JP4926690B2 - Work suction device - Google Patents

Description

  The present invention relates to a workpiece suction device that includes a suction pad and sucks a workpiece with the suction pad.

  Conventionally, a technique for transferring a required workpiece using a suction pad is well known (for example, see Patent Document 1). Such a transfer technique is also employed in a production line in an automobile manufacturing factory, and a workpiece suction device that transfers a workpiece such as an automobile window glass in the factory is well known.

  The workpiece suction device includes a frustoconical dish-shaped suction pad made of an elastic material, and the peripheral edge of the annular flange portion related to the suction pad is pressure-bonded to the surface of the workpiece and connected to the suction pad. When the apparatus is activated and the suction air space in the suction pad shielded by the surface of the workpiece is in a predetermined low pressure state (for example, a vacuum state) below atmospheric pressure, the workpiece is sucked to the suction pad. By using such an apparatus, the workpiece can be transferred to a desired location quickly and without damaging the surface.

JP-A-6-39768

  However, the above-mentioned conventional configuration cannot accurately grasp the timing when the sucked air space in the suction pad reaches the vacuum state, so that the workpiece is transferred in a state where the sucked air space does not reach the vacuum state. In order to prevent a fall accident that occurs in the case, the suction process by the operation of the suction device tends to be unnecessarily long. In other words, in actuality, even when the suction air space has reached a vacuum state, it is common to operate the suction device with a margin, and this makes the suction time unnecessarily long. As a result, there has been a problem that the work efficiency is lowered as a whole. In addition, in order to avoid the fall accident as described above, there may be a case where a suction device having a suction capacity higher than the actually required suction capacity has been introduced, resulting in an increase in the cost of the suction device. There was also a problem that the cost was high.

  Accordingly, an object of the present invention is to provide a workpiece suction device that can solve the above-described problems.

  The present invention includes a flexible and dish-shaped suction pad, the periphery of the collar portion of the suction pad is pressure-bonded to the surface of the work, and the suction device connected to the suction pad is activated to shield it from the work surface. In the work suction device that attracts the work to the suction pad when the suctioned air space in the suction pad becomes a predetermined low pressure state below atmospheric pressure, the suction pad is provided on the back surface of the saddle pad. A flexible strain detection unit that generates strain; and strain detection means that detects strain of the strain detection unit, and when the suction air space is in an atmospheric pressure state, When the original shape is maintained, the strain detection part is in an unstrained state, and when the suction air space is in the low pressure state described above, the collar part of the suction pad is deformed and the strain detection part is in a strain state. It is a workpiece suction device characterized by .

  In such a configuration, when the suction air space is in an atmospheric pressure state before the suction device is operated, the heel portion of the suction pad maintains the original shape, and no distortion occurs in the strain detection portion. On the other hand, when the suction device is activated and the sucked air space is in a low pressure state, the collar portion of the flexible suction pad is bent into the sucked air region due to the negative pressure of the sucked air region, and accordingly, the strain detecting unit Distortion will occur. Further, when the strain detection means detects the strain of the strain detection unit, it is possible to accurately grasp the timing at which the suction airspace has reached an appropriate low pressure state. It is also possible to accurately specify the pressure state of the suctioned air space where the work is properly adsorbed. In addition, as a low-pressure state in which the workpiece is attracted, for example, a vacuum state can be mentioned, but it is not necessary to make the sucked air space a complete vacuum state in order to suck the workpiece, and the pressure of the sucked air space that can be sucked It can be set appropriately.

  Further, the present invention includes a flexible and dish-shaped suction pad, the peripheral edge of the suction pad is pressure-bonded to the surface of the workpiece, and the suction device connected to the suction pad is operated to operate the surface of the workpiece. In the work suction device in which the workpiece is attracted to the suction pad when the suction air space in the suction pad shielded by A first contact portion that moves with the cover, a cover body that covers a surface of the first contact portion, a second contact portion that is a surface of the cover body and is provided at a position opposite to the first contact portion, Contact detection means for detecting whether or not the one contact portion and the second contact portion are in contact, and when the suction air space is in an atmospheric pressure state, the collar portion of the suction pad maintains a predetermined original shape. The first contact portion and the second contact portion are in contact with each other and the front When the sucked air space is in the low pressure state described above, the collar portion of the suction pad is deformed, the first contact portion moves, and the first contact portion and the second contact portion are in a separated state. It is a workpiece adsorption device.

  In such a configuration, when the suction air space is in an atmospheric pressure state before the operation of the suction device, the buttock of the suction pad maintains the original shape, and the relative positional relationship between the heel and the cover body Is not changed, and the state where the first contact portion and the second contact portion are in contact with each other is maintained. On the other hand, when the suction device is activated and the suctioned air space is in a low pressure state, the flange portion of the flexible suction pad is bent toward the suctioned airspace side by the negative pressure of the suctioned airspace, and accordingly, the first contact portion Moves to the suctioned airspace side, and the first contact portion and the second contact portion are separated from each other. And when the movement detection means detects that the first contact portion and the second contact portion are separated, it is possible to accurately grasp the timing when the suction air space has reached an appropriate low pressure state, It is possible to accurately specify an appropriate pressure state of the suctioned air space where the work is attracted.

  Further, the present invention includes a flexible and dish-shaped suction pad, the peripheral edge of the suction pad is pressure-bonded to the surface of the workpiece, and the suction device connected to the suction pad is operated to operate the surface of the workpiece. In the work suction device in which the workpiece is attracted to the suction pad when the suction air space in the suction pad shielded by A position detection unit that moves with the position detection unit, a cover body that covers a surface of the position detection unit, and a position detection unit that is provided at a portion of the cover body that faces the position detection unit. And a movement detecting means for detecting movement of the suction pad, and when the sucked air space is in an atmospheric pressure state, the collar portion of the suction pad maintains a predetermined original shape, and the position detection portion is positioned at the reference position. The suction airspace is as described above If it is pressure state, the flange portion of the suction pad is deformed, a work adsorption device, wherein the position detection unit is for moving from the reference position.

  In such a configuration, when the suction air space is in the atmospheric pressure state before the suction device is operated, the collar portion of the suction pad maintains the original shape, and the position detection unit is stationary and is at the reference position. . On the other hand, when the suction device is activated and the sucked air space is in a low pressure state, the flange portion related to the flexible suction pad is bent to the sucked air space side due to the negative pressure of the sucked air space, and accordingly the position detection unit Will fluctuate toward the suctioned airspace side. And if the said movement detection means detects the movement of the said to-be-positioned detection part, it will be able to grasp | ascertain correctly the timing at which the to-be-sucked air space reached an appropriate low voltage | pressure state, and to-be-sucked by which a workpiece | work will adsorb | suck It is possible to accurately identify an appropriate pressure state in the airspace.

  The inventions described so far share the following technical ideas. In other words, the suction air space in the suction pad that is connected to the flexible and dish-shaped suction pad and the suction pad whose peripheral edge of the collar portion is pressure-bonded to the surface of the work and shielded by the surface of the work A suction device for detecting whether or not the buttocks of the suction pad maintain a predetermined original shape. When the sucked air space is in the atmospheric pressure state, the suction pad ridge maintains a predetermined original shape, and when the sucked air space is in the low pressure state, the suction pad ridge is deformed. This is a workpiece adsorption device.

  In this configuration, when the suction pad is pressed against the workpiece and the suction device is operated in order to suck the workpiece, the suction air space becomes negative with respect to the outside, and the collar portion of the suction pad is sucked. The workpiece is attracted to the suction pad while curving toward the airspace. Here, the present invention described so far pays attention to the deformation of the suction pad in the suction process of the workpiece, and the pressure state of the sucked air space from the deformed state of the flange when the workpiece is sucked. Is trying to identify.

  The suction pad deformation detection means is provided on the back surface of the buttock portion of the suction pad, and is a flexible strain detection unit that generates distortion due to the deformation of the buttock, and a strain that detects the strain of the strain detection unit. And when the sucked air space is in an atmospheric pressure state, the heel portion of the suction pad maintains a predetermined original shape, the strain detected portion is in an unstrained state, and the sucked air space However, in the above-described low pressure state, a configuration is proposed in which the collar portion of the suction pad is deformed and the strain detection unit is in a strained state.

  The suction pad deformation detection means is provided on the back surface of the collar portion of the suction pad, and moves along with the deformation of the collar portion, a cover body that covers the surface of the first contact portion, and a cover body A second contact portion provided at a position opposite to the first contact portion, and a contact detection means for detecting whether or not the first contact portion and the second contact portion are in contact with each other. When the sucked air space is in an atmospheric pressure state, the flange portion of the suction pad maintains a predetermined original shape, the first contact portion and the second contact portion are in a contact state, and the sucked air space is In the above-described low pressure state, a configuration is proposed in which the collar portion of the suction pad is deformed, the first contact portion is moved, and the first contact portion and the second contact portion are in a separated state.

  Further, the suction pad deformation detection means is provided on the back surface of the collar part of the suction pad, and a position detection unit that moves in accordance with the deformation of the collar part, a cover body that covers the surface of the position detection part, Provided with a movement detecting means for detecting that the position detection unit moves from a predetermined reference position, provided at a position opposite to the position detection unit, wherein the suction air space is in an atmospheric pressure state. When the suction pad has a predetermined original shape, the position detection unit is positioned at the reference position, and the suction pad has a deformed portion when the suction air space is in the low pressure state described above. A configuration is proposed in which the position detection unit moves from the reference position.

  The present invention includes a strain detection unit provided on the back surface of the buttocks of the suction pad, and a strain detection unit that detects strain of the strain detection unit, and when the suction air space is in an atmospheric pressure state, When the buttock maintains a predetermined original shape, the strain detection unit is in an unstrained state, and when the suction airspace is in the low pressure state described above, the buttock of the suction pad is deformed and the strain detection unit is in a distorted state. Because it has a certain configuration, it is possible to accurately grasp the timing when the suctioned air space has reached an appropriate low-pressure state based on the presence or absence of distortion in the strain-detected portion, and the suctioned air space where the workpiece is properly attracted There is an effect that the pressure state can be specified accurately. This makes it possible to optimize the suction time or suction capacity of the suction device, thereby improving the efficiency of the transfer work or reducing the equipment cost.

  Further, the present invention provides a first contact portion provided on the back surface of the collar portion of the suction pad, a second contact portion provided on a surface of the cover body and at a position opposite to the first contact portion, and a first contact Contact detecting means for detecting whether or not the contact portion and the second contact portion are in contact with each other, and when the sucked air space is in an atmospheric pressure state, the heel portion of the suction pad maintains a predetermined original shape, When the contact portion and the second contact portion are in contact with each other and the suction air space is in the low pressure state described above, the collar portion of the suction pad is deformed and the first contact portion moves to move the first contact portion and the second contact portion. Since the structure is in a state of being separated from the contact part, it is possible to accurately grasp the timing when the sucked air space has reached an appropriate low pressure state based on the contact or contact of both contact parts, and the workpiece is properly adsorbed. It is possible to accurately identify the pressure state of the suctioned airspace that will be . This makes it possible to optimize the suction time or suction capacity of the suction device, thereby improving the efficiency of the transfer work or reducing the equipment cost.

  In addition, the present invention includes a position detection unit provided on the back surface of the buttock of the suction pad, and a movement detection unit that detects that the position detection unit moves from a predetermined reference position, and has a large suction air space. When in the atmospheric pressure state, the buttocks of the suction pad maintain a predetermined original shape, the position detection unit is located at the reference position, and when the suction air space is in the low pressure state described above, the buttocks of the suction pad are deformed. In addition, since the position detection unit is configured to move from the reference position, based on the arrangement of the position detection unit, it is possible to accurately grasp the timing at which the suction airspace has reached an appropriate low pressure state, There is an effect that it is possible to accurately specify the pressure state of the sucked air space that is properly adsorbed. This makes it possible to optimize the suction time or suction capacity of the suction device, thereby improving the efficiency of the transfer work or reducing the equipment cost.

  The present invention further includes suction pad deformation detection means for detecting whether or not the suction pad's buttocks maintain a predetermined original shape, and when the sucked air space is in an atmospheric pressure state, If the suction pad is configured to be deformed when the suctioned airspace is maintained in the low pressure state as described above, the suctioned airspace is determined based on the deformed state of the hook when the workpiece is sucked. As a result, it is possible to accurately grasp the timing at which the pressure reaches the proper low pressure state and to accurately identify the pressure state of the suction air space where the work is properly adsorbed. This makes it possible to optimize the suction time or suction capacity of the suction device, thereby improving the efficiency of the transfer work or reducing the equipment cost.

<First Example>
A first embodiment of the present invention will be described with reference to the accompanying drawings.
As shown in FIG. 1, in the automobile manufacturing factory, a workpiece suction device 1a for transferring a workpiece W such as a window glass for automobiles in the factory is employed. The workpiece suction device 1 a includes a suction device 2 and a suction pad 10 a connected to the suction device 2.

Hereinafter, the suction device 2 will be described.
The suction device 2 has a function of reducing the pressure by sucking the inside of the suction pad 10a, and is connected to a known vacuum pump 3, an air pipe 4 connected to the vacuum pump 3, a known power source 9, and the power source 9. A control unit 5 and a control unit 6 communicating with the control unit 5. More specifically, the control unit 6 includes a vacuum breaking valve 7 and a vacuum switching valve 8, and the vacuum switching valve 8 is connected to the air pipe 4. The valves 7 and 8 are controlled to be opened and closed by the control unit 5 so that the inside of the suction pad 10a can be sucked or stopped by the air flow passage 28 connected to the valves 7 and 8. It is said. A known technique is suitably used for such a suction device 2. Of course, the suction mechanism of the suction device 2 may be another mechanism.

Next, the suction pad 10a and accessory parts connected thereto will be described.
As shown in FIG. 2 and the like, the outer shape of the suction pad 10a is a truncated cone shape, and has a concealed dish shape as a whole. The flange portion 11 constituting the periphery thereof and the central flat portion constituting the central portion thereof. 12. Specifically, as shown in FIGS. 3 and 4, the flange portion 11 corresponds to a portion inclined downward outward at the periphery of the suction pad 10 a, and the central flat portion 12 is a central portion of the suction pad 10 a. The horizontal part which becomes the bottom corresponds.

  The suction pad 10a is molded from an elastic material, and at least the flange portion 11 has flexibility. In addition, as an elastic material, a synthetic rubber material is mentioned, for example.

  Further, the central flat portion 12 of the suction pad 10a is provided with a through-hole 13 that penetrates in the vertical direction along the central axis of the suction pad 10a. The metal-cylindrical presser fitting 20 is formed in the through-hole 13. And a connection fitting 25 are mounted. Specifically, the presser fitting 20 and the connection fitting 25 are screwed up and down, and the flange portion 26 formed at the lower end of the connection fitting 25 is a concave groove formed in the central flat portion 12 of the suction pad 10a. 15 is fitted. Further, the flange portion 22 formed at the lower end of the presser fitting 20 is configured to contact the lower end of the through hole 13. With this configuration, the suction pad 10a is sandwiched between the presser fitting 20 and the connection fitting 25 and cannot be removed.

  Further, on the back surface of the suction pad 10a, a hard cover body 40a is arranged so as to cover the suction pad 10a as compared with the suction pad 10a. Specifically, a vertical through-hole 48 disposed in the center of the cover body 40a is externally fitted to the connection fitting 25, and a plate-like presser fitting nut 30 arranged at the uppermost position is used in the stacking direction. Tightened and fixed.

  Moreover, the said cover body 40a is shape | molded along the shape of the suction pad 10a, and has comprised the saucer shape similar to the suction pad 10a. More specifically, when the inside of the suction pad 10a is at atmospheric pressure, the cover body 40a is in close contact with the flange 11 and the central flat portion 12 of the suction pad 10a as shown in FIG. A flange 41 and a cover center flat part 42 are provided. In addition, the cover body 40a which concerns on a present Example is comprised with the metal material.

  By the way, the tip of the connection fitting 25 protruding to the back side of the suction pad 10a constitutes the air flow passage 28 (see FIG. 1), and when the suction device 2 is operated, the air path 27 and the presser foot of the connection fitting 25 are pressed. The suction pad 10a can be sucked through the air passage 21 of the metal fitting 20 to form a low pressure state.

  In the configuration described so far, in order to attract the workpiece W to the suction pad 10a, first, the peripheral edge of the flange portion 11 related to the suction pad 10a is pressure-bonded to the surface of the workpiece W as shown in FIG. Then, the suction device 2 is operated, and the sucked air space 18 that is shielded by the work W in the suction pad 10a is brought into a vacuum state. Then, as shown in FIG. 4, the suction air space 18 is in a vacuum state while the suction pad 10a is deformed, and the workpiece W is sucked to the suction pad 10a.

Next, the main part of the present invention will be described.
Since the flange portion 11 of the suction pad 10a is flexible as described above, in the process of sucking the workpiece W, the suction air space 18 is in an atmospheric pressure state (see FIG. 3) and a vacuum state. In this case (see FIG. 4), the shape changes. The present invention has been made by paying attention to the shape change of the collar portion 11.

  As shown in FIGS. 5 and 6, a recessed portion 16 having a predetermined depth is formed on the back surface of the flange portion 11 of the suction pad 10 a, and a strain gauge 50 is formed of an adhesive in the recessed portion 16. It is glued. The strain gauge 50 itself is flexible, and is designed so that a predetermined amount of strain is generated in accordance with the deformation of the disposed collar portion 11. A commercially available strain gauge 50 according to this embodiment is preferably used.

  Further, a penetrating insertion hole 43 is formed in a portion of the cover body collar portion 41 of the cover body 40 a that faces the strain gauge 50. A lead wire 51 connected to the strain gauge 50 is inserted through the insertion hole 43. The lead wire 51 is connected to a predetermined output detection device 58 (see FIGS. 3 and 4). The output detection device 58 detects strain generated in the strain gauge 50 and detects strain. This is output so that the operator can check the strain state of the strain gauge 50.

  Here, the above-described strain gauge 50 constitutes a strain detection unit according to the present invention. Further, the output detection device 58 described above constitutes a distortion detection means according to the present invention.

With the configuration described so far, the adsorption process of the workpiece W will be described again.
As shown in FIGS. 3 and 5, when the suction device 2 is not operated and the suction air space 18 is in the atmospheric pressure state, no negative pressure is generated in the suction pad 10a. The prescribed original form is maintained. That is, the strain gauge 50 disposed on the back surface of the flange portion 11 is not distorted, and the output detection device 58 does not detect the strain.

  On the other hand, as shown in FIGS. 4 and 6, when the suction device 2 is operated and the sucked air space 18 is in a vacuum state, the flange portion 11 is bent toward the sucked air space 18 due to the negative pressure in the suction pad 10 a. With such deformation, the strain gauge 50 disposed on the back surface of the flange portion 11 is distorted. Then, the output detecting device 58 detects the strain of the strain gauge 50 and outputs that the strain is detected. Then, on the basis of the output information, the operator confirms that the sucked air space 18 in the suction pad 10a is in a vacuum state for the work suction device 1a and has reached a state where the work W can be properly sucked. It becomes possible to grasp.

  In the above configuration, when the suction air space 18 reaches a low pressure level at which the workpiece W can be properly sucked, the flange portion 11 of the suction pad 10a is designed to bend, In addition, when the collar portion 11 is curved in this way, a predetermined amount of strain is generated in the strain gauge 50, and a change in resistance at this time can be detected.

Next, a modification of the first embodiment will be described with reference to FIG.
The suction pad 10b according to the modified example is provided with a metal and cylindrical lower presser fitting 32 in the through hole 13 disposed in the center. A flange portion 34 is formed at the lower end of the lower presser fitting 32, and the flange portion 34 is press-fitted into the engagement groove 17 disposed at the center of the suction pad 10b. With this configuration, the suction pad 10 b is fixed to the lower presser fitting 32.

  Further, a metal-made cylindrical upper presser fitting 45 is mounted on the lower presser fitting 32. An annular groove 35 is formed on the upper surface of the lower presser fitting 32, and an O-ring 36 is accommodated in the groove 35. Thereby, airtightness is secured between the lower presser fitting 32 and the upper presser fitting 45.

  Further, the lower surface of the upper presser fitting 45 that protrudes from the lower presser fitting 32 is in contact with the back surface of the cover body 40a. Further, the upper presser fitting 45 is provided with a screw hole 46, and the lower presser fitting 32 is provided with a screw hole 33 connected to the screw hole 46, and is inserted into the screw holes 33, 46 in such a contact state. All the members are fastened in a stacked manner in the vertical direction by mounting screws 47, 47.

  In this configuration, when the suction device 2 is operated, the suction air space 18 in the suction pad 10a is sucked through the air passage 38 of the upper presser fitting 45 and the air passage 37 of the lower presser fitting 32 to form a low pressure state. It is possible to do.

<Second Example>
Hereinafter, the workpiece | work adsorption | suction apparatus 1b which concerns on a 2nd Example is demonstrated. In addition, about the structure which is common in the workpiece | work adsorption | suction apparatus 1a which concerns on a 1st Example, while attaching | subjecting a same sign, suppose that description is simplified or abbreviate | omitted.

  As shown in FIGS. 8 to 11, a recessed portion 65 having a predetermined depth is formed on the back surface of the flange portion 11 of the suction pad 10 a, and a plate-like magnet 60 is fixed in the recessed portion 65. Has been. Here, the depth of the recessed portion 65 is set so that the upper surface of the magnet 60 is flush with the back surface of the flange portion 11. In addition, if the said collar part 11 bends and deform | transforms in the attraction | suction process as mentioned above, this magnet 60 will change a position with the deformation | transformation of the collar part 11. FIG. The position fluctuation of the magnet 60 will be described later in detail.

  Further, the cover body collar portion 41 of the cover body 40b attached to the back surface of the suction pad 10a, and a concave portion 66 having a predetermined depth is formed at a portion facing the magnet 60, and the concave portion. A plate-shaped magnetic attachment switch 61 is disposed in 66. Here, the depth of the recessed portion 66 is set so that the lower surface of the magnetic attachment switch 61 is flush with the lower surface of the cover body 40b. Therefore, when the suction device 2 is not operated and the sucked air space 18 is in an atmospheric pressure state, the upper surface of the magnet 60 and the lower surface of the magnetic switch 61 are in surface contact (see FIG. 10). ).

  Further, the magnetic attachment switch 61 is magnetically attached to the magnet 60 and is connected to a lead wire 51 through a through-shaped insertion hole 43 disposed adjacent to the recessed portion 66. The lead wire 51 is connected to a predetermined output detection device 59 (see FIGS. 8 and 9). The output detection device 59 detects whether or not the magnet 60 and the magnetized switch 61 are in contact with each other. The operator can confirm the contact state.

  Note that the magnet 60 described above constitutes a first contact portion according to the present invention. The magnetic contact switch 61 constitutes a second contact portion according to the present invention. Furthermore, the output detection device 59 described above constitutes a contact detection unit and a suction pad deformation detection unit according to the present invention. The combination of the magnet 60 and the magnetic switch 61 can be changed as appropriate. For example, the magnet 60 may be changed to a magnetic body (iron or the like), and the magnetic switch 61 may be a switch that contacts the magnetic body.

  In the configuration described so far, as shown in FIGS. 8 and 10, when the suction device 2 is not operated and the suction air space 18 is in the atmospheric pressure state, no negative pressure is generated in the suction pad 10a. Therefore, the flange portion 11 of the suction pad 10a maintains a predetermined original shape. That is, the collar part 11 and the cover body collar part 41 are in surface contact, and the magnet 60 and the magnetic switch 61 disposed on the back surface of the collar part 11 are also in surface contact. Therefore, the output detection device 59 detects that the magnet 60 and the magnetized switch 61 are in contact with each other, and outputs such information. Note that the position of the magnet 60 in such a contact state is defined as a reference position α.

  On the other hand, as shown in FIGS. 9 and 11, when the suction device 2 is operated and the sucked air space 18 is in a vacuum state, the flange 11 is bent toward the sucked air space 18 due to the negative pressure in the suction pad 10 a. With such deformation, the magnet 60 moves from the reference position α to the attracted air space 18 side. The position of the magnet 60 is defined as a fluctuation position β. On the other hand, since the magnetic switch 61 is disposed on the hard cover body 40b and is relatively immobile with respect to the magnet 60, the magnet 60 and the magnetic switch 61 are caused by the attraction operation. A gap d is generated between them. That is, when the attracted air space 18 is in a vacuum state, the magnet 60 and the magnetized switch 61 are separated from each other, and the output detection device 59 detects the separated state and outputs such information. Then, based on this output information, the operator has reached a low pressure state in which the suction air space 18 in the suction pad 10a is in a vacuum state and can properly suck the workpiece W on the workpiece suction device 1b. Can be grasped.

<Third embodiment>
Hereinafter, the workpiece | work adsorption | suction apparatus 1c which concerns on a 3rd Example is demonstrated. In addition, about the structure which is common in the workpiece | work adsorption | suction apparatus 1a, 1b which concerns on 1st or 2nd Example, while attaching | subjecting a same sign, description shall be simplified or abbreviate | omitted.

  As shown in FIGS. 12 and 13, the cover body collar portion 41 of the cover body 40 a is formed with a penetrating insertion hole 43, and a known proximity switch 70 is fixed in the insertion hole 43. . The proximity switch 70 has a function of detecting a change in the separation distance of the position detection portion 71 of the flange portion 11 facing the insertion hole 43. More specifically, the proximity switch 70 detects a change in the position of the collar portion 11 that is deformed by the operation of the suction device 2. Specifically, the proximity switch 70 is used when the suction air space 18 is in an atmospheric pressure state. The reference position α of the position detection unit 71 and the fluctuation position β in the vacuum state are detected. The lead wire 51 connected to the proximity switch 70 is taken out to the outside through the insertion hole 43 and connected to a predetermined output detection device 73 (see FIGS. 12 and 13). The output detection device 73 is configured to output whether or not the position detection unit 71 is at the reference position α, and the operator can check the fluctuation state.

  The position detection unit 71 is a position detection unit according to the present invention. Further, the proximity switch 70 constitutes a movement detection unit and a suction pad deformation detection unit according to the present invention.

  In such a configuration, as shown in FIG. 12, when the suction device 2 is inactive and the suction air space 18 is at atmospheric pressure, no negative pressure is generated in the suction pad 10a. The collar part 11 maintains a predetermined original shape. That is, the proximity switch 70 detects that the position detection unit 71 of the collar unit 11 is at the reference position α, and the output detection device 73 outputs that the position detection unit 71 is at the reference position α.

  On the other hand, as shown in FIG. 13, when the suction device 2 is operated and the sucked air space 18 is in a vacuum state, the flange 11 is bent toward the sucked air space 18 due to the negative pressure in the suction pad 10 a. With the deformation, the position detection unit 71 moves from the reference position α to the fluctuation position β on the suction airspace 18 side. That is, the proximity switch 70 detects that the position detection unit 71 of the collar unit 11 is at the fluctuation position β, and the output detection device 73 outputs that the position detection unit 71 is at the reference position α. Then, on the basis of the output information, the operator confirms that the suction air space 18 in the suction pad 10a is in a vacuum state and has reached a state in which the workpiece W can be properly sucked with respect to the workpiece suction device 1c. It becomes possible to grasp.

  Various configurations can be proposed as the proximity switch 70 that detects the presence or absence of an object without contact. For example, inductive, capacitive, ultrasonic, photoelectric, or magnetic configurations are proposed.

  The embodiment described so far is not limited to this, and can be appropriately changed without departing from the gist of the present invention.

It is a conceptual diagram of the workpiece | work adsorption | suction apparatus 1a. It is a top view of the workpiece | work adsorption | suction apparatus 1a. It is a structure which concerns on a 1st Example, Comprising: It is a vertical side view which shows the case where the to-be-sucked airspace 18 exists in an atmospheric pressure state. It is a structure which concerns on a 1st Example, Comprising: It is a vertical side view which shows the case where the to-be-sucked air space 18 exists in a vacuum state. FIG. 5 is an enlarged view showing a configuration according to the first embodiment and showing a case where the sucked air space 18 is in an atmospheric pressure state. It is a structure which concerns on a 1st Example, Comprising: It is an enlarged view which shows the case where the to-be-sucked air space 18 is in a vacuum state. It is a vertical side view which shows the modification concerning a 1st Example. It is a structure which concerns on a 2nd Example, Comprising: It is a vertical side view which shows the case where the to-be-sucked air space 18 exists in an atmospheric pressure state. It is a structure which concerns on a 2nd Example, Comprising: It is a vertical side view which shows the case where the to-be-sucked air space 18 exists in a vacuum state. It is a structure which concerns on a 2nd Example, Comprising: It is an enlarged view which shows the case where the to-be-sucked air space 18 exists in an atmospheric pressure state. It is a structure concerning a 2nd Example, Comprising: It is an enlarged view which shows the case where the to-be-sucked air space 18 is in a vacuum state. It is a structure which concerns on a 3rd Example, Comprising: It is an enlarged view which shows the case where the to-be-detected part 71 exists in the reference position (alpha). It is a structure which concerns on a 3rd Example, Comprising: It is an enlarged view which shows the case where the position detection part 71 exists in the fluctuation | variation position (beta).

Explanation of symbols

1a, 1b Workpiece suction device 2 Suction device 10a, 10b Suction pad 11 Saddle 18 Suction air space 40a, 40b Cover body 50 Strain gauge (strained detection portion)
58 Output detection device (distortion detection means)
59 Output detection device (contact detection means)
60 Magnet (first contact part)
61 Magnetic switch (second contact part)
70 Proximity switch (movement detection means)
71 Position detection part W Work α Reference position

Claims (2)

A suction pad provided with a flexible and dish-shaped suction pad, the periphery of the collar portion of the suction pad being pressed against the surface of the work, and the suction device connected to the suction pad is activated to be shielded by the surface of the work In the workpiece suction device in which the workpiece is attracted to the suction pad when the sucked air space inside becomes a predetermined low pressure state below atmospheric pressure,
A suction pad deformation detection means for detecting whether or not the buttocks of the suction pad maintain a predetermined original shape;
And it is in close contact with the buttocks of the suction pad and covers the surface of the suction pad.
When the sucked air space is in an atmospheric pressure state, the buttocks of the suction pad maintain a predetermined original shape, and when the sucked air space is in the above-described low pressure state, the buttocks of the suction pad are deformed,
The suction pad deformation detection means
A first contact portion that is provided on the back surface of the buttock portion of the suction pad and moves with deformation of the heel portion ;
A second contact portion which is a surface of the cover body and provided at a position facing the first contact portion;
Contact detecting means for detecting whether or not the first contact portion and the second contact portion are in contact with each other ;
When the suction air space is in an atmospheric pressure state, the heel portion of the suction pad maintains a predetermined original shape, and the first contact portion and the second contact portion are in contact with each other,
When the sucked air space is in the low pressure state described above, the collar portion of the suction pad is deformed, the first contact portion is moved, and the first contact portion and the second contact portion are in a separated state. Characteristic workpiece suction device. A suction pad provided with a flexible and dish-shaped suction pad, the periphery of the collar portion of the suction pad being pressed against the surface of the work, and the suction device connected to the suction pad is activated to be shielded by the surface of the work In the workpiece suction device in which the workpiece is attracted to the suction pad when the sucked air space inside becomes a predetermined low pressure state below atmospheric pressure,
A suction pad deformation detection means for detecting whether or not the buttocks of the suction pad maintain a predetermined original shape;
And it is in close contact with the buttocks of the suction pad and covers the surface of the suction pad.
When the sucked air space is in an atmospheric pressure state, the buttocks of the suction pad maintain a predetermined original shape, and when the sucked air space is in the above-described low pressure state, the buttocks of the suction pad are deformed,
The suction pad deformation detection means
A position detection unit that is provided on the back surface of the buttock of the suction pad and moves with the deformation of the buttock ;
Provided with a movement detecting means provided at a position opposite to the position detection unit of the cover body for detecting that the position detection unit moves from a predetermined reference position ;
When the sucked air space is in an atmospheric pressure state, the collar portion of the suction pad maintains a predetermined original shape, the position detection unit is located at the reference position,
When the suction air space is in the low pressure state as described above, the collar portion of the suction pad is deformed, and the position detection unit moves from the reference position.

Images