JP6570933B2 - Suction support device, article gripping device provided with this suction support device, and flying device provided with this suction support device - Google Patents

Description

  Embodiments described herein relate generally to a suction support device that supports a suction pad that has been evacuated by being sucked by an object, an article gripping device including the suction support device, and a flying device including the suction support device.

  Currently, in the distribution and logistics industry, the handling volume of luggage tends to increase due to the expansion of the mail order market. On the other hand, there is a concern about labor shortage in recent years due to the declining birthrate and aging population. For this reason, logistics companies are working on automation of logistics systems.

  The transportation and storage of luggage in the warehouse has been automated using a belt conveyor or the like. On the other hand, transfer work such as unloading or picking is not easy to automate and requires some ingenuity.

  As an apparatus that automates such a transfer operation, an apparatus is known in which a suction pad is brought into contact with the upper surface of a load, the load is sucked onto the suction pad, and the load is lifted and moved to a desired location. If a load is sucked with a single suction pad, the suction force may be insufficient, or the balance may be lost, leading to problems such as loss or dropping of the load. For this reason, usually, in this type of apparatus, a plurality of suction pads are arranged side by side along a horizontal plane.

JP-T-2015-504012 JP 2005-230949 A

  However, when the upper surface of the load to be sucked is greatly inclined with respect to the horizontal plane due to the collapse of the load, or when the upper surface of the load itself is inclined (or curved) with respect to the horizontal plane, It will be in contact with the upper surface of the load at an angle. In this case, since a gap is formed between the suction pad that is pulled up vertically and the upper surface of the luggage, it is difficult to apply a sufficient suction force, and the suction state is easily released when the suction pad is pulled up vertically.

  Therefore, a suction support device that can exert a sufficient suction force on the suction target object and is not easily released from the suction state, an article gripping device including the suction support device, and a flying device including the suction support device. Development is desired.

The suction support device according to the embodiment includes a suction pad, an intake pipe that communicates with the suction pad and extends in the first direction and can be bent by elastic deformation, and passes the suction pipe through the suction pipe. connected to one end along the one direction, first to connect the suction pad a support member movably and swingably supported in a direction intersecting the first direction, have a support member, one end of the suction pad 1 member and the other end along the 1st direction of this 1st member are rotatable in the 2nd direction via the 1st axis of rotation extended in the 2nd direction orthogonal to the 1st direction An intermediate member that is slidably connected and has an insertion hole through which the intake pipe is inserted, and a third member that is disposed on the other end side of the first member with the intermediate member interposed therebetween and is orthogonal to the first direction and the second direction. Via a second pivot shaft extending in the direction and pivotable relative to the intermediate member and in the third direction A second member which is slidably coupled to and have a.

The article gripping device according to the embodiment includes a suction pad, an intake pipe that communicates with the suction pad and extends in the first direction and can be bent by elastic deformation, and the suction pipe that passes through the intake pipe. A plurality of suction support devices having a support member that is connected to one end along the first direction and supports the suction pad so as to be movable and swingable in a direction crossing the first direction; A hand in which the suction surfaces of the suction pads of the device are arranged in the same plane and fixed at the other end along the first direction of the plurality of suction support devices; and a manipulator that moves the hands; Yes, and the manipulator is perpendicular to the first rotating mechanism for rotating the hand about the first pivot axis along a same plane perpendicular to the first direction, the first rotation shaft along the same plane Rotate the hand around the second pivot axis And a second rotating mechanism, the center of gravity of the hand with a plurality of suction support device is in the first rotation axes intersection of the second rotation shaft.

Further, the flying device according to the embodiment includes a suction pad, an intake pipe that communicates with the suction pad and extends in the first direction and can be bent by elastic deformation, and passes the intake pipe through the suction pipe. connected to one end in the first direction, a support member movably and swingably supported in a direction intersecting the suction pad to the first direction, have a support member was connected to one end of the suction pad The first member and the other end along the first direction of the first member can be rotated via a first rotation shaft extending in a second direction orthogonal to the first direction and in the second direction. And an intermediate member having an insertion hole through which the intake pipe is inserted, and an intermediate member disposed on the other end side of the first member with the intermediate member interposed therebetween, and orthogonal to the first direction and the second direction. It can be rotated with respect to the intermediate member via a second rotating shaft extending in three directions and Having; a second member connected slidably in the direction, and at least one suction support device to have a; flying body and provided with the suction supporting device.

FIG. 1 is a perspective view showing the suction support device according to the first embodiment. FIG. 2 is an exploded perspective view of the suction support device of FIG. FIG. 3 is a longitudinal sectional view of the suction support device of FIG. 1 as viewed from F3-F3. FIG. 4 is a plan view of the suction support device of FIG. 1 viewed from vertically above. FIG. 5 is a block diagram showing a control system of the suction support apparatus of FIG. FIG. 6 is a perspective view showing the suction support device according to the second embodiment. FIG. 7 is a perspective view showing the suction support device according to the third embodiment. FIG. 8 is a perspective view showing an article gripping apparatus according to the fourth embodiment. FIG. 9 is a side view of the article gripping apparatus of FIG. FIG. 10 is a diagram for explaining an example of the operation of the article gripping apparatus of FIG. FIG. 11 is a schematic view showing a flying device according to the fifth embodiment.

Hereinafter, embodiments will be described in detail with reference to the drawings.
(First embodiment)
FIG. 1 is a perspective view showing an adsorption support device 10 according to the first embodiment. FIG. 2 is an exploded perspective view of the suction support device 10. 3 is a longitudinal sectional view of the suction support device 10 as viewed from F3-F3 in FIG. FIG. 4 is a plan view of the suction support device 10 as viewed from vertically above.

  The suction support device 10 is attached to a manipulator or the like (not shown) here, and sucks and supports the suction upper surface of an article such as a cardboard box. The article may be an indefinite shape having flexibility such as paper sheets. For example, when the upper surface of the article is tilted or curved with respect to the horizontal plane, the suction support device 10 changes the posture so as to absorb the tilt of the upper surface to maintain the suction force.

  The suction support device 10 includes a suction pad 12, a lower member 14 (first member), a connecting member 16 (intermediate member), an upper member 18 (second member), and a tube 20 (intake pipe). The suction pad 12 is attached to the lower end of the lower member 14 in the vertical direction (first direction) via the tube lower joint 13. The lower member 14 is connected to the upper member 18 via the connecting member 16. A tube upper joint 19 is attached to the upper member 18. The tube lower joint 13 and the tube upper joint 19 are connected and communicated with each other by a tube 20. The connecting member 16 has an insertion hole 16a through which the tube 20 is inserted. The upper member 18 is fixed to a manipulator (not shown).

Hereinafter, each component of the adsorption support device 10 described above will be described in more detail.
The suction pad 12 is made of elastically deformable rubber or resin, and the inside is evacuated by a suction device 103 (see FIG. 5), which will be described later, thereby generating a negative pressure on the suction surface 12a to suck the article. The suction pad 12 has an attachment hole (not shown) for attaching the tube lower joint 13 to the upper end thereof. The suction pad 12 has a flat bell shape that expands from the mounting hole toward the suction surface 12a.

  When the suction support device 10 is in a straight posture along the vertical direction (first direction) shown in FIG. 1, the suction surface 12 a is along a surface orthogonal to the central axis C along the vertical direction of the suction support device 10. Be placed. That is, the suction pad 12 can be sucked by contacting the horizontal upper surface of the article with the surface in a state where the suction support device 10 is arranged in the basic posture shown in FIG.

  The lower member 14 is fixed to the upper end of the suction pad 12 via the tube lower joint 13. The lower member 14 has a U-shaped structure in which one metal plate is processed and bent. The lower member 14 includes a base portion 14b having a mounting hole 14a for mounting the tube lower joint 13, and a pair of side wall portions 14c raised up at right angles from both longitudinal ends of the base portion 14b. 14c.

  Each of the pair of side wall portions 14c has a shaft hole 14d through which a shaft screw 21a (first rotation shaft) is slidably inserted in the axial direction. Two shaft holes 14d provided in the pair of side wall portions 14c are coaxially opposed to each other. A resin sleeve 22 is fitted into each shaft hole 14d. The inner diameter of each resin sleeve 22 is slightly larger than the outer diameter of the shaft screw 21a. For this reason, each axial screw 21 a is slidable in the axial direction with respect to the resin sleeve 22.

  The lower member 14 is fixed to the tube lower joint 13 in a posture along the direction (second direction) in which the longitudinal direction of the base portion 14b is orthogonal to the central axis C described above. In this case, the two shaft screws 21a are also along the second direction. A return spring 24a (first urging member) is coaxially attached to the outer periphery of each of the two shaft screws 21a (see FIG. 4). Each return spring 24 a is disposed in a slightly compressed state between the inner surface of the side wall portion 14 c of the lower portion 14 and the side surface of the connecting member 16.

  The connecting member 16 is a substantially rectangular block body having an insertion hole 16a through which the tube 20 is slidably inserted in the center. The connecting member 16 has screw holes 16b for screwing and attaching shaft screws 21a and 21b to the four side surfaces. The inner diameter of the insertion hole 16 a is slightly larger than the outer diameter of the tube 20. That is, the tube 20 can slide in the direction of the central axis C with respect to the connecting member 16.

  The connecting member 16 is disposed in such a posture that two side surfaces facing each other face the inner surfaces of the two side wall portions 14 c of the lower member 14. The connecting member 16 and the lower member 14 are centered on the two shaft screws 21a by screwing the shaft screws 21a inserted into the two shaft holes 14d of the lower member 14 into the opposing screw holes 16b of the connecting member 16. To be pivotally connected to each other. In this state, the connecting member 16 can slide with respect to the lower member 14 in the direction of the shaft screw 21a (second direction). However, the length of the shaft screw 21a is designed such that the shaft member 21a does not come out of the shaft hole 14d of the lower member 14 in a state where the connecting member 16 is connected to the lower member 14.

  The upper member 18 has a U-shaped cross-section that is formed by bending a single metal plate. The upper member 18 includes a base portion 18b having a mounting hole 18a for mounting the tube upper joint 19, and a pair of side wall portions 18c and 18c bent downward at right angles from both longitudinal ends of the base portion 18b. In this embodiment, the upper member 18 has the same structure as the lower member 14, and is attached in a posture in which the top and bottom are reversed and rotated 90 °.

  Each of the pair of side wall portions 18c of the upper member 18 has a shaft hole 18d through which the shaft screw 21b (second rotation shaft) is slidably inserted in the axial direction (third direction). Two shaft holes 18d provided in the pair of side wall portions 18c are coaxially opposed to each other. A resin sleeve 23 is fitted into each shaft hole 18d. The inner diameter of each resin sleeve 23 is slightly larger than the outer diameter of the shaft screw 21. For this reason, each axial screw 21b is slidable in the axial direction (third direction) with respect to the resin sleeve 23.

  The upper member 18 is attached in a posture in which the longitudinal direction of the base portion 18b is along the direction (third direction) perpendicular to the central axis C and the second direction described above. Then, the upper member 18 rotates with respect to the connecting member 16 by screwing the shaft screws 21b inserted into the shaft holes 18d provided in the pair of side wall portions 18c into the remaining two screw holes 16b of the connecting member 16, respectively. Connected as possible.

  In this state, the upper member 18 can slide in the third direction with respect to the connecting member 16. The length of the shaft screw 21b is designed to prevent the shaft screw 21b from coming out of the shaft hole 18d when the upper member 18 is slid in the axial direction with respect to the connecting member 16. Further, return springs 24b (second urging members) are coaxially attached to the outer circumferences of the two shaft screws 21b. Each return spring 24 b is disposed in a slightly compressed state between the inner surface of the side wall portion 18 c of the upper portion 18 and the side surface of the connecting member 16.

  The tube 20 extends in the first direction along the central axis C by connecting the tube lower joint 13 fixed to the lower member 14 and the tube upper joint 19 fixed to the upper member 18. One end of the tube 20 is fixed to the tube lower joint 13, and the other end of the tube 20 is fixed to the tube upper joint 19. That is, the tube 20 communicates the tube upper joint 19 with the suction pad 12. The tube 20 is made of a material that can be bent by elastic deformation such as resin or rubber. The material of the tube 20 may be a material having a hardness that does not collapse due to vacuum drawing, and a material having a spring property that returns to a straight posture after being bent is selected as described later.

  As described above, the tube lower joint 13, the lower member 14, the two shaft screws 21 a, the connecting member 16, the two shaft screws 21 b, the upper member 18, and the tube upper joint 19 are the central axis of the suction support device 10. It functions as a support member 30 that supports the suction pad 12 so as to be movable and swingable in a direction intersecting with C.

  As shown in FIG. 4, the support member 30 of the present embodiment is designed to have a size that fits inside the outer periphery of the suction pad 12 when the suction support device 10 is viewed from the direction of the central axis C. Thus, by accommodating the size of the support member 30 within the diameter of the suction pad 12, the configuration of the apparatus can be reduced, and the apparatus can be reduced in weight.

  In a state where the negative pressure is generated on the suction surface 12a of the suction pad 12 to suck the article and the article is suspended by the suction support device 10, the load of the article is the tube lower joint 13, the lower member 14, and the two pieces. It is supported by the manipulator via the shaft screw 21a, the connecting member 16, the two shaft screws 21b, and the upper member 18. At this time, since the load of the article does not act on the tube 20 in which the tube lower joint 13 and the tube upper joint 19 are connected, the suction support device 10 of the present embodiment is within a range that can be sucked by the suction pad 12. A relatively heavy article can be suspended and supported.

  Further, during the operation of adsorbing the upper surface by bringing the suction pad 12 into contact with the article, or the operation of lifting the article, the positional relationship between the center of gravity of the article and the central axis C of the adsorption support device 10 and the inclination (curvature) of the upper surface of the article. The suction support device 10 according to the present embodiment can change its posture depending on the state. That is, in this case, the lower member 14 rotates with respect to the connecting member 16 around the two shaft screws 21a, and the connecting member 16 rotates with respect to the upper member 18 around the two shaft screws 21b. be able to. Since the two shaft screws 21a and the two shaft screws 21b extend in directions orthogonal to each other, the suction pad 12 swings in all directions with respect to the upper member 18 (fixed end by the manipulator). Can do.

  Further, according to the present embodiment, the axial direction (second direction) of the coupling member 16 is between the pair of opposing side surfaces of the coupling member 16 and the inner surfaces of the pair of side wall portions 14c of the lower member 14, respectively. A gap for allowing sliding is provided. Further, the sliding of the connecting member 16 in the axial direction (third direction) is also permitted between the other pair of side surfaces of the connecting member 16 and the inner surfaces of the pair of side wall portions 18c of the upper member 18, respectively. A gap is provided. For this reason, the connecting member 16 is slidable in the second direction with respect to the lower member 14, and the upper member 18 is slidable in the third direction with respect to the connecting member 16, and the suction pad 12 is placed on the central axis C. It can move in any direction that intersects.

  In the present embodiment, the tube 20 is made of an elastically deformable material, and has a spring property that can return from a curved state to a straight state. For this reason, when the suction pad 12 swings or moves laterally from the basic posture shown in FIG. 1 (this operation is generically referred to as a swinging operation in the following description), the tube 20 displays the suction pad 12 in the figure. A force for returning to position 1 (neutral position) is generated. In the present embodiment, two return springs 24 a are provided between the side wall portion 14 c of the lower member 14 and the side surface of the connecting member 16, and between the side wall portion 18 c of the upper member 18 and the side surface of the connecting member 16. Two return springs 24b were provided. For this reason, when the suction pad 12 swings, a support force for returning the suction pad 12 to the neutral position is applied.

  The movable range of the swing motion of the suction pad 12 is mechanically restricted. That is, the swing motion of the suction pad 12 is stopped when the lower member 14 and the connecting member 16 are in contact with each other, stopped when the upper member 18 and the connecting member 16 are in contact with each other, or the lower member 14 and the upper member 18 are stopped. Is stopped by contact. By restricting the movable range of the suction support device 10 within a predetermined range by using such a mechanical stopper, it is possible to prevent the suction support device 100 from changing its posture to the extent that the tube 20 is crushed. It is possible to prevent a problem that the negative pressure acting on the suction surface 12a of the pad 12 is eliminated and the suctioned article falls.

  Further, the suction support device 10 of the present embodiment has a structure in which the swinging motion that is line-symmetric with respect to the central axis C is movable. For this reason, when attaching the adsorption | suction support apparatus 10 to a manipulator, it is not necessary to care about the attachment angle around the central axis C, and the attachment operation | work with respect to a manipulator can be made easy.

Next, a control system for controlling the operation of the suction support device 10 described above will be described with reference to FIG.
The control system of the adsorption support device 10 includes a switching valve 101 such as an electromagnetic valve, a pressurizing device 102 such as a compressor, a suction device 103 such as a vacuum pump, and a control device 100. The control device 100 controls driving and stopping of the switching valve 101, the pressurizing device 102, and the suction device 103. Further, the switching valve 101 is provided with a flow rate sensor or a pressure sensor (not shown), and the adsorption state of the adsorption pad 12 can always be sensed and fed back to the control device 100 to control the adsorption state. It is like that.

  The air of the pressurizing device 102 may be laid from an air pipe in the factory other than the compressor. The suction device 103 may generate negative pressure by combining pressurization and a vacuum generator, in addition to the vacuum pump. The switching valve 101 is connected to the tube upper joint 19 of the suction support device 10 via the tube 110. The switching valve 101 may be a valve that operates by air pressure.

Next, the operation of the suction support device 10 will be described.
When the upper surface of the article is sucked by the suction support device 10, the control device 100 connects the switching valve 101 to the suction device 103 and monitors the suction device 103 while monitoring the flow rate (or pressure) of the air flowing through the switching valve 101. Drive control is performed to generate a negative pressure on the suction surface 12 a of the suction pad 12 of the suction support device 10. At this time, the control device 100 controls the negative pressure generated on the suction surface 12a to a predetermined value by the feedback control described above. In this state, the manipulator is operated by a control system of a system (not shown), the suction support device 100 is moved above the article, and the suction surface 12a of the suction pad 12 is sucked onto the upper surface of the object. The article thus sucked is moved to a desired place by the operation of the manipulator.

  According to the present embodiment, when the upper surface of the article is inclined or curved with respect to the horizontal plane, the suction support device 10 changes the posture in accordance with the inclination (curve). That is, in this case, when the suction surface 12a of the suction pad 12 comes into contact with the inclined (or curved) upper surface of the article, the suction pad 12 moved downward toward the upper surface of the article in the basic posture shown in FIG. Initially, part of the edge contacts the top surface. Thereafter, when the suction support device 10 further moves downward, the suction pad 12 is inclined along the upper surface, the contact area with the upper surface gradually increases, and the entire surface of the suction surface 12a contacts the upper surface of the article. As described above, when the suction pad 12 is inclined with respect to the vertical direction, the support member 30 swings around the fixed end of the manipulator, and approaches the posture in which the suction surface 12a is parallel to the upper surface of the article. Thereby, the negative pressure which generate | occur | produces on the suction surface 12a of the suction pad 12 can be made to act effectively on the upper surface of an article | item, and an article | item can be adsorbed with sufficient adsorption power.

  Further, when the manipulator is operated from this state and the article is lifted by the suction support device 10, the suction pad 12 slides along the inclined (or curved) upper surface of the article, and between the fixed end by the manipulator and the center of gravity of the article. The support member 30 is further swung so that the suction surface 12a is disposed on the surface. Thereby, the suction force by the suction pad 12 acts in a direction substantially perpendicular to the upper surface of the article, and when the article is lifted by the suction support device 10, the article is prevented from separating from the suction pad 12 and dropping off the article. be able to.

  According to the present embodiment, as described above, the suction support device 10 sucks and suspends the article and moves it to a desired position, and then the control device 100 applies pressure so as to eliminate the negative pressure of the suction pad 12. The pressure device 102 is controlled to release the suction by the suction pad 12. At this time, the switching valve 101 switches the flow path so as to connect the adsorption support device 10 to the pressurization device 102.

  In the suction support device 10 of the present embodiment, the tube 20 is provided with a spring property so that the support member 30 whose posture is changed by swinging or moving laterally (swinging motion) is returned to the basic posture of FIG. ing. For this reason, when a new article is adsorbed, the adsorption support device 10 can be automatically returned to the basic posture shown in FIG. 1, and the adsorption support operation can always be performed under the same conditions, so that a stable operation is possible. It is possible to improve the reliability of work.

(Second Embodiment)
FIG. 6 is a perspective view showing the suction support device 40 according to the second embodiment. Here, the same code | symbol is attached | subjected to the component which functions similarly to the adsorption | suction support apparatus 10 of 1st Embodiment mentioned above, and the detailed description is abbreviate | omitted.

  In the suction support device 40, a long hole 14e (first bearing hole) is provided in each of the pair of side wall portions 14c of the lower member 14 instead of the shaft hole 14d, and the shaft screw 21a is not inserted into the long hole 14e without the resin sleeve 22 interposed therebetween. And a long hole 18e (second bearing hole) is provided in each of the pair of side wall portions 18c of the upper member 18 instead of the shaft hole 18d, and the shaft screw 21b is not inserted through the resin sleeve 23 in the long hole 18e. It has a structure that is inserted and arranged. Each long hole 14e, 18e is extended in the 1st direction along the central axis C, and each axial screw 21a, 21b is slidable in a 1st direction.

  For this reason, the connecting member 16 and the lower member 14 are relatively movable along the first direction, and the upper member 18 and the connecting member 16 are relatively movable along the first direction. When the distance between the lower member 14 and the upper member 18 changes due to the movement of the lower member 14 and the upper member 18 in the central axis C direction, the distance between the tube lower joint 13 and the tube upper joint 19 also changes. Therefore, in this embodiment, the bellows portion 19a is provided on the tube 20 side of the tube upper joint 19 so that the air flow path can be expanded and contracted.

  In this embodiment, the bellows portion 19a is provided in a part of the tube upper joint 19, but the tube 20 itself may be stretchable as a bellows-like structure. Alternatively, a bellows portion may be provided on the tube 20 side of the tube lower joint 13. Alternatively, the tube upper joint 19 may be slidable in the axial direction.

  As described above, according to the second embodiment, since the support member 30 can be expanded and contracted in the first direction, the swinging operation (swinging and moving in the lateral direction) of the suction support device 10 of the first embodiment. In addition, it is possible to move in the longitudinal direction along the central axis C, and it is possible to deal with uneven shapes having different top surface heights.

(Third embodiment)
FIG. 7 is a perspective view showing an adsorption support device 50 according to the third embodiment. Here, the same code | symbol is attached | subjected to the component which functions similarly to the adsorption | suction support apparatus 10 of 1st Embodiment mentioned above, and the detailed description is abbreviate | omitted.

  The suction support device 50 has a structure in which one side wall portion 14c of the lower member 14 is eliminated and one side wall portion 18c of the upper member 18 is eliminated. That is, the lower member 14 is connected to the connecting member 16 in a cantilever state by one shaft screw 21a inserted through the shaft hole 14d of the other side wall portion 14c. Further, the upper member 18 is connected to the connecting member 16 in a cantilever state by one shaft screw 21b inserted through the shaft hole 18d of the other side wall portion 18c.

  According to the present embodiment, the upper member 18 does not interfere with one side wall portion (not present) of the lower member 14, and the lower member 14 interferes with one side wall portion (not present) of the upper member 18. Therefore, the swingable angle of the support member 30 can be made larger than that of the first embodiment in a specific direction.

  Further, according to the present embodiment, by devising the mounting angle around the central axis C of the suction support device 50, the swing angle in the desired direction can be selectively increased, and the upper surface is more than the horizontal plane. Articles that are greatly inclined can also be handled.

  Furthermore, according to the present embodiment, the material of the lower member 14 and the upper member 18 can be reduced, and the resin sleeves 22 and 23 and the shaft screws 21a and 21b provided on one of the side wall portions 14c and 18c can be eliminated. The weight of the apparatus can be reduced, and the material cost can be reduced.

(Fourth embodiment)
FIG. 8 is an external perspective view of an article gripping device 60 according to the fourth embodiment provided with a plurality of the suction support devices 10 of the first embodiment described above. FIG. 9 is a side view of the article gripping device 60. Here, although the case where the suction support apparatus 10 of 1st Embodiment is provided is demonstrated, the suction support apparatus 40 of 2nd Embodiment and the suction support apparatus 50 of 3rd Embodiment are individual or combined. It can also be used.

  The article gripping device 60 has a flat, substantially rectangular block-shaped hand portion 61 (hand). The hand part 61 is arranged in the basic posture, and the lower surface 61a thereof is arranged in parallel with the horizontal plane. A plurality of suction support devices 10 are attached to the lower surface 61a of the hand portion 61 in parallel with each other. Each suction support device 10 is fixed to the hand portion 61 by fastening and fixing the base portion 18 b of the upper member 18 to the lower surface 61 a of the hand portion 61. That is, the plurality of suction support devices 10 are attached to the lower surface 61 a of the hand unit 61 in such a posture that the suction surface 12 a of the suction pad 12 is disposed in the same plane parallel to the lower surface 61 a of the hand unit 61.

  The article gripping device 60 includes a manipulator 200 for moving the hand unit 61 to a desired position. 9 and 10, a part of the arm of the manipulator 200 is illustrated. The manipulator 200 is a so-called robot arm that moves the hand unit 61 to a desired position.

  The hand portion 61 is attached to the arm end portion of the manipulator 200 so as to be rotatable. That is, a pair of first rotation mechanisms 62 are provided on the pair of side surfaces 61b facing each other of the hand portion 61 so that the tips of the U-shaped arms 64 are rotatably connected to each other. In FIG. 9, the first rotation mechanism 62 is not shown. Further, the base end portion of the U-shaped arm 64 is rotatably connected to the end portion of the manipulator 200 via the second rotation mechanism 66.

  The rotation axis (third rotation axis) of the first rotation mechanism 62 extends in the width direction parallel to the lower surface 61 a of the hand portion 61 and orthogonal to the longitudinal direction of the arm of the manipulator 200. The rotation axis (fourth rotation axis) of the second rotation mechanism 66 is parallel to the lower surface 61a of the hand portion 61 and orthogonal to the rotation axis of the first rotation mechanism (that is, the length of the arm). Direction). Each rotation shaft is arranged such that the center of gravity of the hand unit 61 including the plurality of suction support devices 10 is arranged at the intersection of the rotation shaft of the first rotation mechanism 62 and the rotation shaft of the second rotation mechanism 66. Is laid out.

  The first rotation mechanism 62 includes a fixing mechanism that fixes the rotation shaft in a state where the hand unit 61 is rotated to a desired rotation position. The second turning mechanism 66 also has a fixing mechanism that fixes the turning shaft in a state where the hand unit 61 is turned to a desired turning position. That is, the fixing mechanism of each of the rotation mechanisms 62 and 66 can fix the hand portion 61 at an arbitrary rotation position where the lower surface 61a is inclined with respect to the horizontal plane.

  For example, an air pressure brake mechanism or an electromagnetic multi-plate brake mechanism can be adopted as a fixing mechanism for each of the rotation mechanisms 62 and 66. In particular, it is preferable to use an air brake connected to the suction device 103 that generates negative pressure on the suction pads 12 of the plurality of suction support devices 10 as the fixing mechanism.

  The hand unit 61 may include the suction support device 10 on a surface other than the lower surface 61a. In the present embodiment, a plurality (five in the present embodiment) of suction support devices 10 are attached to the distal end surface 61c of the hand portion 61 that is separated from the manipulator 200. The plurality of suction support devices 10 are attached such that the suction surface 12a is parallel to the distal end surface 61c. Thus, the suction support device 10 extended in a direction different from the vertical direction may omit the support member 30 and disable the swing operation.

  The article gripping device 60 includes a predetermined number of switching valves 101 corresponding to the plurality of suction support devices 10. That is, in this embodiment, the plurality of suction support devices 10 can individually control ON / OFF the negative pressure generated on the suction surface 12a. In the present embodiment, it is assumed that the plurality of suction support devices 10 are connected to one suction device 103.

  As described above, according to the present embodiment, since the plurality of suction support devices 10 having the suction surfaces 12a in the same plane are provided on the lower surface 61a of the hand portion 61, relatively large articles or relatively heavy articles can be used. Even when sucked and supported, there is no need to increase the diameter of each suction pad 12 or to increase the negative pressure generated by each suction pad 12, making the device configuration compact and making the device lightweight. Can be.

  Further, by using a plurality of suction support devices 10 as in the present embodiment, for example, even if the suction support by one suction support device 10 becomes impossible due to some cause, the other suction support devices 10 can use the article. Can be adsorbed and held, so that a problem that the article falls can be prevented. In this case, it is necessary to close the switching valve 101 assigned to the suction support device 10 that does not contact the article so that air does not leak.

  In addition, according to the present embodiment, since a plurality of suction support devices 10 that can change posture flexibly according to the state of the article are used, the article whose upper surface is inclined or curved, a bundle of paper sheets, and the like Even an article whose posture is easily deformed can be reliably adsorbed, and the adsorbed state is not easily released even when it is lifted.

  In particular, according to the present embodiment, since the hand portion 61 can be freely inclined with respect to the horizontal plane by the first and second rotating mechanisms 62 and 66, the upper surface of the article is greatly inclined. The hand portion 61 can be inclined substantially parallel to the upper surface of the article. In this case, by changing the posture of each suction support device 10 according to the shape of the upper surface of the article, the suction pad 12 of each suction support device 10 can be stably brought into contact with the article in any state. Even such articles can be reliably adsorbed and lifted.

  Further, according to the present embodiment, the hand portion 61 can be fixed at an arbitrary angle by the fixing mechanism provided in the first and second rotating mechanisms 62 and 66. For this reason, it is possible to move the article while the hand unit 61 is inclined according to the inclined upper surface and the plurality of suction support devices 10 are sucked onto the upper surface.

  Further, according to the present embodiment, the center of gravity of the hand unit 61 including the plurality of suction support devices 10 is laid out at the intersection of the rotation axis of the first rotation mechanism 62 and the rotation axis of the second rotation mechanism 66. ing. For this reason, the rotation moment when rotating the hand part 61 can be made small, it can be rotated at high speed with a small driving force, and power consumption can be reduced.

  FIG. 10 is a diagram for explaining an example of the operation performed by the article gripping device 60 described above. In this operation example, an article that is curved so that the vicinity of the center of the upper surface protrudes upward is handled.

  In this case, the article gripping device 60 first brings the lower surface 61a of the hand unit 61 into a horizontal posture and brings the suction pads 12 of the plurality of suction support devices 10 into contact with the upper surfaces of the articles. At this time, no negative pressure is generated on the suction surface 12 a of each suction support device 10. By bringing each suction pad 12 into contact with the top surface of the article, as shown in FIG. 10, the suction pad 12 of each suction support device 10 is tilted to a posture corresponding to the top shape of the article, and each support member 30 is also a suction pad 12. Change its posture according to the angle.

  In this state, in this operation example, the degree of the posture change of the support member 30 of each suction support device 10 is detected, and it is determined whether or not a negative pressure is generated on the suction surface 12a of the suction pad 12. At this time, the control unit of the article gripping device 60 detects the rotation angle between the lower member 14 and the connection member 16 and also detects the rotation angle between the connection member 16 and the upper member 18 to support it. The posture of the member 30 is determined. When the suction support device 40 of the second embodiment is used, the distance in the central axis C direction between the lower member 14 and the upper member 18 is also detected and added to the determination material.

  As a sensor for detecting the rotation angle between the members, for example, a potentiometer, an encoder, a photo interrupter, or the like can be considered, but any sensor can be used as long as the angle can be measured. Further, as a sensor for detecting the distance between the members, a laser displacement meter, a linear encoder, an ultrasonic sensor, and the like can be considered, but any sensor can be used as long as the distance can be measured.

  When the inclination of the suction surface 12a with respect to the upper surface of the article exceeds an allowable value, a gap may be formed between the suction pad 12 and the upper surface of the article, and air may leak. For this reason, in this operation example, when the posture of the support member 30 detected as described above exceeds the allowable value, it is determined that there is a risk of air leakage, and a negative pressure is applied to the suction pad 12. The switching valve 101 is closed so that it does not occur. In this manner, by stopping the operation of the suction support device 10 that is expected to not function normally, it is possible to prevent the negative pressure applied to the suction pads 12 of the other suction support devices 10 by the suction device 103 from being reduced.

  Further, in this operation example, the control unit of the article gripping device 60 in a state where the upper surface of the article is sucked by the suction pads 12 of the plurality of suction support devices 10 and the article is suspended by the article gripping device 60 as described above. However, the posture change of the support member 30 of each suction support device 10 is monitored, and the operation is stopped when the change amount of the posture exceeds the allowable value. That is, when the posture of the suction support device 10 changes greatly in a state where the article is suspended, it is expected that the deformation amount of the upper surface of the article is larger than a predetermined specified value. Therefore, in this case, since there is a risk of damage at the adsorption site due to the weight of the article, the transportation operation is stopped and the manipulator 200 is operated to place the article on the ground.

  Further, when a plurality of articles are sucked and held at the same time, among the plurality of suction support apparatuses 10, the suction support apparatus 10 near the edge of the hand 61 may have its suction surface 12 a greatly deviated from the center of gravity position of the article. There is. In this case, when the article gripping device 60 is lifted upward as it is, the article is largely inclined due to the influence of the center of gravity deviation of the article, and the support member 30 of the suction support apparatus 10 is also rotated in conjunction therewith. Therefore, in this operation example, the amount of rotation of the support member 30 at this time is sensed, and when the allowable value is exceeded, the switching valve 101 is closed to eliminate the negative pressure.

  As described above, according to the present embodiment, when an article is sucked and gripped and when the sucked and gripped article is lifted and moved, the posture change of the plurality of suction support devices 10 is monitored and the negative pressure is individually turned on. / OFF control enables the product to be stably adsorbed and moved to the desired position even if the upper surface is not flat. The adsorbed state is released during the movement. This can prevent a problem that the article falls.

  The operation of the article gripping device 60 as described in the above operation example can be executed based on a program that is software. The general-purpose computer system stores the program in advance and reads the program, whereby the above-described article gripping device 60 can operate. That is, in the above-described operation example, as a program that can be executed by a computer, a magnetic disk (flexible disk, hard disk, etc.), an optical disk (CD-ROM, CD-R, CD-RW, DVD-ROM, DVD ± R, DVD ± RW, Blu-ray (registered trademark) Disc, etc.), semiconductor memory, or a similar recording medium. As long as the recording medium is readable by the computer or the embedded system, the storage format may be any form. The computer can implement the above-described operation by reading the program from the recording medium and causing the CPU to execute instructions described in the program based on the program. Of course, when the computer acquires or reads the program, it may be acquired or read through a network.

  Also, this operation example is realized by OS (operating system), database management software, MW (middleware) such as network, etc. running on the computer based on the instructions of the program installed in the computer or embedded system from the recording medium A part of each process for performing may be executed.

  Furthermore, the recording medium used in this operation example is not limited to a medium independent of a computer or an embedded system, but also includes a recording medium in which a program transmitted via a LAN or the Internet is downloaded and stored or temporarily stored.

  Further, the number of recording media is not limited to one, and the processing in this operation example may be executed from a plurality of media, and the configuration of the media may be any configuration.

  Note that the computer or the embedded system used in this operation example is for executing each process in this operation example based on a program stored in a recording medium, and is a single device such as a personal computer or a microcomputer. Any configuration such as a system in which a plurality of devices are network-connected may be used.

  In addition, the computer used in this operation example is not limited to a personal computer, and includes an arithmetic processing device, a microcomputer, and the like included in an information processing device. Collectively.

(Fifth embodiment)
FIG. 11 is a schematic view showing a flying device 70 according to the fifth embodiment.
The flying device 70 includes a flying object 72 including a plurality of propellers 71 and the suction support device 10 of the first embodiment described above. Instead of the suction support device 10, the suction support device 40 of the second embodiment or the suction support device 50 of the third embodiment may be used. A plurality of adsorption support devices 10 may be attached. In the present embodiment, one suction support device 10 is attached to the lower end of the flying object 72.

  The flying object 72 includes a drive unit (not shown) that rotates the propeller 71, a suction device 103 that generates a negative pressure on the suction pad 12 of the suction support device 10, a pressurization device 102 that eliminates the negative pressure, a switching valve 101, A driving unit, a suction device 103, a pressurizing device 102, a power feeding unit (not shown) that feeds power to the switching valve 101, a receiving unit (not shown) that receives a radio signal, and the like are provided.

  For example, the flying device 70 of the present embodiment can be moved by being attracted to the article in order to correct the collapse of the article, and the article can be moved by remote control in a place where work is dangerous. Alternatively, the flying device 70 of the present embodiment can be used as a toy, and can be stopped by adsorbing to a wall or window of a building.

  In addition, the adsorption | suction support apparatus 10,40,50 of 1st thru | or 3rd embodiment can also be attached and used for another moving body. For example, the suction support devices 10, 40, and 50 of the embodiment can be applied to the sucker ankle joint of the leg walking moving body and the connection between the moving bodies of the wheel moving body.

Although several embodiments have been described, these embodiments have been presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.
Hereinafter, the invention described in the scope of claims at the beginning of the application of the present application will be added.
[1]
A suction pad;
An intake pipe that communicates with the suction pad and extends in the first direction and can be bent by elastic deformation;
A support member that passes through the intake pipe and connects the suction pad to one end along the first direction, and supports the suction pad so as to be movable and swingable in a direction intersecting the first direction;
Adsorption support device having
[2]
The support member is
A first member connecting the suction pad to the one end;
The other end of the first member along the first direction is rotatable and slid in the second direction via a first rotation shaft extending in a second direction orthogonal to the first direction. An intermediate member that can be connected and has an insertion hole through which the intake pipe is inserted;
The intermediate member is disposed on the other end side of the first member with the intermediate member interposed therebetween, and extends through a second rotating shaft extending in a third direction orthogonal to the first direction and the second direction. A second member coupled to be slidable in the third direction, with respect to
The adsorption support device according to [1].
[3]
The insertion hole has an inner diameter slightly larger than the outer diameter of the intake pipe, and is slidably inserted in the first direction into the first pipe;
[2] The adsorption support device.
[4]
A first urging member that urges the intermediate member along the first rotation axis in the second direction to return the intermediate member to a neutral position where the intake pipe is straight;
A second urging member that urges the intermediate member along the second rotation axis in the third direction to return the intermediate member to the neutral position;
[3] The adsorption support device.
[5]
The first member has a first bearing hole extending in the first direction, which movably receives the first rotation shaft along the first direction,
The second member has a second bearing hole extending in the first direction, which movably receives the second rotation shaft along the first direction.
[2] The adsorption support device.
[6]
The first member is connected to one end of the first rotation shaft in a cantilever state with respect to the intermediate member,
The second member is connected to one end of the second rotation shaft in a cantilever state with respect to the intermediate member.
[2] The adsorption support device.
[7]
A suction pad, an intake pipe that communicates with the suction pad and extends in the first direction and can be bent by elastic deformation; and passes through the intake pipe and passes the suction pad to one end along the first direction. A plurality of suction support devices, each having a support member connected and supported so as to be movable and swingable in a direction intersecting the first direction;
A hand in which the suction surfaces of the suction pads of the plurality of suction support devices are arranged in the same plane and fixed at the other end along the first direction of the plurality of suction support devices;
A manipulator that moves this hand,
An article gripping device.
[8]
The manipulator
A first rotation mechanism for rotating the hand around a first rotation axis along the same plane perpendicular to the first direction;
A second rotation mechanism that rotates the hand about a second rotation axis that is orthogonal to the first rotation axis along the same surface;
The center of gravity of the hand having the plurality of suction support devices is at the intersection of the first rotation axis and the second rotation axis;
[7] The article gripping device.
[9]
Each of the first and second rotation mechanisms has a fixing mechanism that fixes the same surface of the hand in a posture inclined with respect to a horizontal plane.
The article gripping device according to [7] or [8].
[10]
The fixing mechanism is an air brake connected to a suction device that generates negative pressure on the suction pads of the plurality of suction support devices.
[9] The article gripping device.
[11]
A suction pad, an intake pipe that communicates with the suction pad and extends in the first direction and can be bent by elastic deformation; and passes through the intake pipe and passes the suction pad to one end along the first direction. And at least one suction support device having a support member connected and supported so as to be movable and swingable in a direction intersecting the first direction,
An aircraft equipped with the suction support device;
Having a flying device.

  DESCRIPTION OF SYMBOLS 10, 40, 50 ... Adsorption support apparatus, 12 ... Adsorption pad, 12a ... Adsorption surface, 13 ... Lower tube joint, 14 ... Lower member, 16 ... Connecting member, 18 ... Upper member, 19 ... Upper tube joint, 20 ... Tube , 21a, 21b ... shaft screw, 22, 23 ... resin sleeve, 24a, 24b ... return spring, 60 ... article gripping device, 61 ... hand part, 62 ... first turning mechanism, 66 ... second turning mechanism, 70 DESCRIPTION OF SYMBOLS ... Flight apparatus, 100 ... Control apparatus, 101 ... Switching valve, 102 ... Pressurization apparatus, 103 ... Suction apparatus, 200 ... Manipulator.

Claims (9)

A suction pad;
An intake pipe that communicates with the suction pad and extends in the first direction and can be bent by elastic deformation;
A support member that passes through the intake pipe and connects the suction pad to one end along the first direction, and supports the suction pad so as to be movable and swingable in a direction intersecting the first direction; I have a,
The support member is
A first member connecting the suction pad to the one end;
The other end of the first member along the first direction is rotatable and slid in the second direction via a first rotation shaft extending in a second direction orthogonal to the first direction. An intermediate member that can be connected and has an insertion hole through which the intake pipe is inserted;
The intermediate member is disposed on the other end side of the first member with the intermediate member interposed therebetween, and extends through a second rotating shaft extending in a third direction orthogonal to the first direction and the second direction. A second member coupled to be slidable in the third direction, with respect to the second member,
Suction support device which have a. The insertion hole has an inner diameter slightly larger than the outer diameter of the intake pipe, and is slidably inserted in the first direction into the first pipe;
The adsorption support device according to claim 1 . A first urging member that urges the intermediate member along the first rotation axis in the second direction to return the intermediate member to a neutral position where the intake pipe is straight;
A second urging member that urges the intermediate member along the second rotation axis in the third direction to return the intermediate member to the neutral position;
The adsorption support device according to claim 2 . The first member has a first bearing hole extending in the first direction, which movably receives the first rotation shaft along the first direction,
The second member has a second bearing hole extending in the first direction, which movably receives the second rotation shaft along the first direction.
The adsorption support device according to claim 1 . The first member is connected to one end of the first rotation shaft in a cantilever state with respect to the intermediate member,
The second member is connected to one end of the second rotation shaft in a cantilever state with respect to the intermediate member.
The adsorption support device according to claim 1 . A suction pad, an intake pipe that communicates with the suction pad and extends in the first direction and can be bent by elastic deformation; and passes through the intake pipe and passes the suction pad to one end along the first direction. A plurality of suction support devices connected to each other, and a support member that supports the suction pads so as to be movable and swingable in a direction crossing the first direction;
A hand in which the suction surfaces of the suction pads of the plurality of suction support devices are arranged in the same plane and fixed at the other end along the first direction of the plurality of suction support devices;
And a manipulator to move this hand, and possess,
The manipulator
A first rotation mechanism for rotating the hand around a first rotation axis along the same plane perpendicular to the first direction;
A second rotation mechanism that rotates the hand about a second rotation axis that is orthogonal to the first rotation axis along the same surface;
An article gripping device in which the center of gravity of the hand including the plurality of suction support devices is at the intersection of the first rotation shaft and the second rotation shaft . Each of the first and second rotation mechanisms has a fixing mechanism that fixes the same surface of the hand in a posture inclined with respect to a horizontal plane.
The article gripping apparatus according to claim 6 . The fixing mechanism is an air brake connected to a suction device that generates negative pressure on the suction pads of the plurality of suction support devices.
The article gripping apparatus according to claim 7 . A suction pad, an intake pipe that communicates with the suction pad and extends in the first direction and can be bent by elastic deformation; and passes through the intake pipe and passes the suction pad to one end along the first direction. connect, the suction pads have a, a support member movably and swingably supported in a direction crossing the first direction, the support member includes a first member having the suction pads connected to said one end The second member is rotatable with respect to the other end of the first member in the first direction via a first rotation shaft extending in a second direction orthogonal to the first direction and in the second direction. And an intermediate member having an insertion hole through which the intake pipe is inserted, and disposed on the other end side of the first member with the intermediate member interposed therebetween, and the first direction and the second direction, The intermediate member via a second rotating shaft extending in a third direction orthogonal to each other At least one suction support device for perforated and a second member which is slidably coupled to the pivotable and the third direction, the for,
An aircraft equipped with the suction support device;
Having a flying device.