JP5777152B2 - Adsorption device - Google Patents

Description

  The present invention relates to an adsorption device.

  The suction device is used for a transport mechanism for transporting an object (work) or for fixing an object to a wall surface or the like. As a suction device, a device using a vacuum suction pad described in Patent Documents 1 and 2 is known in addition to a device using a magnet and a device using viscosity.

  The suction device using the vacuum suction pad has a suction pad formed of a conical elastic body, and deforms the suction pad while being in contact with the target object, so that the suction pad is placed between the target pad and the target object. The resulting space is depressurized by expanding it, thereby generating a suction force between the suction pad and the object.

JP 2003-94370 A JP 2003-191191 A

  Such a conventional vacuum suction pad is effective for a flat object, but has a problem that the suction force for an object having irregularities is weak.

  The present invention has been made in view of such problems, and one of the exemplary purposes of an aspect thereof is to provide an adsorption device capable of adsorbing even an object having irregularities.

  An embodiment of the present invention relates to an adsorption device having a plurality of adsorption units. The adsorption device includes an elastic hollow body whose internal space communicates with a pump. The elastic hollow body can be deformed in accordance with (1) pressure from the outside, and (2) an adsorption portion corresponding to each of the plurality of adsorption portions of the elastic hollow body in a state where negative pressure is supplied to the internal space. Is deformed inward, and the portion surrounding each adsorbing portion is constrained so as not to be substantially deformed inward.

  According to this aspect, the elastic hollow body is deformed so as to follow the surface shape of the object by pressing the elastic hollow body against the uneven object, and the contact area increases. In this state, by applying a negative pressure to the internal space of the elastic hollow body, at least one suction part in contact with or close to the object is deformed inward, and the volume of the space between the suction part and the object is expanded. Adsorption force can be generated. As a result, it is possible to increase the number of suction portions that are in contact with or close to the surface of the object, and increase the suction force.

The adsorption device according to an aspect may further include a restraining member that is fixed to the inner wall of the elastic hollow body and restrains the elastic hollow body.
The restraining member may include a plurality of annular members that are provided for each of the plurality of adsorbing portions and whose bottoms are fixed to the inner wall of the elastic hollow body.

In an embodiment, the adsorption device may further include a plurality of particles filled in the internal space.
When the elastic hollow body conforms to the object and deforms, the granule can generate a resistance against the restoring force of the elastic body, and the elastic hollow body can easily maintain the shape after deformation, and the adsorption force can be reduced. Can be increased.

  The surface of the elastic hollow body may have adhesiveness. Thereby, when an elastic hollow body contacts with a target object, it can be made to temporarily adsorb | suck with adhesive force. Further, by temporary adsorption, the deformed shape of the elastic hollow body can be maintained before the negative pressure is supplied to the internal space.

  The elastic hollow body may be formed of a thermoplastic elastomer. A thermoplastic elastomer (TPE) is suitable as a material for an elastic hollow body because it has both adhesiveness and elasticity.

  According to the suction device according to an aspect of the present invention, it is possible to increase the suction force with respect to an object having irregularities.

Fig.1 (a) is a figure which shows the external appearance of the adsorption | suction apparatus based on Embodiment, FIG.1 (b) is sectional drawing which shows the fundamental structure of an adsorption | suction apparatus. FIGS. 2A to 2D are diagrams illustrating an adsorption operation of the adsorption device. Fig.3 (a) is sectional drawing of an adsorption | suction apparatus, FIG.3 (b) is a figure which shows the inner wall of the elastic hollow body of an adsorption | suction apparatus. It is a figure which shows the throwing type adsorption | suction apparatus using an adsorption | suction apparatus. It is a figure which shows the restraint member which concerns on a modification.

  The present invention will be described below based on preferred embodiments with reference to the drawings. The same or equivalent components, members, and processes shown in the drawings are denoted by the same reference numerals, and repeated descriptions are omitted as appropriate. The embodiments do not limit the invention but are exemplifications, and all features and combinations thereof described in the embodiments are not necessarily essential to the invention.

FIG. 1A is a diagram illustrating an appearance of the adsorption device 100 according to the embodiment, and FIG. 1B is a cross-sectional view illustrating a basic configuration of the adsorption device 100.
First, the function of the adsorption device 100 will be described with reference to FIG. The adsorption device 100 has a plurality of adsorption units 10 on the surface thereof. The suction device 100 basically has a spherical shape, and is freely deformable so as to conform to the shape of the object to be suctioned. The suction device 100 generates a suction force between the suction unit 10 and the object. The adsorption by the adsorption unit 10 is referred to as “main adsorption”. The number and size of the elastic hollow bodies 12 are not particularly limited, and may be designed according to the use of the adsorption device 100.

  It is preferable that the surface of the adsorption device 100 has adhesiveness. In this case, the adsorption device 100 can generate an adsorption force between the adsorption device 100 and the object even by the adhesive force of the surface. This is called “temporary adsorption”.

Next, the basic configuration of the adsorption device 100 will be described with reference to FIG.
The adsorption device 100 includes an elastic hollow body 12 having an internal space 14 therein. The internal space 14 of the elastic hollow body 12 communicates with an external pump (not shown) via the tube 30 so that the pressure can be controlled. The elastic hollow body 12 is provided with a joint portion 32 for connecting the internal space 14 and the tube 30.

  As a material of the elastic hollow body 12, a thermoplastic elastomer (TPE) or urethane gel is suitable. TPE and urethane gel have high adhesion to concrete, glass, aluminum and the like, and can be freely deformed so as to conform to the shape of the object.

  The elastic hollow body 12 has the property that (1) it can be deformed according to the pressure from the outside. In addition, the elastic hollow body 12 includes (2) portions 16 (indicated by hatching) corresponding to the plurality of suction portions 10 of the elastic hollow body 12 in a state where negative pressure is supplied to the internal space 14 by the external pump. ) Is deformed inward, and at least a portion 18 (also referred to as a non-deformed portion shown in white) surrounding the adsorbing portion 16 is constrained so as not to be substantially deformed inward.

  The above is the basic configuration of the adsorption device 100. Next, the operation principle will be described.

  2A to 2D are diagrams illustrating the suction operation of the suction device 100. FIG. Here, a case will be described in which the adsorption object 102 has a shape bent at a right angle. FIG. 2A shows a state before adsorption. When the suction device 100 is brought into contact with the object 102 and pressure is applied, the elastic hollow body 12 is deformed to conform to the shape of the object 102 as shown in FIG. The contact area of the object 102 increases. FIG. 2B shows a state in which three suction units 10 a to 10 c are in contact with the object 102 among the plurality of suction units 10 provided in the suction device 100. In this state, the adsorption device 100 and the object 102 are temporarily adsorbed by the adhesive force of the surface of the adsorption device 100.

  Immediately after the adsorption device 100 comes into contact with the object 102 and temporarily adsorbs, a negative pressure is supplied to the internal space 14 in order to perform the main adsorption. The main suction will be described by paying attention to each suction portion 10. 2 (c) and 2 (d), the single suction portion 10 is shown enlarged.

  As shown in FIG. 2C, a slight space 40 is generated between the suction portion 16 corresponding to the suction portion 10 of the elastic hollow body 12 and the object 102 before the negative pressure is supplied. When the valve of the external vacuum pump is opened and negative pressure is supplied to the internal space 14, as shown in FIG. 2 (d), the non-deformable portion 18 is not substantially deformed by the above-mentioned restraint, and the elastic hollow body 12 is adsorbed. Only the portion 16 is deformed inward, and the volume of the space 40 between the suction portion 16 and the object 102 expands. As a result, the space 40 is depressurized, and the suction portion 16 and the target object 102 are pressed at atmospheric pressure, and a suction force is generated between the suction device 100 and the target object 102.

The above is the operation of the adsorption device 100.
Thus, according to adsorption device 100 concerning an embodiment, by using elastic hollow body 12, it is possible to increase the contact area when contacting object 102 having irregularities. As a result, it is possible to increase the number of suction portions 10 that can exert a suction force with the object 102, and to increase the suction force with respect to the target object 102 having an uneven shape.

  In addition, the temporary adsorption accompanying the adhesiveness has an advantage that the shape suitable for the object 102 of the elastic hollow body 12 can be maintained before the negative pressure is supplied to the internal space 14.

  Next, a specific configuration example of the adsorption device 100 will be described with reference to FIGS. 3A is a cross-sectional view of the adsorption device 100, and FIG. 3B is a diagram illustrating an inner wall of the elastic hollow body 12 of the adsorption device 100. FIG.

  The adsorption device 100 includes a restraining member 20 fixed to the inner wall of the elastic hollow body 12. The restraining member 20 has the elastic hollow body 12 (2) in a state where negative pressure is supplied to the internal space 14, the plurality of suction portions 16 of the elastic hollow body 12 are deformed inward, and the non-deformed portion 18 is substantially Restrain it so that it does not deform inward.

  As shown in FIGS. 3A and 3B, the restraining member 20 includes a plurality of annular members 22 provided for each of the plurality of suction portions 10. As shown in FIG. 3B, the annular member 22 preferably has a cylindrical shape. The annular member 22 has such a rigidity that it is not deformed by pressure increase / decrease by the vacuum pump. The bottom of each annular member 22 is fixed to the inner wall of the elastic hollow body 12 so as to surround the adsorption portion 16 of the elastic hollow body 12. On the upper surface of the annular member 22, a filter 24 that allows gas to pass but does not pass through a particle 26 described later is attached. The filter 24 can be a cloth. With this configuration, the adsorption portion 16 can be deformed in a space surrounded by the inner wall of the annular member 22 and the filter 24. Further, the portion where the elastic hollow body 12 is in contact with the bottom surface of the annular member 22 becomes an undeformed portion 18 that does not deform even when a negative pressure is applied. That is, the elastic hollow body 12 can be suitably restrained by the annular member 22.

The inner space 14 of the elastic hollow body 12 is filled with a plurality of particles 26 densely. The material of the granule 26 is not particularly limited, and commercially available beads may be used.
When the elastic hollow body 12 conforms to the object 102 and is deformed, the arrangement of the particles 26 changes according to the deformation. Where the elastic hollow body 12 has a restoring force against its own deformation, the granule 26 generates a resistance against the restoring force. That is, by filling the particles 26, the elastic hollow body 12 can easily maintain the shape after deformation, and the adsorption force can be increased.

  From the viewpoint of energy utilization efficiency, it is ideal that only the adsorption portion 16 is deformed inward and the other portions are not deformed when supplying negative pressure. This is because if the portion other than the suction portion 16 (the portion indicated by reference numeral 19 in FIG. 1B) is deformed, the negative pressure from the pump acts not only on the suction portion 16 but also on the other portion 19 that does not contribute to the suction force. Because. In this respect, the plurality of particles 26 function to prevent the portion 19 other than the adsorbing portion 10 of the elastic hollow body 12 from deforming inward during the supply of negative pressure, so that the efficiency can be increased. .

  According to the suction device 100 of FIGS. 3A and 3B, a high suction force can be exerted even on the object 102 having irregularities.

Next, the application of the adsorption device 100 will be described.
FIG. 4 is a diagram illustrating a throwing type adsorption device 200 using the adsorption device 100.

  The throwing type suction device 200 includes a suction device 100, a throwing device 42, a rope 44, a tube 30, and a vacuum pump 48. The suction device 100 and the anchoring device 42 are connected via a rope 44. The throwing device 42 is a launching device that throws the suction device 100 against the object 102. The suction device 100 and the vacuum pump 48 are connected via a tube 30 and a valve 50 along the rope 44.

The above is the configuration of the throwing type adsorption device 200.
The throwing-type suction device 200 can be used for searching for human life in a dangerous building, for example. The rescue crew launches the suction device 100 from the anchoring device 42 using the wall surface of the building or the glass window as the object 102.

  The suction device 100 receives pressure due to a collision with the object 102, is deformed into a shape along the surface shape of the object 102, and is temporarily adsorbed by the adhesiveness of the surface. Immediately after the collision, when the valve 50 is opened, a negative pressure is supplied to the internal space 14 of the suction device 100, and the suction device 100 is finally attracted to the object 102. The suction device 100 may be provided with a sensor that detects a collision, and the valve 50 may be controlled according to the output of the sensor. In this case, the valve 50 may be provided on the adsorption device 100 side.

  The rescue crew can know the state inside the building where the rescue crew cannot enter by moving the camera along the rope 44, for example. Alternatively, by moving the gondola along the rope 44, it becomes possible to transport necessary supplies along the rope 44.

  The present invention has been described based on the embodiments. This embodiment is an exemplification, and it will be understood by those skilled in the art that various modifications can be made to combinations of the respective constituent elements and processing processes, and such modifications are within the scope of the present invention. is there. Hereinafter, such modifications will be described.

  In the configuration examples of FIGS. 3A and 3B, the case where the elastic hollow body 12 is restrained by the annular member 22 has been described, but the present invention is not limited thereto. That is, the shape of the restraining member 20 is not particularly limited, and another member may be used. FIG. 5 is a view showing a restraining member 20a according to a modification. The restraining member 20a has a lattice shape. By fixing such a restraining member 20 a to the inner wall of the elastic hollow body 12, non-deformable portions 18 are formed along the lattice shape, and all or a part of the opening portions can be deformed as the adsorbing portions 16. be able to. As shown in FIG. 2 (b), the restraining member 20 a may have a thickness and the upper surface thereof may be covered with a filter 24.

  Alternatively, in order to restrain the elastic hollow body 12, the restraining member 20 is not provided, but the material of the elastic hollow body 12 itself may be made different between the adsorption portion 16 and the non-deformable portion 18.

  In the embodiment, the case where the elastic hollow body 12 has a single internal space 14 has been described. However, the inside of the elastic hollow body 12 may be divided into a plurality of spaces by partition walls.

  In the embodiment, the case where the surface of the elastic hollow body 12 has adhesiveness has been described, but the adhesive may not have adhesiveness. When the timing for supplying the negative pressure to the internal space 14 can be controlled with high accuracy, that is, when the negative pressure can be supplied immediately after the elastic hollow body 12 is deformed to fit the object 102, You may perform this adsorption | suction without going through temporary adsorption | suction.

  In the embodiment, the throwing type adsorption device has been described as the application of the adsorption device 100, but the application is not particularly limited. For example, the suction device 100 can be suitably used for a handler that carries various workpieces including a glass substrate.

  Although the present invention has been described using specific terms based on the embodiments, the embodiments only illustrate the principles and applications of the present invention, and the embodiments are defined in the claims. Many variations and modifications of the arrangement are permitted without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 100 ... Adsorption apparatus, 10 ... Adsorption part, 12 ... Elastic hollow body, 14 ... Internal space, 16 ... Adsorption part, 18 ... Non-deformation part, 20 ... Restraint member, 22 ... Ring member, 24 ... Filter, 26 ... Granule , 30 ... Tube, 32 ... Joint part, 34 ... Vacuum pump, 40 ... Space, 102 ... Object, 42 ... Throwing device, 44 ... Rope, 46 ... Tube, 48 ... Vacuum pump, 200 ... Throwing type adsorption device.

Claims (6)

An adsorption device having a plurality of adsorption parts,
It has an elastic hollow body whose internal space communicates with the pump,
The elastic hollow body can be deformed along the surface shape of the object by (1) applying pressure in contact with the object to be adsorbed , and (2) negative pressure is supplied to the internal space. In this state, the adsorbing portion corresponding to each of the plurality of adsorbing portions of the elastic hollow body is deformed inward, and the portion surrounding each adsorbing portion is constrained so as not to be substantially deformed inward. Adsorbing device.   The adsorption device according to claim 1, further comprising a restraining member that is fixed to an inner wall of the elastic hollow body and restrains the elastic hollow body.   The adsorption device according to claim 2, wherein the restraining member includes a plurality of annular members that are provided for each of the plurality of adsorption portions, and each bottom portion is fixed to the inner wall of the elastic hollow body. A plurality of granules filled in the internal space ;
A filter that covers the upper surface of the restraining member and allows gas to pass, but does not pass the granules,
Further comprising a,
The suction device according to claim 2 , wherein the suction portion is deformable in a space surrounded by an inner wall of the restraining member and the filter .   The adsorption device according to any one of claims 1 to 4, wherein the surface of the elastic hollow body has adhesiveness.   The adsorbing device according to claim 1, wherein the elastic hollow body is formed of a thermoplastic elastomer.

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