JP6322468B2 - Adsorption mechanism - Google Patents

Description

  The present invention relates to an adsorption mechanism including an adsorbent for adsorbing an object.

  Such a suction mechanism is often used for a robot hand. When this suction mechanism is used in a robot hand, the object is sucked by the suction body with the suction force from the suction unit. The object can be moved by moving to another place in the suction state and releasing the suction. As this suction mechanism, for example, a device that generates a negative pressure by supplying compressed air to a plurality of ejectors, and a suction port that is provided in the same number as the ejectors so as to suck a target object by the negative pressure generated by these devices. (For example, refer patent document 1). Each suction port of the suction mechanism includes a valve for opening and closing. By controlling the opening and closing of these valves, an object can be sucked or released.

  Patent Documents 2 and 3 disclose a configuration in which an object is adsorbed by a suction cup by bringing the suction cup into contact with the object and sucking with a suction force from a vacuum device. The suction cup is integrated with a trumpet-shaped suction part opened at the lower end and expanded toward the lower side, and an upper part of the suction part for supplying vacuum air from a vacuum device to evacuate the inside of the suction part. And a cylindrical portion in which a suction port is formed. Then, an opening / closing valve for opening and closing the suction port is provided at the suction port, and by controlling the valve, it is possible to switch between a sucking state and a non-sucking state and suck or release the object.

JP 2008-507649 A (see FIG. 1) Japanese Patent Laying-Open No. 2004-230550 (see FIG. 1) Japanese Patent Laid-Open No. 6-226684 (see FIG. 1)

In the configurations of the above three patent documents, it is necessary to provide an electrical configuration such as wiring for switching the valve in addition to the valve for opening and closing at the suction port. Therefore, not only the structure becomes complicated, but also the control configuration for controlling the timing for switching each valve becomes complicated. In particular, the more the suction ports are, the more the inconvenience becomes.
Moreover, in patent document 2, 3, since it is the structure which adsorb | sucks a target object with one suction cup, in the state which adsorb | sucked the target object, a part of outer periphery of a suction cup is spaced apart unexpectedly from a target object. There was also a problem that the object was removed, and there was room for improvement.

  An object of the present invention is to provide an adsorption mechanism capable of simplifying the structure and the control configuration and not easily coming off the object in a state in which the object is adsorbed.

The adsorption mechanism of the present invention is an adsorption mechanism provided with an adsorbent for adsorbing an object in order to solve the above-described problem, and the adsorbent has the flexibility and elasticity to abut the object. A contact portion having a side wall portion having flexibility and elasticity higher in shape retention strength than the corresponding contact portion covering the side of the corresponding contact portion, and a deformable deformable portion provided in the contact portion. And an external force applying portion that applies an external force that deforms the deforming portion, and the external force applying portion includes a suction portion that generates a suction force in an internal space formed by the contact portion and the side wall portion. is, the contact portion, the plurality is defined by forming a recess for compartment recessed inner side of the adsorbent so as to be separated from the object to the contact surface between the object in the abutting portion those consists contact portion, one of said abutment portion has a substantially flat outer surface, and, First concave portions that are recessed on the outer surface side are formed at a plurality of locations on the surface, and the deformed portion is formed from a thin-walled portion that is thinner than the other portions, and the other contact portion is contacted from the partition recess A plurality of bottomed cylindrical projections projecting to the outer side projecting to the surface side are formed, and a second recess recessed from the inner surface to the outer surface side is formed at the projecting end of each projection portion, so that it is more than the other parts. The deformed portion is constituted by a thin thin portion, and the suction force of the suction portion is transmitted to the first recess portion of one of the contact portions and the second recess portion of the other contact portion via the internal space. The thin portion of the first recess and the thin portion of the second recess are deformed .

As in the above configuration, when the external force of the external force applying portion is applied to the deformable portion in the contact state in which the contact portion of the adsorbent is in contact with the target object, the side where the deformable portion is separated from the target object (suction Deforms to the inside of the body). Due to this deformation, a sealed space is formed between the deformed portion and the target object, the pressure being reduced from the outside. By forming the decompressed sealed space, a pressure difference is generated between the sealed space and the outside, and the object can be adsorbed to the adsorbent by the pressure difference. In addition, since the abutting portion is composed of a plurality of abutting portions and at least one deforming portion is provided in each abutting portion, the abutting portion is partitioned in a state where the object is adsorbed. Even if the deformed part provided at the contact part of the first part is unexpectedly separated from the object, the remaining other contact part will not be separated from the object in a chained manner. There is an advantage that it is easy to maintain the adsorbed state. Further, even if the surface of the object is wavy, since it is partitioned, the contact portion can easily follow the surface of the object and can stably adsorb the object.
In addition, by forming a recess for the compartment recessed on the inner side of the adsorbent that is separated from the object on the contact surface of the contact portion with the object, the object can be easily deformed by the formed recess for the partition. It is easier to follow the surface of the object.
In addition, if a plurality of projecting portions projecting toward the contact surface side are provided in the concave portion for partitioning and a deformed portion is formed at the projecting end of the projecting portion, the tip of each projecting portion is brought into contact with the object. The object can be adsorbed and held.
Further, if the abutting portion is constituted by a plurality of protruding portions, even if the deformed portion of one of the plurality of protruding portions may be detached from the object, the deformed portion of the other protruding portion. The object can be held by suction.
Further, if the plurality of concave portions communicate with the internal space formed by the contact portion and the side wall portion, the suction force of the suction portion can be generated only by applying the suction force of the suction portion to the internal space. It is transmitted to all the 1st recessed parts and 2nd recessed parts via, and all the thin parts of a 1st recessed part and a 2nd recessed part can be deformed. Thereby, compared with the structure which controls each recessed part so that the suction force of a suction part may be transmitted to each recessed part, a control structure can be simplified.

  In the suction mechanism of the present invention, the recess may be formed from a substantially annular groove formed along the outer peripheral edge of the contact portion.

  As described above, if the concave portion is formed of a substantially annular groove formed along the outer peripheral edge portion of the contact portion, the outer peripheral edge portion of the contact portion is easily deformed along the shape of the object. The object can be more reliably adsorbed.

  In the suction mechanism of the present invention, an internal space formed by the contact portion and the side wall portion may be filled with a filler.

  If the internal space is filled with the filler as in the above configuration, the filler becomes an appropriate resistance when the abutting portion that constitutes the adsorbent body abuts on the object, and therefore the side wall portion is unexpected. It is possible to avoid that the contact surface of the contact portion does not satisfactorily follow the object by being deformed (crushed) (larger than necessary). Thereby, even if it is the target object of what shape, it can adsorb | suck reliably.

  According to the present invention, the object can be adsorbed to the adsorbent only by applying the external force of the external force applying unit to the deforming unit, so that it is not necessary to provide an opening / closing valve at the suction port, An electric configuration such as wiring for switching the valve and a control configuration for controlling the timing for switching the valve can be eliminated. In addition, even when the deformed portion provided in one of the partitioned contact portions is unexpectedly separated from the object, the remaining contact portion is separated from the object in a chained manner. There is no. Therefore, the structure and the control configuration can be simplified, and an adsorption mechanism that is difficult to be removed from the object in a state where the object is adsorbed can be provided.

(A) shows the adsorption | suction mechanism of this invention, (b) is an expanded sectional view of the adsorbent in the adsorption | suction mechanism of (a). The basic principle which can be hold | gripped with the adsorption body in the adsorption | suction mechanism of this invention is shown, (a) is sectional drawing which shows the state which contact | adhered the adsorption body to the target object, (b) is the state which adsorbed the target object with the adsorption body FIG. (A) is a bottom view of the adsorbent, (b) is a cross-sectional view taken along line AA in FIG. 3 (a), and (c) is a cross-sectional view showing a state in which the bottom of the adsorbent is pressed against an object. (A), (b) is a bottom view of another adsorbent. (A), (b) is a bottom view of another adsorbent. (A), (b) is a bottom view of another adsorbent. (A) is a bottom view of another adsorbent, (b) is a cross-sectional view taken along line BB in FIG. 7 (a), and (c) is a cross-sectional view showing a state in which the bottom of the adsorbent is pressed against an object. . (A), (b) is a bottom view of another adsorbent. (A), (b) is a bottom view of another adsorbent. (A), (b) is a bottom view of another adsorbent, (c) is a CC line sectional view in Drawing 10 (b). It is sectional drawing of the bottom part of another adsorption body.

  FIG. 1A shows an adsorption mechanism 1 for adsorbing an object with an adsorption force. The adsorption mechanism 1 includes an adsorbent 2 for adsorbing an object, and an external force applying unit 3 for applying an external force that deforms deformation units 11B and 12B described later in order to generate an adsorbing force on the adsorbent 2. ing.

  The external force imparting unit 3 includes a suction unit that generates a suction force, and the suction unit includes a vacuum pump that generates a vacuum.

  A valve 4 is provided between the adsorbent 2 and the vacuum pump 3. By switching the valve 4 automatically or artificially, the air in the adsorbent 2 is discharged and the pressure in the adsorbent 2 is reduced from the pressure outside the adsorbent 2 (outside air). The inside of the adsorbent body 2 can be opened to the outside of the adsorbent body 2 (outside air) and switched to a state in which the pressure is the same as the outside of the adsorbent body 2 (outside air). The object can be adsorbed by the adsorbent 2 by reducing the pressure inside the adsorbent 2 more than the outside of the adsorbent 2 (outside air). Moreover, the adsorption | suction object can be cancelled | released by releasing the inside of the adsorption body 2 decompressed outside the adsorption body 2 (outside air). The valve 4 and the vacuum pump 3 are connected via a first hose 5, and the adsorbent 2 and the valve 4 are connected via a second hose 6. Accordingly, the suction force from the vacuum pump 3 is transmitted to the adsorbent 2 via the first hose 5, the valve 4, and the second hose 6. In addition, a vacuum gauge P for measuring a pressure equal to or lower than the atmospheric pressure inside the second hose 6 is connected to the middle part of the second hose 6. From the measured value of the vacuum gauge P, it can be determined whether or not the adsorbent 2 is in an adsorbing operation.

  The adsorbing body 2 is attached to a base 7 connected to the second hose 6, and from the outer peripheral edge of the abutting portion 8 so as to cover the abutting portion 8 that abuts against the object and the side of the abutting portion 8. And a side wall 9 extending toward the base 7 side. The contact part 8 and the side wall part 9 are integrally formed from a resin material having flexibility and elasticity. The adsorbent 2 has an internal space that is sealed from the outside air by the contact portion 8 and the side wall portion 9. As the resin material having flexibility and elasticity, for example, an elastomer such as silicone rubber is optimally used, but various synthetic resins having softness may be used.

  A cylindrical portion 7A to which the second hose 6 is connected is formed at one end (rear end) in the thickness direction of the base 7, and a through hole 7K communicating with the second hose 6 is formed at the center of the cylindrical portion 7A. Is formed. The through-hole 7K includes a small-diameter hole 7a having a circular cross section formed on one end side (rear end side) in the thickness direction of the base 7, and the other end in the thickness direction of the base 7 from the inner side end of the small-diameter hole 7a. A large diameter hole 7b having a circular cross section and having a diameter larger than that of the small diameter hole 7a.

  Further, a concave portion 7B into which the free end portion (rear end portion) 9A of the side wall portion 9 is fitted is formed at the other end (front end) in the thickness direction of the base 7. The side wall 9 fitted in the recess 7B is fixed by an attachment member 10 disposed inside the recess 7B. The mounting member 10 includes a disc portion 10A having a through hole 10a communicating with the large-diameter hole 7b in the center, and a cylindrical portion 10B extending in a direction orthogonal to the outer peripheral edge of the disc portion 10A. .

  In the outer peripheral edge of the contact surface of the contact portion 8 with the object, an annular recess 8M that is recessed inwardly away from the contact surface (in FIG. 3A, dots are shown to make the recess 8M easier to understand. Is formed). By forming the recess 8M, the contact portion 8 is divided into a plurality (two in the figure) of contact portions 11 and 12. These two contact parts 11 and 12 are comprised from the substantially circular 1st contact part 11 located in the inner side, and the substantially annular 2nd contact part 12 located in the outer side.

  As shown in FIG. 1B, the recess 8M has a bottom wall 8a having a recessed flat surface and a vertical surface raised from the bottom wall 8a to the contact surface side and is disposed so as to face each other. A pair of side walls 8b and 8c is provided, and is formed into an annular groove. The pair of side walls 8b, 8c is composed of an outer wall 8b located outside and an inner wall located inside.

  The first contact portion 11 has a circular and substantially flat surface (outer surface), and the first contact portion 11 is shown in FIGS. 1B, 3A, and 3B. In this way, circular recesses 11A that are recessed toward the outer surface are formed at a large number (36) of the inner surface (back surface), and the first thin portion 11B that is thinner than the other portions is formed. These first thin portions 11B constitute a deformable first deformable portion, and these first deformable portions 11B are separated from the object by the suction force from the vacuum pump 3 in a contact state with the object ( It is pulled and deformed to the inner side of the adsorbent 2. Due to the deformation of the first deformation part 11B, a sealed space is formed between the first deformation part 11B and the object so that the pressure is reduced from the outside (outside air), and the adsorbent 2 adsorbs the object. The number of the first thin portions 11B is not limited to 36, and can be set to an arbitrary number according to the size of the area of the first contact portion 11. Further, the number can be reduced depending on the size of the first thin portion 11B. Moreover, the number of the 1st thin part 11B can be set according to the shape and magnitude | size of a target object.

  The second contact portion 12 includes a plurality of protrusions 12A that protrude from the recess 8M to the outside in the recess 8M. These protrusions 12A are made of a cylindrical body having a bottomed cylindrical shape, and are formed to protrude from the recess 8M at a predetermined interval (24 in FIG. 3 (a), but the number can be freely changed). A circular recess 12a (see FIG. 1B) that is recessed from the inner surface to the outer surface is formed at the protruding end of each protrusion 12A, and a second thin portion 12B that is thinner than the other portions is formed. Each of the second thin portions 12B constitutes a deformable deformable portion, and these second deformable portions 12B are separated from the object by the suction force from the vacuum pump 3 in the contact state with the object (adsorbent body). 2) and deformed. Due to the deformation of the second deformation portion 12B, a sealed space is formed between the second deformation portion 12B and the object so that the pressure is reduced from the outside (outside air), and the adsorbent 2 adsorbs the object. The number of the second thin portions 12B is not limited to 24 and can be set to an arbitrary number. Depending on the shape and size of the second thin portions 12B, the second thin portions 12B can be set. The number of can also be reduced. In addition, the number of second thin portions 12B can be set according to the shape and size of the object. In FIG. 3A, the first thin portion 11B and the second thin portion 12B are hatched to make the first thin portion 11B and the second thin portion 12B easy to understand.

  The basic principle of adsorbing an object will be described based on FIGS. 2 (a) and 2 (b). 1 (b) and FIGS. 3 (a) and 3 (b) show the adsorbent body 2 having a large number of first thin portions 11B and second thin portions 12B, but FIG. 2 (a), ( In b), only one second thin portion 12B is shown for easy understanding. The second thin portion 12B is deformed to constitute an adsorbent 2 that adsorbs an object. When the thus configured second thin portion 12B is brought into contact with the plate-like body S1, which is an object to be sucked, the outer surface 12b of the second thin portion 12B and the plate-like body S1 as shown in FIG. A slight space H1 is formed between the outer surface Sb and the outer surface Sb. By switching the valve 4 and supplying the suction force from the vacuum pump 3 to the adsorbent 2, the pressure in the space X <b> 1 inside the adsorbent 2 is reduced more than the external (outside air) pressure. By this decompression, the second thin portion 12B is deformed to the side away from the plate-like body S1 (recessed on the inner side of the adsorbing body 2), and becomes a large space H2 as shown in FIG. When the volume of the space increases in this way, the pressure decreases (decompresses) according to Boyle-Charles' law, and the plate-like body S1 can be adsorbed in the space H2. However, since there is an elastic restoring force of the second thin portion 12B, assuming that the pressure in the space X1 inside the adsorbent body P1 is P1, the pressure in the space H2 is P2, and the pressure in the second thin portion 12B is P3, P1 = P2 The relationship of + P3 is established and a balanced state is established. Further, when the area of the space H2 is S2, the adsorption force F2 of the adsorbent 2 is S2 × P2. In FIGS. 2A and 2B, glass beads and a filter to be described later filled in the adsorbent 2 are omitted.

  The inside of the adsorbent 2 is filled with glass beads 15 as a filler, and the filler becomes an appropriate resistance when coming into contact with the object, so that the side wall 9 constituting the adsorbent 2 is unexpected. It is possible to avoid that the contact surface (outer surface) of the contact portion 8 does not follow the object well due to deformation (larger than necessary). Thereby, even if it is the target object of what shape, it can adsorb | suck reliably. Here, the inside of the adsorbent 2 is filled with the glass beads 15, but it may be a sponge, a rubber chip, sawdust, or the like in addition to granular substances such as foam beads and calcium carbonate. In short, any shape and material filler may be used as long as the structure allows the air to pass and the side wall 9 can be well deformed along the shape of the object when contacting the object. May be.

  The first filter 13 and the second filter 14 for preventing the glass beads 15 filled in the adsorbent body 2 from entering the concave portion 11A of the first contact portion 11 and the concave portion 12a of the second contact portion 12. Are attached to the inner surface (back surface) 11U of the first contact portion 11 and the inner surface (back surface) 12U of the second contact portion 12 using an adhesive (the locking means may be used for locking and fixing). ). By providing the first filter 13 and the second filter 14, it is possible to reliably prevent the glass beads 15 from entering the concave portions 11A and the concave portions 12a and preventing the first thin portion 11B and the second thin portion 12B from being deformed. Can be avoided. Further, an adhesive is applied to the attachment member 10 for the third filter 16 for preventing the glass beads 15 filled in the adsorbent body 2 from being discharged to the second hose 6 side through the through hole 10a of the attachment member 10. (It may be locked and fixed using locking means).

  FIG. 3C shows a case where the object S2 is adsorbed by the adsorbent 2 configured as described above (see FIGS. 1B, 3A, and 3B). When the adsorbent 2 is brought into contact with the object S2 having the substantially semicircular convex portion 17 at the center of the upper surface, the adsorbent 2 is moved along the surface (outer surface) 17A of the convex portion 17 of the object S2. While the 1st contact part 11 deform | transforms, the 2nd contact part 12 of the adsorption body 2 contact | abuts to the flat surface (outer surface) 18 of the outer periphery of the adsorption body 2. FIG. In this state, the first thin portion 11B and the second thin portion 12B (see FIGS. 3A and 3B) of the adsorbent 2 are deformed, and the adsorbent 2 adsorbs the object S2. Since the adsorbent 2 is not an open configuration but a sealed configuration, dust does not enter the adsorbent 2. For this reason, the suction force does not decrease due to dust accumulation, and a stable suction force can be exhibited over a long period of time. Further, the abutting portion is composed of a plurality of (in this case, two) abutting portions 11 and 12 that are partitioned, and each abutting portion 11 or 12 is provided with at least one deforming portion 11B or 12B. Therefore, even when a part of the deformed portion 11B provided in one of the partitioned contact portions 11 is unexpectedly separated from the target object S2 in the state where the target object S2 is adsorbed, the other target There is an advantage that the contact portion 12 is not separated and separated from the object S2 in a chained manner, and it is easy to reliably maintain the state in which the object S2 is adsorbed. Further, even if the surface of the object S2 is undulating, since it is partitioned, the first contact part 11 and the second contact part 12 can easily follow the surface of the object. It can be adsorbed stably.

  The timing for switching the valve 4 to supply the suction force from the vacuum pump 3 to the adsorbent 2 is a detection signal when it is detected that the first contact portion 11 and the second contact portion 12 are in contact with the object. However, the valve 4 may be switched by artificially operating a switch for switching the valve 4. As a means for detecting that the first contact portion 11 and the second contact portion 12 are in contact with the object, a magnetic sensor, a light reflection type sensor, or the like can be used.

  Further, in the present invention, the object can be adsorbed to the adsorbent 2 simply by applying the suction force of the vacuum pump 3 to the first deformable portion 11B and the second deformable portion 12B. Not only is it unnecessary to provide a valve, but it is also possible to eliminate an electrical configuration such as wiring for switching the valve and a control configuration for controlling the timing for switching the valve, simplifying the structure and the control configuration can do.

  In addition, this invention is not limited to the said embodiment, A various change is possible in the range which does not deviate from the summary of this invention.

  For example, the adsorbent 2 may be configured as shown in FIGS. 4 to 11, in order to make the recess and the first thin portion 11B and the second thin portion 12B easy to understand, dots are applied to the recess and the first thin portion 11B and the second thin portion 12B are hatched. ing. In FIG. 4A, by forming two large and small annular recesses 19 and 20 on the bottom surface of the adsorbent body 2, the contact portion 8 is larger than two first contact portions 21 and 22 having different sizes. The structure divided into a total of four parts of the 2nd 2nd contact parts 23 and 24 from which thickness differs is shown. The circular first abutting portion 22 located on the inner side is formed with a circular concave portion recessed on the outer surface side at a large number (12) of the inner surface (back surface), and is thinner than other portions. 22B is formed. In addition, the annular first abutting portion 21 located on the outer side is formed with circular concave portions that are recessed toward the outer surface side at predetermined intervals along the annular shape, and are thinner than the other portions. 12 are formed. These first thin portions 21B and 22B constitute a deformable first deformable portion, and these first deformable portions 21B and 22B are separated from the object by the suction force from the vacuum pump 3 in a contact state with the object. It is pulled and deformed to the side to be separated (inside the adsorbent 2). Due to the deformation of the first deformation portions 21B and 22B, a sealed space is formed between the first deformation portions 21B and 22B and the object, which is decompressed from the outside (outside air), and the first deformation portions 21B and 21B of the adsorbent body 2 are formed. 22B adsorbs the object. Each of the second contact portions 23 and 24 is composed of a large number of protrusions 19A or 20A that protrude outward from the recesses 19 or 20 as described above. These protrusions 19A or 20A are formed of a cylindrical body with a bottom, and are formed to protrude into the recesses 19 or 20 with a predetermined interval (in FIG. 4A, there are 24 protrusions 19A, There are 12 parts 20A, but the number can be changed freely). A circular concave portion that is recessed from the inner surface to the outer surface side is formed at the protruding end of each cylindrical body, and a second thin portion 19B or 20B that is thinner than the other portions is formed. Each second thin portion 19B or 20B constitutes a deformable deformable portion, and these second deformable portions 19B or 20B are separated from the object by the suction force from the vacuum pump 3 in a contact state with the object. It is pulled and deformed to the side (inside of the adsorbent 2). Due to the deformation of the second deforming portion 19B or 20B, a sealed space is formed between the second deforming portion 19B or 20B and the object, which is decompressed from the outside (outside air), and the second deforming portion 19B or 20B adsorbs the object. Further, FIG. 4B shows a case where two semicircular concave portions 25 and 26 are formed instead of the annular concave portion, and the contact portion 8 is divided into three portions. Yes. A portion surrounded by the recesses 25 and 26 constitutes a first contact portion 27 having a substantially circular shape and a flat surface. The first abutting portion 27 is formed with a circular concave portion recessed on the outer surface side at a plurality of locations (36) on the inner surface (back surface), and a first thin portion 27B thinner than the other portions is formed. In addition, a circular concave portion recessed on the outer surface side is formed between both end portions of the second contact portions 28 and 29, and one first thin portion 27B thinner than the other portions is formed. . Note that a total of 38 first thin portions 27B are formed. In addition, each second contact portion 28 or 29 is composed of a large number of projecting portions 28A and 29A projecting outward from the recess 25 or 26, as described above. The protrusions 28A and 29A are formed of a cylindrical body having a bottomed cylindrical shape, and a large number of protrusions 28A and 29A are provided at predetermined intervals along the recess 25 or 26 (in FIG. 4B, any of the protrusions 28A and 29A is provided). Is 11 but the number can be changed freely). At the projecting ends of the projections 28A and 29A, a circular recess recessed from the inner surface to the outer surface is formed, and a second thin portion 28B or 29B thinner than the other portions is formed. Each second thin portion 28B or 29B constitutes a deformable deformable portion. The deformation of the deformation portion 28B or 29B is the same as described above.

  FIG. 5A shows a case where the contact portion 8 is divided into four portions by forming three arc-shaped concave portions 30, 31 and 32. A portion surrounded by the recesses 30, 31, and 32 constitutes a first contact portion 33 having a substantially circular shape and a flat surface. The first abutting portion 33 is formed with a circular concave portion recessed on the outer surface side at a plurality of locations (36) on the inner surface (back surface), and a first thin portion (deformed portion) 33B thinner than the other portions is formed. Has been. In addition, a circular concave portion that is recessed on the outer surface side is also formed between both end portions (three locations) of the second contact portions 34, 35, and 36, and one first thin wall that is thinner than the other portions. A portion 33B is formed. Note that a total of 39 first thin portions 33B are formed. Each of the second contact portions 34, 35, or 36 is composed of a large number of protrusions 34A, 35A, or 36A that protrude outward from the recesses 30, 31 or 32, as described above. The protrusions 34A, 35A, or 36A are formed of a cylindrical body having a bottomed cylindrical shape, and a large number of protrusions 34A, 35A, or 36A are provided at predetermined intervals along the recesses 30, 31 or 32 (in FIG. 5A, the protrusions 34A). Or, 35A or 36A are both 7, but the number can be changed freely). A circular recess that is recessed from the inner surface to the outer surface is formed at the protruding end of the protrusion 34A, 35A, or 36A, and a second thin portion 34B, 35B, or 36B that is thinner than the other portions is formed. Each second thin portion 34B, 35B, or 36B constitutes a deformable deformable portion. The first deforming portion 33B and the second deforming portions 34B, 35B, and 36B are deformed as described above. Further, in FIG. 5B, the contact portion 8 is composed of the second contact portions 39 divided into 24 pieces at a predetermined interval on the outer peripheral edge of one circular first contact portion 38. Yes. Each second abutting portion 39 is composed of one protrusion 39 </ b> A that protrudes outward from the recess 37 at the center of each circular recess 37. Each protrusion 39A is configured by a cylindrical body having a bottomed cylindrical shape. A circular recess that is recessed from the inner surface to the outer surface side is formed at the protruding end of each protrusion 39A, and a second thin portion 39B that is thinner than the other portions is formed. Each second thin portion 39B constitutes a deformable deformable portion. In addition, the first abutting portion 38 is formed with a circular concave portion recessed on the outer surface side at a plurality of locations (36) on the inner surface (back surface), and is thinner than the other portions, the first thin portion (deformed portion) 38B. Is formed.

  Further, in FIG. 6A, a regular hexagonal belt-shaped concave portion 40 is formed in the inner portion of the outer peripheral edge instead of the annular concave portion, and the contact portion 8 is divided into three portions. Shows the case. A portion surrounded by the recess 40 constitutes an inner first contact portion 41 having a regular hexagonal shape and a flat surface, and an outer first contact portion 42 positioned outside the recess 40. Each first abutting portion 41 or 42 is formed with a circular recess that is recessed toward the outer surface at a large number (49 or 24) of the inner surface (back surface), and is thinner than the other portions. Deformation part) 41B or 42B is formed. In addition, each second contact portion 43 includes a plurality of protrusions 43A that protrude from the recess 40 to the outside as described above. These protrusions 43A are made of a cylindrical body with a bottom, and are formed to protrude into the recesses 40 at a predetermined interval (in FIG. 6A, there are 24 protrusions 43A, but the number is free). Can be changed). A circular concave portion that is recessed from the inner surface to the outer surface side is formed at the protruding end of each cylindrical body, and a second thin portion 43B that is thinner than the other portions is formed. Each second thin portion 43B constitutes a deformable deformable portion. In FIG. 6 (b), when the contact portion 8 is divided into three parts by forming a regular rectangular band-like recess 44 in the inner portion of the outer periphery rather than the annular recess. Is shown. A portion surrounded by the concave portion 44 constitutes an inner first contact portion 45 having a regular quadrangular shape and a flat surface, and an outer first contact portion 46 located outside the concave portion 44. The inner first abutting portion 45 is formed with a circular concave portion that is recessed toward the outer surface on the inner surface (back surface), and the first thin portions (deformed portions) 45B that are thinner than the other portions are arranged in a matrix. It has 25. The outer first abutting portion 46 is formed with circular concave portions that are recessed outwardly on the inner surface (back surface), and the first thin portions (deformed portions) 45B that are thinner than the other portions are aligned in two rows. It has 48 in total. In addition, each second contact portion 47 is composed of a large number of protrusions 47A that protrude outward from the recess 44, as described above. These protrusions 47A are made of a cylindrical body with a bottom, and are formed to protrude into the recess 44 at a predetermined interval (in FIG. 6B, there are 24 protrusions 47A, but the number is free). Can be changed). A circular concave portion that is recessed from the inner surface to the outer surface side is formed at the protruding end of each cylindrical body, and a second thin portion 47B that is thinner than the other portions is formed. Each second thin portion 47B constitutes a deformable deformable portion. A regular quadrangular and strip-shaped concave portion smaller than the concave portion 44 may be further provided inside the regular quadrangular and strip-shaped concave portion 44 shown in FIG.

  Further, in FIG. 7A, a belt-like concave portion 48 is formed along the diametrical direction so that there are two first contact portions in the left-right direction instead of the annular concave portion. . Thereby, the case where the contact part 8 is divided into three contact parts 49, 50, 51 is shown. The left first contact portion 49 is formed with a circular concave portion that is recessed from the inner surface (back surface) to the outer surface side, and a total of 43 first thin portions 49B that are thinner than the other portions are formed radially. Similarly to the left first contact portion 49, the first contact portion 50 on the right side is formed with a circular recess recessed from the inner surface (back surface) to the outer surface side, and is thinner than the other portions. A total of 43 are formed radially. In addition, the second contact portion 51 is composed of a large number of protrusions 51A that protrude from the recess 48 to the outside as described above. These protrusions 51A are made of a cylindrical body with a bottom, and are formed to protrude into the recesses 48 at a predetermined interval (in FIG. 7A, there are 11 protrusions 51A, but the number is free). Can be changed). A circular concave portion that is recessed from the inner surface to the outer surface side is formed at the protruding end of each cylindrical body, and a second thin portion 51B that is thinner than the other portions is formed. Each second thin portion 51B constitutes a deformable deformable portion. By forming the recess 48 that is straight and divides the first contact portion into two in the left-right direction, the recess 48 can be easily bent. Therefore, as shown in FIG. When adsorbing the object S3 in which the recess 52 is formed, the contact portion 8 is easily deformed along the outer surface of the recess 52, and the object S3 can be adsorbed reliably.

  Further, in FIG. 8A, a Y-shape in which three grooves (three in this case, but may be four or more) are formed radially from the center of the circle instead of the annular recess. In this example, a belt-like recess 57 is formed and the contact portion 8 is divided into four contact portions 53, 54, 55, and 56. The three first contact portions 53, 54, and 55 all have the same configuration, and each of the first contact portions 53, 54, or 55 is formed with a circular recess that is recessed from the inner surface (back surface) to the outer surface side. 27 first thin portions 53B, 54B, or 55B that are thinner than the other portions are radially formed. In addition, the second contact portion 56 is composed of a large number of protrusions 56A that protrude outward from the recesses 57, as described above. These protrusions 56A are made of a cylindrical body with a bottom, and are formed to protrude into the recesses 57 at a predetermined interval (in FIG. 8A, there are 16 protrusions 56A, but the number is free). Can be changed). A circular recess recessed from the inner surface to the outer surface is formed at the protruding end of each cylindrical body, and a second thin portion 56B thinner than the other portions is formed. In FIG. 8B, not the Y-shaped recess 57 of FIG. 8 but a cross-shaped recess 58 is formed, and the contact portion 8 is divided into five contact portions 59, 60, 61, 62, The case where it is divided into 63 is shown. The four first abutting portions 59, 60, 61, 62 all have the same configuration, and each of the first abutting portions 59, 60, 61, or 62 has a circular shape that is recessed from the inner surface (back surface) to the outer surface side. A concave portion is formed and 18 first thin-walled portions 59B or 60B or 61B or 62B that are thinner than other portions are formed radially. In addition, the second contact portion 63 is composed of a large number of protrusions 63A that protrude from the recess 58 to the outside as described above. These protrusions 63A are formed of a cylindrical body with a bottom, and are formed to protrude into the recess 58 at a predetermined interval (in FIG. 8B, there are 21 protrusions 56A, but the number is free). Can be changed). A circular concave portion that is recessed from the inner surface to the outer surface side is formed at the protruding end of each cylindrical body, and a second thin portion 63B that is thinner than the other portions is formed.

  Further, in FIG. 9A, not the annular recesses, but the three vertical rows of belt-like concave portions 64 and the horizontal three rows of belt-like concave portions 65 are formed so as to intersect, The case where it is divided into the contact parts 66-82 is shown. The first contact portions 66, 69, 78, 81 at the four corners have the same configuration, and each of the first contact portions 66, 69, 78, or 81 has a circular shape that is recessed from the inner surface (back surface) to the outer surface side. A first thin-walled portion 66B or 69B or 78B or 81B that is formed with a recess and is thinner than the other portions is formed in a radial pattern. The remaining twelve first abutting portions 67, 68, 70, 71, 72, 73, 74, 75, 76, 77, 79, and 80 all have the same configuration, and one first abutting portion 70 ( In the second stage (located at the left end of the second stage), circular concave portions that are recessed from the inner surface (back surface) to the outer surface side are formed, and five first thin portions 70B that are thinner than the other portions are formed radially. In addition, the second contact portion 82 is composed of a large number of protrusions 82A that protrude from the recess 64 to the outside as described above. These protrusions 82A are made of a cylindrical body having a bottomed cylindrical shape, and are formed to protrude into the recesses 57 with a predetermined interval (in FIG. 9A, there are 57 protrusions 82A, but the number is free). Can be changed). A circular concave portion that is recessed from the inner surface to the outer surface side is formed at the protruding end of each cylindrical body, and a second thin portion 82B that is thinner than the other portions is formed. In FIG. 9 (b), when the band-shaped concave portion 83 is formed in a regular hexagonal honeycomb shape instead of the annular concave portion, and the contact portion 8 is divided into 14 contact portions 84 to 96. Is shown. The first contact portions 90 to 96 surrounded by a regular hexagon have the same configuration, and the first contact portion 91 located at the uppermost portion has a circular recess recessed from the inner surface (back surface) to the outer surface side. Nine first thin-walled portions 91B that are formed and thinner than the other portions are radially formed. There are two types of first contact portions 84 to 89 in the remaining outer peripheral portion, and one of the first contact portions 86 or 89 (formed at two positions on both the left and right sides) ) To the outer surface side is formed, and one first thin portion 86B or 89B thinner than the other portions is formed. The other first abutting portions 84, 85, 87, 88 (formed in a total of four locations in the vertical direction) are formed with circular concave portions that are recessed from the inner surface (back surface) to the outer surface side. Two first thin portions 84B, 85B, 87B, 88B thinner than the portion are formed. In addition, the second contact portion 97 is composed of a large number of protrusions 97A that protrude from the recess 83 to the outside as described above. These protrusions 97A are made of a cylindrical body with a bottom, and are formed to protrude into the recess 83 at a predetermined interval (in FIG. 9B, there are 50 protrusions 97A, but the number is free). Can be changed). A circular concave portion that is recessed from the inner surface to the outer surface side is formed at the protruding end of each cylindrical body, and a second thin portion 97B that is thinner than the other portions is formed.

  Further, in FIG. 10A, a concave portion 100 having a shape in which an annular belt-like concave portion 98 and a Y-shaped belt-like concave portion 99 are combined is formed, and the contact portion 8 is divided into four contact portions 101, The case where it has divided into 102,103,104 is shown. The three first contact portions 101, 102, and 103 have the same configuration, and each of the first contact portions 101, 102, or 103 is formed with a circular recess that is recessed from the inner surface (back surface) to the outer surface side. Thus, 18 first thin portions 101B, 102B, or 103B that are thinner than other portions are radially formed. In addition, the second contact portion 104 is composed of a large number of protrusions 104A that protrude from the recesses 100 to the outside as described above. These protrusions 104A are made of a cylindrical body with a bottom, and are formed to protrude into the recesses 100 at a predetermined interval (in FIG. 10B, there are 37 protrusions 104A, but the number is free). Can be changed). A circular concave portion that is recessed from the inner surface to the outer surface side is formed at the protruding end of each cylindrical body, and a second thin portion 104B that is thinner than the other portions is formed. In FIGS. 10B and 10C, the contact portion is composed of a large number (193 in the drawing) of protruding portions 106 that protrude outward from the bottom portion 105 of the adsorbent body 2. A circular recessed portion that is recessed from the inner surface to the outer surface side is formed at the protruding end of each protruding portion 106, and a second thin portion 106B that is thinner than the other portions is formed.

  8 (a), (b) to 10 (a), the adsorbent body 2 has at least one intersecting portion as shown in FIG. 8 and many adsorbers as shown in FIG. 10 (b) (193 in the figure, but at least 5). In the case of the adsorbent body 2 composed of the abutting portions 106, the adsorbent body 2 itself is easily deformed, and therefore the object S2 having the convex portion 17 in FIG. 3C and the object in FIG. 7C. Any of the objects S3 having the recess 52 is easily deformed along the shape of the object. Therefore, there is an advantage that the adsorption effect can be surely exhibited regardless of the shape of the object.

  Moreover, in the said embodiment, although the case where the side wall part 9 was comprised so that a deformation | transformation was shown was shown, when the adsorption surface of a target object is a flat surface, the side wall part 9 is comprised with a metal, a hard plastic, etc. which cannot deform | transform. can do.

  Moreover, in the said embodiment, although air (gas) was used as an external force for deforming a deformation | transformation part, you may use a liquid. In the case of this liquid, the liquid inside the adsorbent 2 is removed by a liquid pump. Alternatively, for example, the tip of a rod of a piston rod that can be expanded and contracted may be connected to the deforming portion, and the deforming portion may be pulled and deformed by shortening the piston rod. Moreover, it may replace with the vacuum pump of the said embodiment, for example, the cylinder for attracting | sucking the air inside the adsorption body 2 may be sufficient.

  Moreover, in the said embodiment, although the 1st thin part formed in the 1st contact part was made into the deformation | transformation part, it is set as the contact part of the same thickness over the whole area, and the specific part which wants to deform | transform among the contact parts May be made of a material that is more easily deformed than other parts, and the specific part may be formed as a deformed part.

  Moreover, in the said embodiment, although the adsorption body 2 was comprised with the contact part 8 and the side wall part 9, you may comprise only the contact part 8. FIG. In this case, an object having a flat surface is sucked.

  Moreover, in the said embodiment, although the adsorbent 2 formed the recessed part 11A inside the contact part 8 and formed the thin part 11B, as shown in FIG. 11, it formed in the contact part 8 inside. The adsorbent may be configured by forming a concave portion 11C on the outside of the contact portion 8 corresponding to the concave portion 11A to form the thin portion 11B. Further, in FIG. 11, the glass beads 15 shown in FIG. 1B are adsorbed by forming the side wall 9 thicker than the contact part 8 to improve the shape retention strength of the side wall 9. It is not necessary to fill the inside of the body 2 (the three filters 13, 14, 16 are also unnecessary). Further, the abutting portion 8 and the side wall portion 9 are formed separately, and the side wall portion 9 is configured to have higher shape retention strength than the abutting portion 8, and they are integrated to constitute the adsorbent 2. Good.

  In the embodiment, the height position at which the first contact portion 11 abuts and the height position at which the second contact portion 12 abuts are set to be the same. The height position at which the second contact portion 12 abuts is set higher than the height position at which the second abutment portion 12 abuts, or conversely, the first contact portion 11 abuts at a height position at which the second abutment portion 12 abuts. It may be set at a position higher than the height position, or the height position at which the first abutting portion 11 abuts may be set differently in accordance with the shape of the object, or the first abutting portion 11 In particular, the height position of contact may be set differently. Further, the ratio of the second contact portion 12 to the first contact portion 11 can be freely changed.

  Moreover, in the said embodiment, although 12 A of protrusion parts were comprised from the cylindrical body, irregular solid shapes other than regular solid shapes, such as a rectangular parallelepiped and a cube, may be sufficient.

  In the above embodiment, the concave portion 8M is constituted by a groove made up of the bottom wall 8a, the outer wall 8b, and the inner wall 8c. However, the concave portion without the outer wall 8b, that is, a recess in which the bottom wall 8a continues to the outer peripheral edge. There may be.

  The suction mechanism of the present invention can be applied when handling an object using a robot hand, as well as a cleaning machine that performs cleaning by sucking and moving the object on a window surface, a picking device that picks goods for boxing, The present invention can also be applied to a processing apparatus that performs various processes by fixing an object by suction, a transport apparatus that sucks and transports an object, and the like.

  DESCRIPTION OF SYMBOLS 1 ... Adsorption mechanism, 2 ... Adsorption body, 3 ... External force provision part (vacuum pump), 4 ... Valve, 5, 6 ... Hose, 7 ... Base, 7A ... Cylindrical part, 7B ... Recessed part, 7K ... Through-hole, 7a ... small diameter hole, 7b ... large diameter hole, 8 ... contact portion, 8M ... recess, 9 ... side wall portion, 10 ... mounting member, 10A ... disc portion, 10B ... cylindrical portion, 10a ... through hole, 11th 1 abutting portion, 11A ... concave portion, 11B ... first thin portion (deformed portion), 12 ... second abutting portion, 12A ... projection portion, 12B ... second thin portion (deformed portion), 12a ... concave portion, 12b ... Outer surface, 13, 14, 16 ... filter, 15 ... glass beads, 17 ... convex part, 19,20 ... recessed part, 19A ... projection part, 19B ... first thin part (deformed part), 20A ... projection part, 21,22 ... 1st contact part, 21B, 22B ... 1st thin part (deformation part), 23, 24 ... 2nd contact part, 25, 26 ... 27, first contact part, 27B ... first thin part (deformed part), 28, 29 ... second contact part, 28A, 29A ... projection part, 28B ... first thin part (deformed part), 30 , 31, 32... Concave portion, 33... First contact portion, 33B... First thin portion (deformed portion), 34, 35, 36... Second contact portion, 34A, 35A, 36A. , 36B ... first thin part (deformed part), 37 ... concave part, 38 ... first contact part, 39 ... second contact part, 39A ... projection part, 39B ... first thin part (deformed part), 40 ... Recess, 41, 42 ... first contact portion, 43 ... second contact portion, 43A ... projection, 43B ... first thin portion (deformed portion), 44 ... recess, 45, 46 ... first contact portion, 47: second contact portion, 47A: protrusion, 47B: first thin portion (deformed portion), 48: recessed portion, 49, 50: first contact portion, 5 ... 2nd contact part, 49B, 50B ... 1st thin part (deformed part), 51A ... Projection part, 51B ... 2nd thin part (deformed part), 52 ... Recessed part, 53, 54, 55 ... 1st contact 56, second contact portion, 53B, first thin portion (deformed portion), 56, second contact portion, 56A, projection portion, 56B, second thin portion (deformed portion), 57, 58, recess. 59, 60, 61, 62 ... first contact portion, 63 ... second contact portion, 59B ... first thin portion (deformed portion), 63A ... projection portion, 63B ... second thin portion (deformed portion), 64, 65 ... concave portion, 66-81 ... first contact portion, 66B ... first thin portion (deformed portion), 70B ... first thin portion (deformed portion), 82 ... second contact portion, 82A ... projection portion , 82B, second thin portion (deformed portion), 83, concave portion, 84-96, first contact portion, 84B, 85B, 86B, 87B, 88B, first thin. Meat part (deformation part), 97 ... second contact part, 97A ... projection part, 97B ... second thin part (deformation part), 98, 99, 100 ... recess, 101, 102, 103 ... first contact part , 104 ... second contact part, 101B ... first thin part (deformed part), 104A ... projection part, 104B ... second thin part, 105 ... bottom part, 106 ... projecting part (contact part), 106B ... thin part , P ... vacuum gauge, S1 ... plate-like body, S2, S3 ... object, Sb ... outer surface

Claims (3)

An adsorption mechanism having an adsorbent for adsorbing an object,
The adsorbing body has a flexible and elastic abutting portion that abuts on the object, and a flexible and elastic side wall having a higher shape retention strength than the corresponding contacting portion that covers the side of the corresponding contacting portion. And a deformable deformable portion provided on the contact portion, and an external force imparting portion that imparts an external force that deforms the deformable portion. The external force imparting portion includes the contact portion and the side wall portion. A suction part that generates a suction force in the internal space formed by
The abutting portions are a plurality of abutting portions that are partitioned by forming concave portions for partitioning that are recessed on the inner side of the adsorbent so as to be separated from the object on the contact surface with the object at the corresponding contact portion. Consisting of
One of the abutting portions has a substantially flat outer surface, and a plurality of first inner concave portions recessed on the outer surface side are formed on the inner surface to form the deformed portion from a thin portion thinner than the other portions. ,
The other abutting portion is composed of a plurality of bottomed cylindrical projecting portions projecting from the partitioning concave portion to the abutting surface side, and projecting from the inner surface to projecting ends of the projecting portions. The deformed portion is formed from a thin-walled portion formed with a second recessed portion recessed on the outer surface side and thinner than other portions,
The suction force of the suction portion is transmitted to the first recess portion of one of the contact portions and the second recess portion of the other contact portion via the internal space, and the thin portion and the second recess portion of the first recess portion. An adsorption mechanism characterized by deformation of the thin-walled portion . The suction mechanism according to claim 1 , wherein the recess is formed by a substantially annular groove formed along an outer peripheral edge of the contact portion. The suction mechanism according to claim 1 or 2 , wherein a filling material is filled in an internal space formed by the contact portion and the side wall portion.

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