installed position.

For example, the thickness of the upper board part 40 may be 2 mm, and the thickness of the lower board part 50 may be 3 mm. At this time, the height of the valve 20 provided at the ejection port 11 of the bottom plate portion 50 may be 2 mm. This allows the suction cup 1 to be thin.

[Suction and release]
4A and 4B are diagrams showing suction and release of air by the suction cup 1 in the embodiment. FIG. 4(a) shows a case where the sucker 1 sucks an object. First, high-pressure compressed air having a predetermined pressure or more is injected from the injection port 16 . Then, the air that has flowed into the flow path 10 from the inlet 16 flows into the flow path 14 of the bottom plate portion 50 .

The air that has flowed into the flow path 14 then flows into the constricted portion 12 . The air that has flowed into the throttle portion 12 flows into the ejection port 11 . At this time, the valve 20 provided at the ejection port 11 is opened. That is, the air that has flowed into the throttle portion 12 passes through the valve 20 . As a result, not only is the air injected from the injection port 16 ejected from the ejection port 11 , but also the flow velocity increases at the constricted portion 12 and the pressure of the air decreases, thereby generating a negative pressure, which causes the suction port 13 to Air outside the suction cup 1 is sucked into the suction cup 1 through the air.

The air sucked from the suction port 13 flows through the space 15 into the narrowed portion 12 . Then, the air sucked from the suction port 13 is ejected from the ejection port 11 to the outside of the suction cup. Accordingly, when high-pressure compressed air is injected from the inlet 16, the suction cup 1 can suck the object.

FIG. 4(b) shows the case where the sucker 1 releases the object. First, low-pressure compressed air having a predetermined pressure or less is injected from the injection port 16 . Then, the air that has flowed into the flow path 10 from the inlet 16 flows into the flow path 14 .

The air that has flowed into the flow path 14 then flows into the constricted portion 12 . The air that has flowed into the throttle portion 12 flows into the ejection port 11 . At this time, since the valve 20 provided in the ejection port 11 is not opened, substantially all of the air that has flowed into the throttle portion 12 flows backward. That is, the air that has flowed into the throttle portion 12 does not pass through the valve 20 . As a result, the air injected from the injection port 16 is ejected from the suction port 13 .

Air flowing back from the valve 20 passes through the space 15 and flows into the suction port 13 . Then, the air that has flowed into the suction port 13 is ejected from the suction port 13 to the outside of the suction cup. Accordingly, when low-pressure compressed air is injected from the inlet 16, the suction cup 1 can release the object.

[Effects, etc.]
A suction cup 1 according to one aspect of the present disclosure includes a plate-like member having an injection port 16, an ejection port 11, and a suction port 13 that are open to the outside. The inside of the shaped member includes a main flow path for guiding the gas injected from the injection port 16 to the ejection port 11, a narrowed portion 12 in which the flow path of the main flow passage 14 is partially narrowed, and a a branch flow path 17 branched from the flow path guided to the jet port 11 and connected to the suction port 13, and the branch flow path 17 is closer to the jet port 11 than the branch point to the branch flow path 17 in the main flow path 14. A valve 20 that blocks the main flow path 14 is provided at a downstream location, and the valve 20 is opened when the pressure of the gas injected from the injection port 16 pushing the valve 20 is equal to or higher than a predetermined value.

As a result, the suction cup 1 can switch between positive pressure and negative pressure at the suction port 13 by adjusting the opening and closing of the valve 20 by switching the pressure of the air injected into the inlet 16 . Therefore, the suction cup 1 can easily realize switching between positive pressure and negative pressure with a single drive source.

Also, for example, in the suction cup 1 according to one aspect of the present disclosure, the valve 20 is made of an elastic body.

As a result, a valve integrally formed can be used for the suction cup 1 . Therefore, the suction cup 1 can easily realize switching between positive pressure and negative pressure with a single drive source.

The suction cup 1 according to one aspect of the present disclosure has a thin film covering a circular groove and an opening connected to the flow path 14 provided on the plate-like member on the opposite side of the flow path 14 when viewed from the suction port 13. .

As a result, even if the surface of the object to be sucked by the sucker 1 is uneven, the sucker 1 according to one aspect of the present disclosure can minimize air leakage and suck more efficiently than before. .

The suction cup 1 in one aspect of the present disclosure further includes folds that cover the outside of the suction port 13 .

As a result, the suction cup 1 according to one aspect of the present disclosure has an increased contact area with the object, so that the suction force is improved, and the object sucked by the suction cup 1 can be sucked more reliably.

In the suction cup 1 according to one aspect of the present disclosure, the folds are made of silicone.

Thereby, the suction cup 1 in one aspect of the present disclosure can achieve softness.

In addition, forms obtained by applying various modifications to each embodiment that a person skilled in the art can think of, or realized by arbitrarily combining the components and functions of each embodiment within the scope of the present disclosure. Also included in the present disclosure is the form of

The suction cup of the present disclosure can be applied to a case where a care robot or the like assists a person's daily movements.

REFERENCE SIGNS LIST 1 sucker 10, 14 flow path 11 spout 12 throttle 13 suction port 15 space 20 valve 30 conforming mechanism 31 inner wall 32 outer wall 40 upper panel 50 lower panel

Claims (5)

A plate-shaped member having an injection port, a jet port, and a suction port that are open to the outside,
a main flow path for guiding the gas injected from the injection port to the ejection port inside the plate-like member;
a constriction part in which the main flow path is partially narrowed;
a branch flow path branched from a flow path guided from the narrowed portion to the ejection port in the main flow path and connected to the suction port;
A valve that closes the main flow path is provided at a downstream portion of the main flow path that is closer to the ejection port than the branch point to the branch flow path,
The valve is in an open state when the pressure of the gas injected from the injection port pushing the valve is equal to or higher than a predetermined value,
sucker. wherein the valve is made of an elastic body,
A suction cup according to claim 1. A thin film covering a circular groove and an opening connected to the flow path provided on the plate-like member on the opposite side of the flow path when viewed from the suction port,
A suction cup according to claim 1 or 2. Further comprising folds covering the exterior of the suction port,
The suction cup according to any one of claims 1-3. the folds are made of silicone;
A suction cup according to claim 4.

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