JP4106450B2 - Adsorption holding device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a suction holding device using a suction pad that utilizes a negative pressure suction force by evacuation, and in particular, the position of the suction pad changes according to the shape of the workpiece to be sucked when transporting and holding a plate-like workpiece or the like. The present invention relates to a suction holding device.
[0002]
[Prior art]
In general, as a suction holding device that transports a plate-shaped workpiece using a plurality of suction pads, there is, for example, one shown in FIG.
[0003]
The mounting bracket 2 that can be attached to and detached from the robot arm M is provided with a plurality of suction pads 3 arranged in parallel, and the suction pads 3 are held by a slide shaft 5 so as to be movable in the front-rear direction. The pad 3 is configured to be urged in the forward position direction.
[0004]
When the suction pad 3 that can be stroked in the suction direction as shown in FIG. 24 is used by attaching one or more to a manipulator M such as a robot, the positioning of the manipulator M or the like operated by a robot or other drive source is used. Even if the accuracy is somewhat inferior, it is possible to prevent damage to the workpiece W, for example, car body parts, etc., by moving the suction pad 3 by an error, and it is generally used.
[0005]
[Problems to be solved by the invention]
When the workpiece W is transported using the suction pad 3 that can move in the front-rear direction, the positioning error of the manipulator M can be absorbed. Next, when the workpiece W is lifted by the manipulator M for conveyance or the like, the suction pad 3 moves to the most advanced position, the workpiece W is rapidly lifted by the stopper action of the slide shaft 5, and the workpiece W moves greatly by reaction. . Furthermore, there is a problem that impact or vibration is applied to the workpiece W, such as the workpiece W vibrating during conveyance by the manipulator M.
[0006]
Further, when the workpiece W having a height difference in the suction position is sucked by the plurality of suction pads 3, the plate-like workpiece W is moved from the most extended position to each contracted position according to the height difference as shown in FIG. Can be adsorbed. However, if the workpiece W is lifted for conveyance, the suction pad 3 is returned to the maximum extension position, so that the workpiece posture changes as shown in FIG. In addition, the workpiece posture changes according to the workpiece shape and weight during conveyance.
[0007]
Since the workpiece posture during conveyance differs from the jig posture such as the receiving gauge G at the conveyance destination, as shown in FIG. 27, a specific portion of the workpiece W may collide with the receiving gauge G or the like. . Also, when the work W that has been completed is taken out from the jig, the workpiece W is tilted and cannot be pulled out at the moment the work W is lifted from the jig, and the jig receiving gauge G, a locating pin (not shown), etc. W may rub. In either case, the workpiece W may be damaged.
[0008]
Therefore, the present invention has been made in view of the above problems, and an object thereof is to provide a suction holding device that holds a workpiece without changing its posture.
[0009]
[Means for Solving the Problems]
  According to a first aspect of the present invention, there is provided a suction pad that is swingably disposed at a distal end of a slide shaft that can be moved back and forth by a predetermined range with respect to a support member, and the pad in the distal direction within the predetermined range together with the slide shaft A biasing means for biasing to,Operated by negative pressure introduced from air pressure sourceAdsorption actuating means for adsorbing the adsorption pad, a brake shoe disposed between the support member and the slide shaft, and urging the brake shoe to abut against the slide shaft. Means,SaidA cylinder that operates by compressed air introduced from an air pressure source to release the operation of the biasing means, and is provided between a lock means that restrains the advance and retreat movement of the suction pad, and between the slide shaft and the suction pad. Arranged and composed of a spherical piece and a pair of spherical guides that rotatably support the spherical piece,Connect the spherical piece to the suction pad and connect one of the pair of spherical guides to the slide shaft.A pair of spherical guidesThe otherTheon the other handAnd can be moved toward and away from the urging force and urged in the approaching direction by the urging means,SaidAnd a restraining means for restraining the swinging of the suction pad. The locking means and the restraining means are provided with a cylinder that is actuated by compressed air introduced from an air pressure source to release the action of the biasing means. ,Due to the negative pressure introduced from the air pressure sourceDuring operation of the adsorption operation meansThe supply of compressed air from the air pressure source is stoppedEach urging means restrains both forward and backward movement of the slide shaft and swinging of the suction pad.Condition andAnd saidSupply of negative pressure from the air pressure source is stoppedThe operation of the adsorption operation means is released and each cylinder isAir pressure sourceWhen the compressed air is introduced from the above, the restraint state is released together with the respective biasing means by the compressed air.
[0010]
The advancing / retreating direction of the suction pad is not limited to one that can linearly stroke in the suction direction, and may be advancing / retreating while turning.
[0011]
Further, the direction of the suction pad is not limited to that fixed in the forward / backward direction, but may be one that swings in the forward / backward direction.
[0015]
  According to a second invention, in the first invention, the lockmeansIsSlidably disposed in the cylinder,In the first positionPress the brake shoe against the slide shaftRestrain the slide shaft from the outer periphery,Slide shaft by the brake shoeThe lock sleeve for releasing the restraint of the squeezed and urging the lock sleeve to the first positionAs a biasing meansSprings,When compressed air is introduced from an air pressure source into a cylinder chamber formed by a lock sleeve in the cylinderLock sleeveAs a biasing meansIt is characterized by comprising unlocking means for moving to the second position against the spring.
[0017]
  First3The invention of1st or 2ndDepartureClearlyIn this regard, a plurality of the suction holding devices are arranged in parallel.
[0018]
  First4The invention of1st or 2ndDepartureClearlyA plurality of the suction holding devices are arranged in parallel on a bracket that is moved by a manipulator as a support member.
[0019]
  First5The invention of1st or 2ndDepartureClearlyA plurality of the suction holding devices are arranged in parallel on a fixed base as a support member.
[0020]
  A sixth invention is the suction holding device according to the first or second invention.Slide axisIs the direction that intersects the side surface of the workpiece held in a standing state on the conveyorThe suction pad at the tip of the slide shaft can be moved forward and backward in a direction approaching and separating from the work side surface.The suction pad at the tip of the slide shaftMove forward and backward and swingWorkpiece side can be held by suctionTryingIt is characterized by that.
[0021]
【The invention's effect】
  Therefore, in the first aspect of the invention, since the suction position is fixed by the locking means so that the suction position does not move when the workpiece is held by the advanceable / retractable suction pad, the workpiece position is recoiled when it is lifted once the workpiece is sucked. In addition, the suction posture is maintained without being moved by vibration during conveyance, and damage to the workpiece can be prevented. Further, since the suction position of the sucked workpiece does not move, the workpiece positioning accuracy can be improved when the workpiece is transferred or set in the jig.
  In addition, since the suction pad is disposed so as to be swingable with respect to the slide shaft and includes a restraining means for restraining the swinging of the suction pad when the suction operation means is operated, the tip side of the suction pad swings following the workpiece shape. The workpiece is held in the swinging position, and the workpiece posture is transferred as it is set on a jig stand and transferred. That is, conveyance and transfer are possible regardless of the shape of the workpiece.
[0022]
  AlsoThe locking means and the restraining means are both urged to restrain the forward / backward movement of the slide shaft and the swinging of the suction pad by the built-in urging means, respectively, and the compressed air from the pneumatic pressure source is introduced to introduce the compressed air. By releasing the respective restraints against the biasing means, it is possible to obtain a stable restraint state or a reliable restraint release state.
[0025]
  In the second invention, in addition to the effect of the first invention, the slide shaft holding the suction pad is not supplied with external power such as compressed air.Locking meansTherefore, the operation timing for suction of the suction pad and the operation timing of the unlocking means are deviated, and the power from the pneumatic source can be used effectively.
[0027]
  First3In the invention of1st or 2ndIn addition to the effect of the present invention, when the workpiece is sucked by the respective suction pads, each suction pad is positioned at the advance / retreat position corresponding to the shape of the workpiece facing each other, and in this state, it does not advance / retreat by the lock means, respectively. Since the workpiece posture does not change when the workpiece is transferred, transferred to the receiving jig, or removed from the jig, damage due to interference with jigs can be prevented. Moreover, the positioning accuracy can be improved.
[0028]
Furthermore, since each suction pad is constrained to the advancing / retreating position according to the shape of the workpiece, it can be held by suction without limiting the shape of the supplied workpiece, and can accommodate various workpiece shapes. It can be applied to general-purpose equipment such as, and as in the past, dedicated holding devices corresponding to each car model are prepared for the number of car models, and expensive hand change parts are attached to eliminate the need for capital investment to support car models Become.
[0029]
  First4In the invention of1st or 2ndIn addition to the effects of the invention, since a plurality of suction holding devices are arranged on the mounting bracket at the tip of the manipulator, depending on the workpiece shape, workpiece center of gravity position, etc., in workpiece transfer, transfer, set in jig, extraction These can be performed with high accuracy without tilting the workpiece.
[0030]
  First5In the invention of1st or 2ndIn addition to the effects of the present invention, since a plurality of suction holding means are arranged on a fixed base, they are attracted according to various workpiece shapes and continue to hold their suction positions. Applicable to a stand.
[0031]
Conventional general-purpose pedestals are provided with a number of receiving gauges corresponding to each vehicle type, and switching actuators for switching the receiving gauges according to the corresponding vehicle types, control air valves for driving the switching actuators, and sequences Equipment was required and a fairly expensive capital investment was required. In this invention, the prior switching operation according to the vehicle type is not required, and any vehicle type can be automatically handled on the spot without a complicated control device, and there is no limitation on the type of vehicle type. But it can be supported.
[0032]
In addition, when it is necessary to add a clamp for restraining the workpiece to each receiving gauge of the conventional general-purpose pedestal, the structure becomes larger. However, in the present invention, a clamp is added to fix the workpiece with the suction pad. The position of the workpiece can be fixed without
[0033]
  In the sixth invention, in addition to the effects of the first or second invention, the suction holding deviceSlide axisIs the direction that intersects the side surface of the workpiece held in a standing state on the conveyorThe suction pad at the tip of the slide shaft can be moved forward and backward in a direction approaching and separating from the work side surface.The suction pad at the tip of the slide shaftMove forward and backward and swingWorkpiece side can be held by suctionTryingTherefore, even if the shape of the workpiece and the curvature of the surface change, the sliding position and the swinging position of the suction pad are correspondingly changed and positioned, and the workpiece can be reliably prevented from shaking.
[0034]
DETAILED DESCRIPTION OF THE INVENTION
  Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. 1 and 2In Reference Example 1FIG. 1 shows an overall view including a robot hand, and FIG. 2 shows a configuration of a suction pad and a configuration of a pneumatic circuit.
[0035]
  In FIG.Reference Example 1The suction holding device 1 is configured by holding a plurality of suction pads 3 arranged in parallel on a bracket 2 attached to the tip of the robot arm M so as to be able to advance and retreat. The mounting bracket 2 is attached to the tip of the robot arm M having a plurality of axes, each axis of the robot arm M is operated, the work W is sucked and held on each suction pad 3, the work W is lifted, transported, Place, insert, etc. The illustrated robot arm M has one axis for rotating the mounting bracket and two axes for swinging. Each suction pad 3 is fixed to the tip of a slide shaft 5 via a holder 4, and the slide shaft 5 is slidably fitted to a slide guide 6. The slide guide 6 is fixed to the plate 2A at the tip of the mounting bracket 2 by a mounting flange 6A.
[0036]
The suction pad 3 is urged forward by a spring 7 functioning as an urging means disposed around the slide shaft 5, and moved forward by bringing a stopper 5 </ b> A provided at the rear end of the slide shaft 5 into contact with the slide guide 6. Located at the end. Further, when the negative pressure is supplied from an air pressure circuit 8 to be described later, the abutted work W is adsorbed, and when the positive pressure is supplied, the adsorbed work W is separated.
[0037]
It should be noted that the positions of the suction pad 3 and the slide shaft 5 in the illustrated state in the vertical direction are illustrated with the stopper 5 </ b> A slightly floating without contacting the slide guide 6. The same applies to FIGS. 2, 3, 7 and 10 to 12 described later. The reason for this illustration is to clearly show that the stopper 5A has a larger diameter than the slide shaft 5. Actually, the stopper 5 </ b> A is in contact with the slide guide 6 due to the urging force of the spring 7 and the weight of the suction pad 3 and the slide shaft 5.
[0038]
Details of the slide guide 6 and the pneumatic circuit 8 of the suction pad 3 will be described with reference to FIG. The slide guide 6 is provided with a guide tube 11 that slidably holds the slide shaft 5 and a cylinder 12 that fits around the guide tube 11 and forms a cylindrical space around the guide tube 11. In the cylindrical space between the guide tube 11 and the cylinder 12, a hose 19 from the pneumatic circuit 8 is connected to one of the outer peripheral surface of the guide tube 11 and the inner peripheral surface of the cylinder 12 slidably fitted. A lock sleeve 14 formed in the cylinder chamber 13 is inserted. Further, a spring 15 that is seated on the lock sleeve 14 and the cylinder 12 and moves the lock sleeve 14 backward toward the cylinder chamber 13 is inserted.
[0039]
On the inner peripheral surface of the lock sleeve 14, a tapered lock surface 14 </ b> A whose diameter increases as it moves away from the spring 15 in the axial direction is formed. When the lock sleeve 14 is in the retracted position on the cylinder chamber 13 side by the urging force of the spring 15, a through-hole that penetrates the inner and outer surfaces of the guide tube 11 is disposed facing the small diameter portion of the lock surface 14 </ b> A of the lock sleeve 14. ing. A sphere 16 that contacts the lock surface 14A is inserted into the through hole. The inner peripheral side of the sphere 16 is in contact with the slide shaft 5 via the brake shoe 17. These cylinder 12, lock sleeve 14, spring 15, sphere 16, and brake shoe 17 constitute a lock mechanism (lock means) 10. In addition, 12A is an opening hole to the atmosphere of the space where the spring 15 is arranged.
[0040]
In the lock mechanism 10, when compressed air is not supplied to the cylinder chamber 13 that functions as a lock release means, the lock sleeve 14 is positioned at the retracted position on the cylinder chamber 13 side by the urging force of the spring 15. In this retracted position, the ball 16 is pressed radially inward by the tapered lock surface 14A and the brake shoe 17 is pressed against the slide shaft 5 to restrain the sliding movement of the slide shaft 5.
[0041]
When a fluid is supplied to the cylinder chamber 13, the lock sleeve 14 moves to an advanced position opposite to the cylinder chamber 13 side against the biasing force of the spring 15. In this forward position, the tapered lock surface 14A is retracted from the sphere 16 to allow the sphere 16 to move outward in the radial direction, and the pressure of the brake shoe 17 on the slide shaft 5 is released to release the slide shaft 5. Allows sliding movement.
[0042]
The suction pad 3 is made of a shallow dish-shaped or cup-shaped rubber and is fitted and held on the outer periphery of the holder 4. A space formed by the suction pad 3 and the holder 4 is a through hole 5 </ b> B formed in the slide shaft 5. Via a hose 18 to the pneumatic circuit 8.
[0043]
The pneumatic circuit 8 includes a filter 21, a pressure adjustment valve 22, a first electromagnetic valve 23, a second electromagnetic valve 24, an ejector 25, a venturi 26, and the like. The first electromagnetic valve 23 supplies the compressed air from the pneumatic pressure source 20 to each cylinder chamber 13 connected in parallel from the common pneumatic circuit 19A to the second electromagnetic valve 24 at the first switching position. Open the passage that leads to the atmosphere. The first electromagnetic valve 23 also supplies compressed air from the pneumatic pressure source 20 to the second electromagnetic valve 24 and supplies each cylinder 13 to a common pneumatic circuit 19A at the second switching position where the solenoid is operated. Open to the atmosphere via
[0044]
The second solenoid valve 24 supplies the compressed air passing through the first solenoid valve 23 to the suction pad 3 connected in parallel from the common pneumatic circuit 18A via the ejector 25 at the first switching position. Further, at the second switching position where the solenoid is operated, compressed air is supplied to the venturi 26 to generate a negative pressure by the venturi action, and this negative pressure is supplied to the suction pad 3 connected in parallel from the common pneumatic circuit 18A. To do. The ejector 25 functions to stop the supply when a predetermined amount of air is supplied to the suction pad 3.
[0045]
When the first solenoid valve 23 is in the first switching position, the first and second solenoid valves 23 and 24 release the operation of the lock mechanism 10 so that the suction pad 3 can advance and retreat together with the slide shaft 5. To do. When the first electromagnetic valve is switched to the second switching position, the lock mechanism 10 is activated to restrain the advancing / retreating movement of the suction pad 3, while the suction pad 3 is changed according to the switching position of the second electromagnetic valve 24. Actuate to supply positive or negative pressure. The second electromagnetic valve 24 and the venturi 26 function as adsorption operation means.
[0046]
FIG. 3 shows an operating state when both the first and second electromagnetic valves 23 and 24 are switched to the second switching position in a state where the suction pad 3 is in contact with the workpiece W. Since the cylinder chamber 13 is opened to the atmosphere, the lock sleeve 14 of the lock mechanism 10 is in a locked state that restricts the movement of the slide shaft 5. The compressed air from the air pressure source 20 is supplied to the venturi 26 via the first and second electromagnetic valves 23 and 24, and the generated negative pressure is supplied to each suction pad 3.
[0047]
The operation of the above holding device 1 will be described below with reference to FIGS. 1 and 4 to 6.
[0048]
FIG. 1 shows a state in which the suction holding device 1 is moved closer to the workpiece W by the robot arm M. The first and second solenoid valves 23 and 24 are both in the first position where the solenoid is OFF, the lock mechanism 10 is released, the slide shaft 5 is slidable, and the suction pad 3 has a positive negative pressure. No pressure is supplied.
[0049]
The vertical position of the suction pad 3 and the slide shaft 5 in the illustrated state is illustrated with the stopper 5A slightly lifted without contacting the slide guide 6, but as described above, the stopper 5A is more than the slide shaft 5. This is to clearly show that the diameter is expanded. Actually, the stopper 5A is in contact with the slide guide 6 by the biasing force of the spring 7 and the weight of the suction pad 3 and the slide shaft 5, and the position of the suction pad 3 in this contact state is a distance A from the mounting flange 2. It is in position.
[0050]
When the mounting bracket 2 is moved closer to the workpiece W by the robot arm M, the shape of the workpiece W in this case is a stepped structure, so that one suction pad 3 first comes into contact with a higher step. When the mounting bracket 2 is further moved closer to the workpiece W, the suction pad 3 that is first contacted stops and maintains the contact state, and only the slide guide 6 approaches the workpiece W while bending the spring 7.
[0051]
Next, the other suction pad 3 comes into contact with the lower stage of the workpiece W, and the contact state is maintained in the same manner as the one suction pad 3. Thereafter, only the mounting bracket 2 approaches the workpiece W, so that the approach of the mounting bracket 2 is stopped.
[0052]
FIG. 4 shows a state where all the suction pads 3 to be contacted are in contact with the workpiece W. As for the position of the suction pad 3, the distance from one mounting flange 2 and the distance from the other mounting flange 2 are unequal due to a step.
[0053]
In this state, both the first and second solenoid valves 23 and 24 are switched from the first position to the second position by the solenoid. The cylinder chamber 13 is opened to the atmosphere by the first electromagnetic valve 23 and the slide shaft 5 of each suction pad 3 is restrained by a lock mechanism, while the negative pressure obtained by operating the venturi 26 by the second electromagnetic valve 24 is applied to each suction pad. The workpiece W is sucked and held by being supplied to 3.
[0054]
Next, when the workpiece W is lifted for conveyance to the next process, the state shown in FIG. 5 is obtained. Even in this state, since the slide shaft 5 of each suction pad 3 is locked by the lock mechanism 10, the distance from the mounting flange 2 of each suction pad 3 does not change, and the posture of the workpiece W is the same as that shown in FIG. Will be the same. The posture of the workpiece W does not change even if a reaction is applied during extraction of the workpiece W or vibration is applied during conveyance.
[0055]
In the case where the workpiece W is placed on the processing jig G in FIG. 6 showing the next process, or when the work W is extracted from the processing jig G and transferred to the next process, the slide mechanism 6 and the suction pad 3 can be moved relative to each other. The position does not change. The posture of the workpiece W is maintained in an intended state and is placed on the processing jig G with high accuracy.
[0056]
After the work W is placed on the processing jig G, the second electromagnetic valve 24 is switched to the first position, whereby a predetermined amount of air is sent to the suction pad 3 via the ejector 25 to suck the suction pad 3 to the work W. Release the state. Next, by switching the first electromagnetic valve 23 to the first position, the cylinder chamber 13 is opened to the atmosphere, and the lock mechanism 10 releases the restraint of the slide shaft 5. The mounting bracket 2 is retracted from the work W by the robot arm M, and the suction pad 3 is detached from the front of the maximum extension position while the slide shaft 5 is extended by the retraction.
[0057]
In the above description, the suction pad 3 is described as being integrally fixed to the slide shaft 5, but the suction pad 3 may be configured to swing at the tip of the slide shaft 5. The workpiece shape is not limited to a plane formed alone, and can be applied even to a workpiece W having an inclined surface.
[0058]
Moreover, it is not limited to the thing which can be stroked linearly by the slide shaft 5 in the adsorption direction, and may advance and retreat while turning.
[0059]
  thisReference example 1In this case, the following effects can be achieved. That is, the lock mechanism 10 restrains the suction position from moving when the workpiece W is held by the suction operation of the suction pad 3 that can be advanced and retracted by the slide shaft 5. For this reason, once the work W is sucked, the position of the work W is not moved by the reaction at the time of lifting or the vibration at the time of conveyance, and the sucking posture is maintained, so that the work W can be prevented from being damaged. In addition, since the suction position of the sucked workpiece W does not move, it is possible to improve the positioning accuracy of the workpiece W when the workpiece W is transferred or set in the jig.
[0060]
When the workpieces W are sucked by the respective suction pads 3, each suction pad 3 is positioned at an advance / retreat position corresponding to the shape of the workpiece W facing each other. In this state, the suction pads 3 are advanced / retreated by the lock means (lock mechanism 10). It is restrained not to. For this reason, the workpiece posture does not change when the workpiece W is transported, transferred to the receiving jig G, or removed from the jig G, so that damage due to interference with the jig G is prevented. In addition, the positioning accuracy can be improved.
[0061]
Since each suction pad 3 is constrained to an advancing / retreating position corresponding to the shape of the workpiece W, the workpiece W shape to be supplied can be sucked and held without limitation, and various workpiece W shapes can be supported. It can be applied to general-purpose equipment such as commoditized equipment, and as in the past, there is a capital investment that prepares dedicated holding devices for each car model for the number of car models and attaches expensive hand change parts to support car models It becomes unnecessary.
[0062]
Since the plurality of suction pads 3, the biasing means (spring 7), and the lock mechanism 10 are arranged on the mounting bracket 2 at the tip of the manipulator M, the workpiece W can be conveyed, transferred, The workpiece W is not inclined during setting and extraction in the jig, and these can be performed with high accuracy. On the contrary, the processing jig G and the receiving jig G do not need to be formed in view of the posture change of the workpiece W, and thus can be easily manufactured.
[0063]
Since the slide shaft 5 holding the suction pad 3 is prevented from moving by the lock mechanism 10 when external power such as compressed air is not supplied, the operation timing for suction of the suction pad 3 and the lock release means Therefore, the power from the pneumatic source can be used effectively.
[0064]
Since compressed air from the same pneumatic pressure source 20 is used, the hose 18 from the second electromagnetic valve 24 constituting the adsorption operation means and the hose 19 from the first electromagnetic valve 23 constituting the lock means are empty. This can be done collectively from the pressure circuit 8.
[0065]
  FIG.SuckWear holding deviceReference example 2Unlike the embodiment shown in FIG. 1, the plurality of suction pads 3 are arranged in an orderly or random manner on the fixed base E, not on the robot arm M side, and are arranged above the suction holding device 1. The work W can be used by being seated.
[0066]
In this suction holding device 1, a slide guide 6 is fixed to a mount E fixed on a floor or the like with a suction pad 3 facing upward in the figure and its mounting flange 6A. The suction pad 3 can be moved in the vertical direction by the slide shaft 5, and the suction pad 3 is biased to protrude upward by a spring 7 provided around the slide shaft 5.
[0067]
It should be noted that the suction pad 3 can be locked by the lock mechanism 10 at an arbitrary position in the vertical direction, the suction pad 3 receives a negative pressure and sucks the workpiece W, and receives the positive pressure and the workpiece W. 2 is configured in the same manner as the lock mechanism 10 and the pneumatic circuit 8 similar to those in FIG. 2, and detailed description thereof is omitted.
[0068]
In this configuration, neither negative nor positive pressure is supplied to the suction pad 3, the lock mechanism 10 is opened, and the workpiece W is transported above the suction holding device 1 by the robot arm M, and the robot arm M Lower while holding posture.
[0069]
The workpiece W comes into contact with a part of the suction pads 3 from the portion protruding downward, and when all the suction pads 3 under the workpiece W come into contact with the workpiece W, the pneumatic circuit 8 The lock mechanism 10 of the suction pad 3 corresponding to the lower part of W is operated (see the operating state of FIG. 8).
[0070]
In this state, the height of each of the suction pads 3 differs depending on the shape below the workpiece W to be held, and thus the workpiece W is held without changing its posture. Next, when the negative pressure is supplied to the suction pad 3, the workpiece W is held without being detached by an external force, and necessary processing is performed on the workpiece W.
[0071]
This suction holding device 1 holds not only the rod-shaped workpiece W but also the workpiece W having a large surface in a state in which the posture is maintained by arranging it regularly or randomly in a planar shape as shown in FIG. Can do.
[0072]
  thisReference example 2, A plurality of suction pads 3 are arranged on a fixed base E together with an urging means such as a spring 7 and a lock mechanism 10. For this reason, since the suction pad 3 moves according to the shape of the work W to be placed and the movement is restricted by the lock mechanism 10, the suction is performed according to various work shapes, and the suction position is continuously held. It can be applied to a general purpose work table.
[0073]
There is no restriction on the shape of the target workpiece W, and various types of workpieces W can be held in accordance with the shape, and there is no need for a prior switching operation according to the vehicle type. Even if workpieces W of various shapes are set without notice, it can be a highly versatile workpiece positioning table that can be held and fixed without changing its conveying posture. That is, any vehicle type can be handled automatically on the spot without a complicated control device, and the number of vehicle types is not limited, and any number of vehicle types can be handled.
[0074]
In the conventional general-purpose stand, as shown in FIG. 28, a work receiving gauge 51 corresponding to each vehicle type is prepared for each vehicle type, and further, a switching actuator for switching the receiving gauge 51 according to the corresponding vehicle type. 52 and a control air valve and a sequence device (not shown) for driving the same are required, and a considerably expensive equipment investment is required.
[0075]
In addition, the workpiece W is originally fixed by the suction pad 3, and the position of the workpiece W can be fixed without adding a clamp. In the conventional general-purpose pedestal, it is necessary to add a clamp device corresponding to each of the receiving gauges 51 for fixing the work, and it is unavoidable.
[0076]
The suction holding device 1 of each aspect of FIGS. 1, 7, and 9 including the plurality of suction pads described above is described as having the suction pad 3 arranged to face the workpiece W. The present invention is not limited to this, and may include a suction pad 3 that does not face the work W. The suction pad 3 is disposed for general use and faces the work W in the suction pad 3. Only the operation described so far may be performed.
[0077]
Thus, when the suction pad which does not face the workpiece | work W is provided, the suction pad 3 which does not face the workpiece | work W needs to prohibit suction operation | movement. This is because when the invention shown in Japanese Patent Application Laid-Open No. 2000-79589 previously proposed by the applicant of the present application is used in combination, it is not necessary to reposition the suction pad each time according to the size of the work, Since it is only necessary to arrange the suction pads within a range of sizes that can be accommodated, the control device can be further simplified.
[0078]
  FIG.Is reference example 3 of suction padIn the example shown in FIG. 2, the lock mechanism 10 is released when the compressed air is supplied. However, in this example, the lock mechanism 10 is activated when the compressed air is supplied. It is a configuration. The same parts as those in FIG. 2 will be described with the same reference numerals.
[0079]
In FIG. 10, a spring 35 is disposed at the large-diameter end of the tapered lock surface 14A of the lock sleeve 14, and the lock sleeve 14 is urged in the unlocking direction. The cylinder chamber 33 that functions as a lock actuating means is disposed at the small-diameter end of the tapered lock surface 14A of the lock sleeve 14, and is pressed against the spring 35 by compressed air in the lock actuating direction.
[0080]
The first electromagnetic valve 23 of the pneumatic circuit 8 shuts the compressed air to the cylinder chamber 33 at the first position and supplies the compressed air to the second electromagnetic valve 24 at the second position and the lock mechanism electromagnetic valve 23A. The suction pad electromagnetic valve 23B is cut off at the first position and supplied at the second position.
[0081]
Until all of the suction pads 3 that are scheduled to contact are brought into contact with the workpiece W, all the electromagnetic valves 23 and 24 are in the first position, and all the lock mechanisms 10 are released by the springs 35 to the suction pads 3. Is in a state where neither positive pressure nor negative pressure is supplied.
[0082]
When all of the suction pads 3 scheduled to come into contact with the workpiece W, both the lock mechanism electromagnetic valve 23A and the suction pad electromagnetic valve 23B, which are the first electromagnetic valves 23, are in the second position. By switching, the lock mechanism 10 is operated and compressed air is supplied to the second electromagnetic valve 24, and the second electromagnetic valve 24 is simultaneously switched to the second position as described with reference to FIG. The pressure is supplied, and the suction pad 3 sucks the workpiece W.
[0083]
When the workpiece W is placed on the processing jig G, a predetermined amount of positive pressure is supplied to the suction pad 3 by returning the second electromagnetic valve 24 to the first position, as in the example of FIG. The suction operation of the suction pad 3 is released. The subsequent operations are the same as those in FIG.
[0084]
  FIG.SuckThe pad 3 was further deformedReference example 4In the lock mechanism solenoid valve 23A of FIG. 10, the cylinder chamber 33 of the lock mechanism 10 is opened to the atmosphere at the first position, and compressed air is supplied at the second position. The chamber in which the spring 35 is disposed is sealed, compressed air is supplied to the chamber 38 in which the spring 35 is disposed at the first position of the electromagnetic valve 23A for the lock mechanism, and the spring chamber 38 is opened to the atmosphere at the second position. I am doing so.
[0085]
In this structure, since the lock sleeve 14 is moved between the open position and the lock position with compressed air, the lock sleeve 14 can be reliably operated.
[0086]
  FIG.SuckStill other of wearing padReference Example 510 is eliminated, and instead the spring chamber 38 of the lock mechanism 10 is hermetically sealed, and the pneumatic pressure supply passage 18 to the suction pad 3 is branched to this spring chamber 38. It is connected to.
[0087]
According to this example, only when negative pressure is supplied to the suction pad 3, the lock sleeve 14 is moved to the lock side by the negative pressure of the spring chamber 38.
[0088]
Therefore, the circuit configuration of the pneumatic circuit 8 can be simplified without requiring a special electromagnetic valve for operating the lock mechanism 10.
[0089]
  13 to 15 show the suction holding device of the present invention.FirstIn this embodiment, in addition to the embodiments shown in FIGS. 1 to 3 and FIGS. 10 to 12, the suction pad 3 is held at the tip of the slide shaft 5 so as to be swingable and swingable.
[0090]
In FIG. 13, the suction holding device 1 includes a slide guide 6, a swing restraint mechanism 40 attached to the tip of the slide shaft 5 that passes through the slide guide 6, and a suction pad 3 held by the swing restraint mechanism 40. Composed.
[0091]
  The slide guide 6 is shown in FIGS.Reference exampleThe slide shaft 5 can be extended and retractably guided, and can be locked by a lock mechanism 10 incorporating the slide shaft 5. The end of the guide tube 11 on the swing restraint mechanism 40 side is reduced in diameter via a step 11A, the reduced diameter portion is inserted into the hole 2B provided in the plate 2A of the bracket 2, and the nut 11B is screwed into the insertion end. It is fixed to the bracket 2. A coiled spring 7 is arranged around the slide shaft 5 to urge the swing restraint mechanism 40 and the suction pad 3 in the advance direction. FIG. 13 shows the limit state of the suction pad 3, and FIG. 14 shows the return limit state of the suction pad 3 with the slide shaft 5 moved to the retracted position.
[0092]
As shown in FIG. 15, the swing restraining mechanism 40 includes a spherical piece 41 fixed to the suction pad 3, a fixed spherical guide 42 that supports the piece 41 from the suction pad 3 side, and the spherical guide 42. And a movable spherical guide 43 that supports the frame 41 from the side. The movable spherical guide 43 is urged toward the top 41 by a spring 44 and includes a cylinder 45 that opposes the spring 44 and operates in a direction away from the top 41.
[0093]
The top 41 is fixed to the back surface of the suction pad 3 via a bolt 3A, and includes a passage 41A for introducing a negative pressure into the suction pad 3 penetrating in the center. The outer periphery of the top 41 is formed into a spherical surface and is supported by the fixed and movable spherical guides 42 and 43. In a state where the movable spherical guide 43 is urged by the spring 44, the swinging movement of the suction pad 3 is restrained by being locked by the spherical guides 42 and 43. In a state in which the movable spherical guides 42 and 43 are urged away from each other by the cylinder 45, the movement between the spherical guides 42 and 43 is allowed, and the suction pad 3 is allowed to swing.
[0094]
On the suction pad 3 side, the cylinder 45 holds the fixed spherical guide 42 by an outer peripheral screw 42A, and supports the movable spherical guide 43 in the inner peripheral hole 45A so as to be movable in the axial direction. Further, the slide shaft 5 side is formed in a cylindrical body 45 </ b> B, and its open end is closed by an end lid 46 connected to the slide shaft 5. A ring-shaped piston 47 is slidably inserted in the inner periphery of the cylindrical body 45 </ b> B, and a boss 47 </ b> A is formed on the inner periphery of the piston 47 so as to be slidably fitted to the end lid 46. The inner peripheral side of the piston 47 and the movable spherical guide 43 are connected via a cylindrical member 43A extending in the axial direction from the spherical guide 43, and the piston 47 and the spherical guide 43 move together. The cylindrical member 43A is slidably fitted to the tip of a flange 45C extending inwardly from the cylindrical body 45B. The cylindrical body 45B and the flange 45C, and the cylindrical member 43A and the piston 47 form a cylinder chamber 45D. The spring 44 is inserted between the piston 47 and the end lid 46 to urge the piston 47 toward the suction pad 3 side. A hole 46A provided in the end cover 46 in the axial direction allows the through hole 5B of the slide shaft 5 and the inside of the suction pad 3 to communicate with each other via the inner periphery of the piston 47 and the cylindrical member 43A and the passage 41A of the top 41. Yes.
[0095]
In the swing restraint mechanism 40, working fluid is introduced from the pneumatic circuit 19 or the like into the cylinder chamber 45D through the hole 45E in synchronization with the lock mechanism 10. When the working fluid is not introduced into the cylinder chamber 45D, the urging force of the spring 44 acts on the movable spherical guide 43 via the piston 47 and the cylindrical member 43A. In this case, the top 41 is locked and held with the fixed spherical guide 42, and the suction pad 3 is restrained from swinging and is in a restrained state in which the swing position is held. Further, when the working fluid is introduced into the cylinder chamber 45D, the piston 47 is biased to the opposite side of the suction pad 3 against the spring 44 by the working fluid, and the movable spherical guide 43 is fixed via the cylindrical member 43A. Move away from the spherical guide 42. In this case, the rotation of the top 41 is allowed, and the suction pad 3 is in a release state in which the suction pad 3 can be swung in the swing direction, for example, at the illustrated cross-sectional position, double dotted line position, or the like.
[0096]
The suction pad 3 is made of a soft material on the tip 3C side that is ring-shaped compared to the base 3B side fixed to the frame 41, so that the work such as a panel or the like is not scratched at the time of suction. ing.
[0097]
The suction pad 3 is made of nitrile rubber (NBR), which is an oil-resistant polymer rubber generally used for oil seals, O-rings, and the like. The quality and quantity of carbon contained in the polymer base are different between the tip 3C side and the base end 3B side of the pad so that the hardness obtained is different between the base 3B side and the tip 3C side, and both are vulcanized together. Mold. In the vulcanization molding process, the tip 3C side and the base end 3B side are the same series of polymers, so they are easily chemically bonded and integrated. In this way, the suction pad 3 is highly flexible on the distal end 3C side and has high rigidity on the proximal end 3B side.
[0098]
  The material of the suction pad 3 is not limited to the above, but may be formed of other rubber materials, and the required hardness differs between the distal end 3C side and the proximal end 3B side. If you can. Of the suction pad 3HardnessAccording to the durometer hardness HDA based on the spring type hardness tester “Durometer” used for plastics and rubber materials, “40 to 50” on the distal end side and “60” on each part including the other proximal end side. ~ 70 "HardnessIs desirable.
[0099]
In this configuration, compressed air as a working fluid is supplied to the lock mechanism 10 and the swing restraint mechanism 40. The lock mechanism 10 is released, and the slide shaft 5 is held at the tip position by the spring 7. When the compressed air is supplied to the cylinder chamber 45D, the swing restraint mechanism 40 moves the piston 47 against the spring 44, and the movable spherical guide 43 loosely contacts the spherical surface of the top 41 or from the spherical surface of the top 41. Slightly separated. The top 41 is in a restrained release state that can rotate and slide between the spherical guides 42 and 43.
[0100]
In this state, the bracket 2 is moved by a robot hand (not shown) so that the suction pad 3 faces the workpiece, and then the tip side of the suction pad 3 is brought into contact with the workpiece. Since the tip 3C side has a high flexibility and a soft hardness, it is possible to prevent the work from being dented or scratched when contacting the work.
[0101]
Since the suction pad 3 in contact with the workpiece is in a restrained release state, it swings following the inclination of the contact surface of the workpiece, and the entire circumference of the ring-shaped tip 3C side contacts the workpiece. Subsequently, the bracket 2 is moved to the workpiece side until the entire circumference of the ring-shaped portion on the tip 3C side of the other suction pad 3 contacts the workpiece, and this movement causes the spring 7 to bend and the slide shaft 5 to move to the slide guide 6. It is absorbed by moving the contact position.
[0102]
When all the suction pads 3 come into contact with the workpiece, the supply of the working fluid to the lock mechanism 10 and the swing restraint mechanism 40 is stopped and the atmospheric pressure is set. The slide guide 6 operates the lock mechanism 10 to lock the movement of the slide shaft 5. The swing restraint mechanism 40 springs the piston 47 against the spring 44 and the movable spherical guide 43 toward the fixed spherical guide 42. 44. The rotation of the top 41 is constrained, and the suction pad 3 is maintained in a constrained state in which the tip side ring-shaped tip 3C portion is brought into contact with the workpiece surface.
[0103]
Next, when a negative pressure is introduced into the suction pad 3 through the through hole 5B of the slide shaft 5, the hole 46A of the end cover 46, the inner periphery of the piston 47 and the cylindrical member 43A, and the passage 41A of the top 41, the workpiece is sucked into the suction pad 3. It is adsorbed by 3 and can be conveyed.
[0104]
The ring-shaped portion on the tip 3C side of the suction pad 3 is held at a swing position where the tip pad 3C swings following the work shape, and the sliding mechanism of the suction pad 3 also moves to the position where the slide shaft 5 slides according to the work shape. It is locked by The workpiece posture is transported and transferred without changing the posture set on the jig stand or the like.
[0105]
Since the ring-shaped portion on the tip 3C side of the suction pad 3 is soft and flexible, it is possible to prevent the workpiece from being dented or scratched even when contacting the workpiece.
[0106]
FIGS. 16 to 23 show a robot hand H configured by using a plurality of the above-described suction holding devices 1 in order to transport the roof assembly R as a workpiece to the body main assembly line in the vehicle assembly process.
[0107]
16 to 18 show a ladder-like base HB connected to the robot arm M, and brackets 2 are fixed at six locations around the base HB, and each bracket 2 is held by suction and holding configured in this embodiment. The device 1 is mounted with the slide shaft 5 arranged in the vertical direction.
[0108]
The figure shows a state in which the roof assembly R is held. This roof assembly R is applied to a wagon type vehicle, and has a large size in the front-rear direction and a relatively small curvature on the upper surface. The suction holding device 1 that holds the roof assembly R is held in a state in which each suction pad 3 swings along the surface of the roof assembly R and the entire surface on the tip 3C side of the suction pad 3 comes into contact without difficulty. In addition, the slide shaft 5 is locked to the lock mechanism 10 at the telescopic position moved in accordance with the surface shape of the roof assembly R.
[0109]
19 to 21 show a state in which the same robot hand H holds the roof assembly R different from that shown in FIGS. 16 to 18 by the suction holding device 1 configured in the present embodiment in the same six locations. . This roof assembly R is applied to a sedan type vehicle, and has a small size in the front-rear direction and a relatively large curvature on the upper surface. In the suction holding device 1 that holds the roof assembly R, the suction pads 3 at the four front positions swing along the surface of the roof assembly R so that the entire surface of the suction pad 3 on the tip 3C side comes into contact without difficulty. The slide shaft 5 is locked to the lock mechanism 10 at the extended / contracted position moved in accordance with the surface shape of the roof assembly R.
[0110]
FIG. 22 shows a state in which the roof assembly R shown in FIGS. 16 to 21 is conveyed and set in the body side assembly BS in the body main assembly line, and the roof is placed on the flange BSF of the body side assembly BS. The flanges RF of the assembly R are overlapped, and both the flanges BSF and RF are welded and fixed together with spots or the like. Prior to this welding, the roof assembly R needs to be positioned with respect to the body side assembly BS. As this positioning method, it is conceivable that the flanges BSF and RF of both assemblies R and BS are connected to each other with a positioning gauge from the bottom, but the flanges BSF and RF are welded by a spot welding gun. Positioning gauges that interfere with are not available.
[0111]
However, in the robot hand H including the suction holding device 1 of the present embodiment, the robot hand H can be positioned by the positioning function by the robot arm M while the roof assembly R is in the suction holding state.
[0112]
As described above, even if the size and curvature of the workpiece are different, the suction pad 3 swings along the surface of the workpiece, and the slide shaft 5 slides along the surface shape of the workpiece. Is held at the swing position, and the slide shaft 5 is locked at the slide position by the lock mechanism 10, so that it can be conveyed and transferred regardless of the shape of the workpiece. In addition, since the ring-shaped portion on the tip 3C side of the suction pad 3 is formed to be soft and flexible, the workpiece is not dented or scratched.
[0113]
FIG. 23 relates to a suction holding device applied to the body side assembly / conveying method of a vehicle body proposed in Japanese Patent Application No. 9-232978 (Japanese Patent Laid-Open No. 10-236352).
[0114]
In this assembling method, the lower end of the side sill is positioned and supported by positioning means G1 to G3 provided on the moving body TS moved by the transport device T, and the body side BS is raised by holding the roof rail side by the positioning means G4 and G5. Carry in the state. In each conveyance process, a front inner, a wheel house, a rear pillar inner, and the like are mounted and fixed by welding or the like using a welding robot.
[0115]
The body side BS positioned on the moving body TS corresponds to the body side BS of different types by the sawtooth positioning members (not shown) of the positioning means G1 to G5 at the flanges of the side sill and the front door opening. It has been generalized. In addition, a suction holding device 1 for adsorbing and positioning the suction pad 3 by contacting the fender panel FP with the fender panel FP is disposed on the positioning means G3 so as to intersect the fender panel FP and fixed via the bracket BR. .
[0116]
The suction holding device 1 extends the suction pad 3 together with the slide shaft 5 by the spring 7, makes the entire circumference of the tip 3 </ b> C of the suction pad 3 come into contact with the surface of the fender panel FP by the swing restraint mechanism 40, and when it comes into contact, the lock mechanism 10. The supply of the working fluid to the swing restraint mechanism 40 is stopped and the atmospheric pressure is set. The slide guide 6 operates the lock mechanism 10 to lock the movement of the slide shaft 5, and the swing restraint mechanism 40 is maintained in a holding state that restricts swing of the suction pad 3.
[0117]
The body side BS in this state is positioned in a state where it is erected by the positioning means G1 to G5, and is positioned in a state where the fender panel FP is steady by the suction holding device 1. The fender panel FP has a different shape and curvature of the surface if the vehicle type is different. Even when the vehicle type is different, the suction holding device 1 moves the suction pad 3 forward and backward and swings along the different shape and curvature of the surface, sucks and holds the fender surface by the suction pad 3, and stops the swing. be able to.
[0118]
In the method for assembling the body side BS described above, the case where the suction holding device 1 is applied to the fender's steadying and positioning is described, but not shown, but other parts, for example, the positioning part G4 on the roof rail side, The suction holding device 1 can also be applied to G5.
[0119]
  In this embodiment,According to each reference exampleIn addition to the obtained effects, the effects described below can be achieved. Since the suction pad 3 is disposed so as to be swingable with respect to the slide shaft 5 and includes a swing restraining mechanism 40 as a restraining means for restraining the swing of the suction pad 3 during the suction operation of the suction pad 3, the suction pad 3 3C is held at a swinging position where the tip 3C swings following the workpiece shape, and the workpiece posture is conveyed and transferred without changing the posture of the workpiece set on a jig stand or the like. That is, conveyance and transfer are possible regardless of the shape of the workpiece.
[0120]
Since the ring-shaped portion of the tip 3C that contacts the suction pad 3 and the workpiece is formed with a lower hardness by the other portions, it is possible to prevent the dent and the scratch from being made when contacting the workpiece.
[0121]
  In the application example of FIG. 23, the suction holding device 1 is connected to the transport device.In a standing stateWork to be retainedOn the side ofCross againstThe slide shaft is arranged in the direction to be moved by the suction pad at the tip of the slide shaftworksideAdsorption holdPossible to the transfer deviceTherefore, even if the shape of the workpiece and the curvature of the surface change, the sliding position and the swinging position of the suction pad 3 are correspondingly changed and held, and the swinging of the workpiece can be reliably suppressed.
[Brief description of the drawings]
[Figure 1]Reference Example 1The front view which shows the suction holding | maintenance apparatus shown.
FIG. 2 is a diagram showing a suction pad and a pneumatic circuit shown in FIG.
FIG. 3 is a diagram showing an operation state of FIG. 2;
FIG. 4 is a state diagram showing an operation during suction of the suction holding device shown in FIG. 1;
FIG. 5 is a state diagram showing a workpiece lifting state after suction of the suction holding device shown in FIG. 1;
6 is a state diagram in which a workpiece after suction of the suction holding device shown in FIG.
[Fig. 7]Reference example 2The front view which shows the suction holding | maintenance apparatus shown.
FIG. 8 is a state diagram showing an operating state of the suction holding device shown in FIG. 7;
9 is a perspective view showing diversion of the suction holding device shown in FIG. 7 to a general-purpose table.
FIG. 10Reference Example 3The figure which shows the suction pad and pneumatic circuit which are shown.
FIG. 11Reference Example 4The figure which shows the suction pad and pneumatic circuit which are shown.
FIG.Reference Example 5The figure which shows the suction pad and pneumatic circuit which are shown.
FIG. 13 shows the present invention.FirstThe front view which shows the adsorption | suction holding | maintenance apparatus of the limit state which shows the embodiment.
14 is a front view showing the suction holding device in the return limit state in FIG. 13;
FIG. 15 is a cross-sectional view of a swinging restraint mechanism of the suction pad.
FIG. 16 is a front view showing an application example of the suction holding device.
FIG. 17 is a plan view of the application example shown in FIG. 16;
18 is a cross-sectional view taken along the line AA in FIG.
FIG. 19 is a front view showing another application example of the suction holding device.
20 is a plan view of the application example shown in FIG.
FIG. 21 is a cross-sectional view taken along the line BB in FIG. 20;
22 is a cross-sectional view showing a positioning state of a roof assembly according to an application example of the suction holding device shown in FIGS. 16 to 21. FIG.
FIG. 23 is a front view showing still another application example of the suction holding device.
FIG. 24 is a front view showing a conventional suction holding device.
FIG. 25 is a state diagram showing the workpiece suction state of FIG. 24;
FIG. 26 is a state diagram showing a workpiece lifting state in FIG. 24;
27 is a state diagram showing a mounting state of the workpiece of FIG. 24 to the receiving jig.
FIG. 28 is a perspective view of a general-purpose table using a conventional vehicle type switching gauge device.
[Explanation of symbols]
  M Robot arm (manipulator)
  W Work
  G Jig
  E Mount (support member)
  1 Adsorption holding device
  2 Mounting bracket (support member)
  3 Suction pad
  5 Slide axis
  6 Slide guide
  7 Spring (biasing means)
  8 Pneumatic circuit
  10 Locking mechanism (locking means)
  13 Cylinder chamber (lock release means)
  14 Lock sleeve
  15, 35 Spring
  16 Sphere
  17 Brake shoe
  23 First solenoid valve
  24 2nd solenoid valve (adsorption operation means)
  26 Venturi (Adsorption operation means)
  33 Cylinder chamber (lock actuating means)
  40 Swing restraint mechanism (restraint means)
  41 frames
  42 Fixed spherical guide
  43 Movable spherical guide
  44 Spring
  45 cylinders
  47 piston

Claims (6)

A suction pad that is swingably disposed at the tip of a slide shaft that can move back and forth by a predetermined range with respect to the support member;
An urging means for urging the pad together with the slide shaft in the distal direction within the predetermined range;
A suction operation means for operating the suction pad by a negative pressure introduced from an air pressure source ;
The support member is disposed between the slide shaft, and a brake shoe in contact with the slide shaft, and biasing means for biasing to contact the brake shoe to the slide axis, the compression introduced from the air pressure source A lock unit that is operated by air and releases the operation of the biasing unit, and restrains the advancing and retreating movement of the suction pad;
It is arranged between the slide shaft and the suction pad, and is composed of a spherical piece and a pair of spherical guides that rotatably support the spherical piece, and connects the spherical piece to the suction pad and a pair of spherical surfaces. one of the guide connected to the slide shaft, and urged in the approaching direction by biasing means while enabling toward and away from moving relative to one of the other of the pair of spherical guide, introduced from the air pressure source compression A cylinder that operates by air to release the operation of the biasing unit, and includes a restraining unit that restrains swinging of the suction pad;
The locking means and the restraining means are configured so that the supply of compressed air from the air pressure source is stopped during the operation of the adsorption operation means by the negative pressure introduced from the air pressure source, and the slide shaft is moved by the respective urging means. moved forward and backward and to the constrained state oscillation of the suction pads both, compressed air from the air pressure source to the negative pressure supply is released the operation of the suction actuating means is stopped and the respective cylinders from the air-pressure source When the air is introduced, the restraint state is released together with the compressed air so as to face the respective biasing means. The lock means is slidably disposed in the cylinder, presses the brake shoe against the slide shaft at the first position to restrain the slide shaft from the outer periphery, and restrains the slide shaft by the brake shoe at the second position. When the compressed air is introduced from the pneumatic pressure source into the cylinder chamber formed by the lock sleeve in the cylinder, the lock sleeve that releases the lock sleeve, the spring as the biasing means that biases the lock sleeve to the first position 2. The suction holding device according to claim 1, further comprising: a lock release means for moving the lock sleeve to a second position against a spring as an urging means .   The suction holding device according to claim 1, wherein a plurality of the suction holding devices are arranged in parallel.   The suction holding device according to claim 1, wherein a plurality of the suction holding devices are arranged in parallel on a bracket that is moved by a manipulator as a support member.   The suction holding device according to claim 1, wherein a plurality of the suction holding devices are arranged in parallel on a fixed base as a support member. The slide shaft of the suction holding device is arranged in the transport device so as to be in a direction intersecting the side surface of the work held in a state of standing on the transport device, and the suction pad at the tip of the slide shaft is placed on the side surface of the work has a retractable moved toward and away from the, the work side by advancing and retreating and swing the suction pads of the tip of the slide shaft to claim 1 or claim 2, characterized in that it is possible to suction holding The adsorption holding device as described.

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