JP3986018B2 - Suction device with suction pad - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a suction device provided with a suction pad, which is installed in a moving means for moving an article such as a robot hand.
[0002]
[Prior art]
With regard to this type of suction device, a suction tube having a suction pad at one end and a suction port at the other end is inserted under a state in which the suction tube is biased in a direction protruding outward with respect to a suction chamber held at a negative pressure. When the suction tube is pushed into the suction chamber against the urging force, the suction port provided at the end of the suction tube communicates with the suction chamber and holds the article through the suction pad. An adsorbing device designed to do this is disclosed (Patent Document 1). In this prior art, when the article is not sucked and held on the suction pad or the sucked and held article is detached from the suction pad for some reason, the suction tube protrudes outside by the biasing force, and the suction pipe Communication between the suction port provided at the end and the suction chamber is blocked, and the negative pressure state in the suction chamber is maintained. Therefore, it is possible to avoid affecting the suction holding state of the articles by the suction pads of other suction pipes installed in the same suction chamber. That is, the prior art has a function of avoiding the influence of an adsorption error of an article by a part of the suction pads having a common suction chamber on the adsorption holding state of the article by another suction pad. If there is no article to be adsorbed corresponding to the suction pad, the article to be adsorbed has a certain thickness, and the suction pad is placed on the article by a gap formed below the suction pad. When not contacting the surface side, the suction tube is not pushed into the suction chamber, and suction force is not generated in the suction pad. However, when the article to be adsorbed is thin, the gap formed below the adsorption pad is also thin, so that the adsorption pad comes into contact with the placement surface of the article and the suction tube is pushed into the suction chamber. Since the suction port provided at the end of the suction tube and the suction chamber are communicated with each other, the suction pad is sucked to the article mounting surface side. Thus, in the state where the suction pad is attracted to the article mounting surface side, if the next article is lifted, an excessive tensile force acts through the suction pad and causes trouble. There was a case.
[0003]
As described above, the prior art is superior in that it can avoid the influence of misadsorption of articles by some of the suction pads on the suction holding state of other suction pads with respect to the articles. When adsorbing, the suction tube is pushed into the suction chamber against the urging force, and the suction port of the suction tube and the suction chamber must be communicated with each other. There was a technical problem that the adsorption holding operation took time and was not suitable for high-speed operation. Also, depending on the type of article, there may be a problem with the reaction force acting on the article when the suction tube is pushed into the suction chamber against the urging force. Further, when the target article to be attracted is thin, the suction pad is directly attracted to the article mounting surface side in the absence of the article as described above, and the process proceeds to the article lifting process. However, technical problems such as excessive tensile force acting and causing trouble are not solved.
[0004]
[Patent Document 1]
Japanese Patent No. 2542159 gazette
[Problems to be solved by the invention]
The present invention has been developed in view of the above-described conventional technical situation, and is not accompanied by structural constraints that cause the operation time to be delayed when adsorbing an article as in the conventional technique. An object of the present invention is to provide an article suction device that can prevent a trouble caused by the suction pad directly adsorbing on the surface of the article when there is no target article to be adsorbed.
[0006]
[Means for Solving the Problems]
In the present invention, in order to solve the above-mentioned problem, in a suction device provided with a suction pad, which is installed in a moving means for moving an article while sucking and holding the article, a cylindrical shape installed on a support member on the moving means side A guide member, a suction pipe provided inside the cylindrical guide member so as to be slidable, a suction pad provided at one end thereof and sucked from the other end, and the suction pad provided in the cylindrical guide through the suction pipe An urging means for urging in a direction approaching the member is provided, and an opening portion for communicating the inside and the outside is formed in a peripheral wall portion located inside the cylindrical guide member of the suction pipe, and the suction pad is When a tensile force larger than a value determined by the biasing means is applied to the suction pipe via the suction pipe, the opening portion is drawn out to the outside of the cylindrical guide member and opened to the outside. So that the suction power of Using technical means of configuring. Here, the value determined by the urging means is the value required for pulling out the opening portion outside the cylindrical guide member against the urging force under the urging means. It means a predetermined tensile force value determined by the characteristics of the urging means. Incidentally, the characteristics of the urging means include the spring constant of the spring, etc., depending on how large the lifting force with respect to the article to be attracted is configured to cancel the suction state by the suction pad. Will be set through.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
The present invention can be widely applied to any suction device provided with a suction pad that is installed in a moving means for moving an article such as a robot hand by suction holding. For example, as the moving means in which the suction device according to the present invention is installed, even if it can move in a state where the article is sucked and held on the suction pad, it can be moved along one axis, It may be one that moves in a plane along an axis, or one that moves three-dimensionally, such as a robot hand. In addition, the present invention can be widely applied to articles regardless of their planar shape, thickness, and light weight. Regarding the biasing means for biasing the suction pipe, at least when the suction pad is brought into contact with the target article to be sucked and lifted while sucking, the suction pipe is biased in the direction in which the suction pad approaches the cylindrical guide member. Appropriate forms are possible if possible. Further, regarding the connection form between the suction pipe and the suction means side, it may be a form in which each suction pipe is individually connected to the suction means side via a suction hose or the like, or a plurality of suction pipes are combined. The thing connected to one suction chamber may be sufficient.
[0008]
【Example】
Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 and 2 exemplify the first embodiment of the present invention. FIG. 1 is a longitudinal sectional view showing a normal operation state in which an article is sucked by a suction pad, and FIG. 2 shows an article to be sucked. It is the longitudinal cross-sectional view which showed the operation | movement state when not adsorb | sucking but the suction pad adsorb | sucked to the mounting surface side of articles | goods. In the figure, reference numeral 1 denotes a suction device according to the present invention, which is installed on a support member 2 on the moving means side, and is configured to move to a target position while sucking and holding the article 3 by operation of the moving means. The suction device 1 is provided so as to be slidable via the cylindrical guide member 4 with respect to the support member 2 on the moving means side, provided with a suction pad 5 on one end side, and connected with a suction hose 6 on the other end side. A suction pipe 7 and a biasing means 8 comprising a spring or the like for biasing the suction pipe 7 in a direction in which the suction pad 5 approaches the cylindrical guide member 4 are provided. And in the normal state where the article 3 is sucked and held, the peripheral wall portion located inside the cylindrical guide member 4 of the suction tube 7, for example, the peripheral wall portion positioned between the sliding members 9 as shown in FIG. An opening 10 is formed in the peripheral wall portion of the sliding portion that is in close contact with the inner surface of the sliding member 9 so that the inside and the outside of the peripheral wall portion communicate with each other. The present invention is characterized in this respect.
[0009]
Therefore, as shown in FIG. 1, in the normal case where the article 3 is present on the placement surface of the article 3, for example, the upper surface of the placement member 11 such as a conveyor belt, the suction pad 5 is moved via the moving means. The support member 2 is lowered so as to be in contact with the article 3, and suction is started through the suction pipe 7, and the article 3 is sucked by the suction pad 5. Thereafter, the moving means is operated to raise the support member 2 to lift the article 3 sucked and held by the suction pad 5 and move it to a predetermined target position. When the article 3 is lifted, the suction pipe 7 is biased in the direction in which the suction pad 5 approaches the cylindrical guide member 4 by the biasing force of the biasing means 8. The locking member 13 attached to the connecting member 12 rises while being in contact with the lower end portion of the cylindrical guide member 4, and is further moved to the target position. In the figure, 14 is a nut for fastening and fixing the cylindrical guide member 4 to the support member 2 on the moving means side, 15 is a male screw formed on the outer periphery of the cylindrical guide member 4, and 16 is a biasing means 8. Reference numeral 17 denotes a connection member for the suction hose 6.
[0010]
Next, as shown in FIG. 2, a case where the article 3 does not exist on the placement surface of the placement member 11 will be described. In this case, as in the case described above, when the support member 2 is lowered through the moving means and suction is started through the suction tube 7, the suction pad 5 is placed on the mounting member 11 itself as shown in the figure. It will adsorb directly to the top surface. Thereafter, when the moving means is actuated to start raising the support member 2, a tensile force in the direction of lifting the mounting member 11 acts on the suction pipe 7 according to the urging force of the urging means 8. . Then, as the supporting member 2 is raised, the amount of deformation of the urging means 8 increases, and as the urging force increases, the tensile force gradually increases. When the tensile force becomes larger than the value determined by the urging means 8, As described above, the opening 10 is drawn out to the outside of the cylindrical guide member 4 and is opened to the outside. As a result, since air flows into the suction pipe 7, the suction pad 5 is detached from the mounting member 11 due to a decrease in suction force. Therefore, the application of an excessive tensile force to the suction pipe 7 can be avoided and trouble can be prevented.
[0011]
3 to 5 illustrate a second embodiment of the present invention. FIG. 3 is a standard state before adsorbing an article, and FIG. 4 is a longitudinal section showing a normal operation state in which the article is adsorbed by an adsorbing pad. FIG. 5 is a longitudinal sectional view showing an operation state when there is no article to be adsorbed and the adsorption pad is adsorbed on the article mounting surface side. Since the adsorption device 18 according to the present embodiment has many parts in common with the first embodiment, the same reference numerals are basically attached to the same components, and the description is incorporated. In the case of the suction device 18 in the present embodiment, as in the case of the first embodiment, it is slidably provided via the cylindrical guide member 4 installed on the support member 2 on the moving means side. The suction pipe 19 provided with the suction pad 5 on the side and the suction hose 6 connected to the other end is set longer than the suction pipe 7 of the first embodiment, and the suction pipe 19 is connected to the suction pad 5. In addition to the first urging means 20 comprising a spring or the like that urges the cylindrical guide member 4 toward the cylindrical guide member 4, the suction pad 5 is urged in the direction away from the cylindrical guide member 4. The second biasing means 21 including a spring or the like is provided. Then, the first urging means 20 is lifted in a state where the article 3 is not present on the upper surface of the mounting member 11 and the suction pad 5 is directly adsorbed on the upper surface of the mounting member 11, similarly to the urging means 8. Used to avoid excessive tensile forces acting on the occasion. On the other hand, the second urging means 21 is used as a buffer means when the article 3 is attracted.
[0012]
Thus, in the standard state before the article 3 of the suction device 18 according to the present embodiment is sucked, the suction pipe 19 includes the first biasing means 20 and the second biasing means 21 as shown in FIG. Thus, the cylindrical guide member 4 installed on the support member 2 is held in a predetermined state. In this standard state, the opening 22 formed in the suction pipe 19 is located in a portion in close contact with the inner surface of the sliding member 9 below the cylindrical guide member 4 in this embodiment. As shown in FIG. 4, when the article 3 is held by suction, the support member 2 is lowered so that the suction pad 5 comes into contact with the article 3 through the moving means, and suction is performed through the suction pipe 19. The article 3 is sucked by the suction pad 5. In this case, in this embodiment, since the second urging means 21 functions as a buffer means, when the suction pad 5 is pressed against the article 3, the second urging means 21 is compressed and the article is compressed. The pressing state against 3 is made steady, and an excessive pressing force against the article 3 is avoided. Needless to say, the opening 22 formed in the suction pipe 19 is positioned inside the cylindrical guide member 4 as shown in the drawing when the article 3 is adsorbed. In the present embodiment, the upper end portion of the first urging means 20 is separated from the locking portion 16 at the time of adsorption to the article 3 so that no urging force is generated. However, other forms are possible. . Then, after the suction pad 5 sucks the article 3, the moving means is operated to raise the support member 2, and the article 3 is lifted and moved to a predetermined target position. 1. The biasing means 21 expands and returns to the standard state of FIG. 1, and then the article 3 is lifted and moved to a predetermined target position while compressing the first biasing means 20 and taking a reaction force. become.
[0013]
Next, as shown in FIG. 5, a case where the article 3 does not exist on the upper surface of the mounting member 11 will be described. In this case, as in the case described above, when the support member 2 is lowered through the moving means and suction is started through the suction tube 19, the suction pad 5 is placed on the upper surface of the mounting member 11 as shown in the figure. Will be adsorbed directly. Thereafter, when the supporting member 2 is raised by operating the moving means, the second urging means 21 expands and returns to the standard state as shown in the figure, and the upper end portion of the first urging means 20 is It abuts on the locking portion 16. Thereafter, when the support member 2 is further lifted through the moving means, the upper end portion of the second urging means 21 is separated from the lower end portion of the cylindrical guide member 4, and the urging force is released. The compression of the first urging means 20 is started, and the suction pipe 19 is urged in the direction in which the suction pad 5 approaches the cylindrical guide member 4. When the support member 2 is further raised in this state, the tensile force in the direction of lifting the mounting member 11 acting on the suction pipe 19 gradually increases as the amount of deformation of the first biasing means 20 increases and the biasing force increases. When the tensile force becomes larger than the value determined by the first urging means 20, the opening portion 22 is pulled out to the outside of the cylindrical guide member 4 and opened to the outside as shown in the figure. become. As a result, as in the first embodiment, the atmosphere flows into the suction pipe 19, and the suction pad 5 is detached from the mounting member 11 due to a decrease in suction force. Therefore, the application of an excessive tensile force to the suction pipe 19 can be avoided and trouble can be prevented.
[0014]
【The invention's effect】
According to the present invention, the suction pipe having the suction pad at the end portion is slidably provided on the cylindrical guide member, and the suction pipe is urged in the direction in which the suction pad approaches the cylindrical guide member. Without a structural restriction that delays the operation time required to adsorb an article as in the prior art, by a simple configuration of forming an opening portion that allows the inside and the outside to communicate with the peripheral wall portion of the suction pipe, In addition, when there is no target article to be adsorbed and the suction pad is directly adsorbed on the article mounting surface or the like, a tensile force acting on the suction pipe via the suction pad is caused by the biasing means. If it becomes larger than a fixed value, the opening portion is pulled out to the outside of the cylindrical guide member and opened to the outside, and the suction force of the suction pad is reduced. Therefore, an excessive load is applied to the suction pipe and other components when the suction pad is moved to the lifting process in a state where the suction pad is directly attracted to the placement surface of the article without delaying the operation time when the article is sucked. Conventional technical problems such as operating and causing trouble can be solved accurately.
[Brief description of the drawings]
FIG. 1 is a longitudinal sectional view illustrating a normal operation state in which an article is sucked by a suction pad, illustrating a first embodiment of the present invention.
FIG. 2 is a longitudinal sectional view showing an operation state when there is no article to be adsorbed and the adsorption pad is adsorbed on the article mounting surface side in the same embodiment.
FIG. 3 is a longitudinal sectional view illustrating a second embodiment of the present invention and showing a standard state before an article is sucked by a suction pad.
FIG. 4 is a longitudinal sectional view showing a normal operation state in which an article is sucked by a suction pad in the same embodiment.
FIG. 5 is a longitudinal sectional view showing an operation state when there is no article to be adsorbed and the adsorption pad is adsorbed on the article mounting surface side in the embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Adsorption device, 2 ... Supporting member on the moving means side, 3 ... Article, 4 ... Cylindrical guide member, 5 ... Adsorption pad, 6 ... Suction hose, 7 ... Suction pipe, 8 ... Biasing means, 9 ... Sliding Members 10, opening portions 11, placement members 12, connecting members 13, locking members 14, nuts 15, male screws 16, locking portions 17, connecting members 18, suction devices 19 ... Suction tube, 20 ... first urging means, 21 ... second urging means, 22 ... opening portion

Claims (1)

In a suction apparatus provided with a suction pad, which is installed in a moving means for moving an article by sucking and holding the article, a cylindrical guide member installed on a support member on the moving means side, and an inner side of the cylindrical guide member And a suction pipe which is provided with a suction pad on one end side thereof and is sucked from the other end side, and a biasing force which biases the suction pipe in a direction in which the suction pad approaches the cylindrical guide member An opening portion is formed in the peripheral wall portion located inside the cylindrical guide member of the suction pipe to communicate the inside and the outside, and the biasing force is applied to the suction pipe via the suction pad. When a tensile force larger than a value determined by the means is applied, the suction force of the suction pad is reduced by the opening portion being pulled out to the outside of the cylindrical guide member and opened to the outside. With a suction pad featuring Chakusochi.

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