JP6678027B2

JP6678027B2 - Parts holding nozzle

Info

Publication number: JP6678027B2
Application number: JP2015255369A
Authority: JP
Inventors: 一哉佐藤; 英明川上; 由貴熊崎
Original assignee: Ricoh Elemex Corp
Current assignee: Ricoh Elemex Corp
Priority date: 2015-12-25
Filing date: 2015-12-25
Publication date: 2020-04-08
Anticipated expiration: 2035-12-25
Also published as: JP2017113870A

Description

本発明は、部品保持ノズルに関する。 The present invention relates to a component holding nozzle.

従来、部品を吸着して保持する部品保持ノズルが知られている（例えば、特許文献１）。 2. Description of the Related Art Conventionally, a component holding nozzle that sucks and holds a component is known (for example, Patent Document 1).

特開平８−１５０５８６号公報JP-A-8-150586

この種の部品保持ノズルでは、例えば、部品の大きさ等によらず、部品をより確実に吸着することができる部品保持ノズルが得られれば、有意義である。 In this type of component holding nozzle, it is meaningful if a component holding nozzle capable of more reliably sucking the component can be obtained regardless of the size of the component.

本発明の部品保持ノズルは、それぞれの第一の先端部に開口端部が設けられ互いに前記開口端部の大きさが異なる複数のノズル部材を有し、隣接する二つの前記ノズル部材のうち前記開口端部の大きさが大きい第一の前記ノズル部材の内側に、当該二つの前記ノズル部材のうち前記開口端部の大きさが小さい第二の前記ノズル部材が収容され、前記第一のノズル部材の前記開口端部の周縁部と前記第二のノズル部材との間に隙間が生じた縮み状態と、前記第一のノズル部材の前記開口端部から前記第二のノズル部材の一部が突出した伸び状態と、に伸縮可能な伸縮部と、前記伸縮部を伸縮させる変更機構と、を備え、前記伸縮部の第二の先端部に位置された前記開口端部からの空気の吸い込みにより部品を保持する。前記第一のノズル部材は、前記開口端部が設けられていて前記第一の先端部に含まれた第一の壁部を有し、前記第二のノズル部材は、前記第一の壁部の内面と面した第二の壁部と、前記第二の壁部から前記第一の壁部側に突出した凸部と、を有し、前記第二のノズル部材の前記開口端部は、前記凸部に設けられており、前記縮み状態では、前記第一の壁部と前記第二の壁部とが離間していて、前記伸び状態では、前記第一の壁部に前記第二の壁部が重ねられているとともに前記凸部が前記第一のノズル部材の前記開口端部から突出している。 The component holding nozzle of the present invention has a plurality of nozzle members each having an opening end provided at a first tip end and having different sizes of the opening ends, and the two of the adjacent two nozzle members have the same size. Inside the first nozzle member having a large opening end portion, the second nozzle member having the small opening end portion of the two nozzle members is accommodated, and the first nozzle member is provided. A part of the second nozzle member from the opening end of the first nozzle member and a contracted state in which a gap is generated between the peripheral edge of the opening end of the member and the second nozzle member. A protruding stretched state, a telescopic part that can expand and contract, and a change mechanism that expands and contracts the telescopic part, and by sucking air from the opening end located at the second end of the telescopic part. Hold the parts. The first nozzle member has a first wall portion provided with the opening end portion and included in the first tip portion, and the second nozzle member includes the first wall portion. A second wall facing the inner surface of the second nozzle, and a protrusion protruding from the second wall toward the first wall, and the opening end of the second nozzle member is The first wall portion and the second wall portion are separated from each other in the contracted state, and the second wall portion is separated from the first wall portion in the extended state in the contracted state. The wall portion is overlapped and the convex portion protrudes from the opening end of the first nozzle member.

本発明によれば、部品をより確実に吸着することが可能な部品保持ノズルが得られる。 ADVANTAGE OF THE INVENTION According to this invention, the component holding nozzle which can adsorb a component more reliably is obtained.

図１は、第一の実施形態の部品保持ノズルが装着されたロボットアームの例示的な図である。FIG. 1 is an exemplary view of a robot arm on which the component holding nozzle according to the first embodiment is mounted. 図２は、第一の実施形態の部品保持ノズルの伸縮部の斜視図であって、伸び状態の伸縮部の斜視図である。FIG. 2 is a perspective view of the expansion and contraction portion of the component holding nozzle according to the first embodiment, and is a perspective view of the expansion and contraction portion in an extended state. 図３は、第一の実施形態の部品保持ノズルの伸縮部の斜視図であって、縮み状態の伸縮部の斜視図である。FIG. 3 is a perspective view of the expansion and contraction portion of the component holding nozzle according to the first embodiment, and is a perspective view of the expansion and contraction portion in a contracted state. 図４は、第一の実施形態の部品保持ノズルの伸縮部の一部の断面図であって、縮み状態の伸縮部の断面図である。FIG. 4 is a cross-sectional view of a part of the expansion and contraction portion of the component holding nozzle according to the first embodiment, and is a cross-sectional view of the expansion and contraction portion in a contracted state. 図５は、第一の実施形態の部品保持ノズルの伸縮部の一部の斜視図であって、伸び状態の伸縮部の一部の断面図である。FIG. 5 is a perspective view of a part of the expansion and contraction part of the component holding nozzle of the first embodiment, and is a cross-sectional view of a part of the expansion and contraction part in an extended state. 図６は、第一の実施形態の部品保持ノズルの伸縮部の一部の平面図であって、縮み状態の伸縮部の一部の平面図である。FIG. 6 is a plan view of a part of the expansion and contraction part of the component holding nozzle according to the first embodiment, and is a plan view of a part of the expansion and contraction part in a contracted state. 図７は、第一の実施形態の部品保持ノズルの伸縮部および変更機構の斜視図である。FIG. 7 is a perspective view of a telescopic portion and a change mechanism of the component holding nozzle according to the first embodiment. 図８は、第一の実施形態の部品保持ノズルの変更機構の一部の図である。FIG. 8 is a view of a part of the mechanism for changing the component holding nozzle according to the first embodiment. 図９は、第二の実施形態の部品保持ノズルの伸縮部の一部の断面図であって、縮み状態の伸縮部の断面図である。FIG. 9 is a cross-sectional view of a part of the expansion and contraction part of the component holding nozzle of the second embodiment, and is a cross-sectional view of the expansion and contraction part in a contracted state. 図１０は、第二の実施形態の部品保持ノズルの伸縮部の一部の斜視図であって、伸び状態の伸縮部の一部の断面図である。FIG. 10 is a perspective view of a part of the expansion and contraction part of the component holding nozzle of the second embodiment, and is a cross-sectional view of a part of the expansion and contraction part in an extended state. 図１１は、第二の実施形態の部品保持ノズルの介在部材の斜視図である。FIG. 11 is a perspective view of an interposed member of the component holding nozzle according to the second embodiment. 図１２は、第三の実施形態の部品保持ノズルの伸縮部の断面図である。FIG. 12 is a cross-sectional view of a telescopic portion of the component holding nozzle according to the third embodiment. 図１３は、第四の実施形態の部品保持ノズルの伸縮部の一部の断面図であって、縮み状態の伸縮部の断面図である。FIG. 13 is a cross-sectional view of a part of the expansion and contraction part of the component holding nozzle according to the fourth embodiment, and is a cross-sectional view of the expansion and contraction part in a contracted state. 図１４は、第四の実施形態の部品保持ノズルの伸縮部の一部の斜視図であって、伸び状態の伸縮部の一部の断面図である。FIG. 14 is a perspective view of a part of the expansion and contraction part of the component holding nozzle of the fourth embodiment, and is a cross-sectional view of a part of the expansion and contraction part in an extended state.

以下、本発明の例示的な実施形態が開示される。以下に示される実施形態の構成や制御、ならびに当該構成や制御によってもたらされる作用および結果（効果）は、一例である。本発明は、以下の実施形態に開示される構成や制御以外によっても実現可能であるとともに、基本的な構成や制御によって得られる種々の効果（派生的な効果も含む）を得ることが可能である。 Hereinafter, exemplary embodiments of the present invention will be disclosed. The configurations and controls of the embodiments described below, and the actions and results (effects) brought by the configurations and controls are examples. The present invention can be realized by means other than the configuration and control disclosed in the following embodiments, and can obtain various effects (including derivative effects) obtained by the basic configuration and control. is there.

また、以下の例示的な複数の実施形態には、同様の機能を有する構成要素が含まれている。同様の機能を有する構成要素には共通の符号が付されるとともに、重複する説明が省略される場合がある。 Further, the following exemplary embodiments include components having similar functions. Components having similar functions are denoted by common reference numerals, and duplicate description may be omitted.

＜第一の実施形態＞
図１に例示される部品保持ノズル１００の内部には、空気通路１０２（開口部、図２，３）が設けられている。部品保持ノズル１００の先端部１００ａには、当該空気通路１０２の開口端部１０２ａ（図２，３）が設けられている。部品保持ノズル１００は、開口端部１０２ａから内部の空気通路１０２に空気を吸い込むことにより、先端面１００ｂに接触した状態で部品Ｐを吸着し、吸着した状態を維持することにより部品Ｐを保持する。空気の吸い込みが停止されると、部品Ｐは先端部１００ａから解放される。すなわち、部品保持ノズル１００は、空気の吸い込みと吸い込みの停止とを切り替えることで、部品Ｐの保持状態と解放状態とを切り替えることができる。 <First embodiment>
An air passage 102 (opening, FIGS. 2 and 3) is provided inside the component holding nozzle 100 illustrated in FIG. An opening end 102a (FIGS. 2 and 3) of the air passage 102 is provided at a tip 100a of the component holding nozzle 100. The component holding nozzle 100 sucks the component P by sucking air from the open end 102a into the internal air passage 102 and contacts the tip surface 100b, and holds the component P by maintaining the sucked state. . When the suction of the air is stopped, the component P is released from the distal end portion 100a. That is, the component holding nozzle 100 can switch between the holding state and the release state of the component P by switching between the suction of the air and the stop of the suction.

部品保持ノズル１００は、例えば、ロボットアーム１０等の搬送機構に支持されうる。本実施形態では、ロボットアーム１０は、複数の回転軸Ａｘで互いに回転可能に接続された複数の可動部を含む変形自在なアームを備えており、アームの先端部で支持した部品保持ノズル１００の位置や、姿勢、角度等を変更することができる。よって、不図示の制御部によってロボットアーム１０と部品保持ノズル１００とを制御することにより、部品Ｐを運ぶことができる。すなわち、部品保持ノズル１００が始点位置で部品Ｐを吸着し、部品Ｐを保持した部品保持ノズル１００をロボットアーム１０が搬送することによって部品Ｐを移動し、部品保持ノズル１００が終点位置で部品Ｐを解放することによって、部品Ｐが始点位置から終点位置へ運ばれる。なお、搬送機構は、ロボットアーム１０には限定されず、種々の形態によって構成されうる。部品保持ノズル１００は、ハンドや、ロボットハンドとも称されうる。 The component holding nozzle 100 can be supported by a transfer mechanism such as the robot arm 10, for example. In the present embodiment, the robot arm 10 includes a deformable arm including a plurality of movable parts rotatably connected to each other with a plurality of rotation axes Ax. The position, posture, angle and the like can be changed. Therefore, the part P can be carried by controlling the robot arm 10 and the part holding nozzle 100 by a control unit (not shown). That is, the component holding nozzle 100 sucks the component P at the start position, moves the component P by transporting the component holding nozzle 100 holding the component P by the robot arm 10, and moves the component P at the end position. Is released, the component P is carried from the start position to the end position. Note that the transport mechanism is not limited to the robot arm 10 and can be configured in various forms. The component holding nozzle 100 can also be called a hand or a robot hand.

図１〜４に例示されるように、部品保持ノズル１００は、部品Ｐが収容された容器（不図示）等の深さに対応できるよう、Ｚ方向に延びた伸縮部２５を有している。伸縮部２５の先端部１００ａに、部品Ｐが吸着される。先端部１００ａは、部品保持ノズル１００および伸縮部２５のＺ方向の端部である。なお、Ｚ方向は軸方向とも称されうる。また、伸縮部２５は突出部とも称されうる。 As illustrated in FIGS. 1 to 4, the component holding nozzle 100 has a telescopic portion 25 extending in the Z direction so as to correspond to the depth of a container (not shown) or the like in which the component P is stored. . The component P is sucked to the tip end portion 100a of the expansion and contraction portion 25. The distal end portion 100a is an end portion in the Z direction of the component holding nozzle 100 and the extendable portion 25. Note that the Z direction may be referred to as an axial direction. In addition, the elastic portion 25 may be referred to as a protruding portion.

図１に例示されるように、部品保持ノズル１００は、吸引機構５０を備えている。吸引機構５０は、空気を吹き出すことによりその周辺に生じた負圧を利用してより流量の多い空気流を生じさせる。このような方式の吸引機構５０は、ジェットポンプとも称されうる。図２，３に示されるように、伸縮部２５には、空気通路１０２が設けられている。例えば、空気通路１０２には、空気を吹き出す吹出口（不図示）が設けられる。吹出口から空気が吹き出すと、吹き出した空気の流れによって生じた負圧により、空気通路１０２内に空気の流れＦｊが生じる。なお、ノズルの形状は適宜に調整されうる。吸引機構５０は、フレキシブルホース（高圧ホースなど）を介して部品保持ノズル１００の吹出口に空気を供給することによって、開口端部１０２ａから吸い込まれる空気流を生じさせる。よって、比較的コンパクトな構成によって、またエアの供給装置が設けられている設備においては比較的容易に、部品Ｐの吸着に必要な空気流を得ることができる。フレキシブルホースが届く範囲であれば、部品保持ノズル１００の位置や、姿勢、角度等によらず、吸引機構５０は、空気流を生じさせうる。 As illustrated in FIG. 1, the component holding nozzle 100 includes a suction mechanism 50. The suction mechanism 50 generates an airflow with a higher flow rate by using the negative pressure generated around the air by blowing the air. The suction mechanism 50 of this type may be referred to as a jet pump. As shown in FIGS. 2 and 3, an air passage 102 is provided in the telescopic portion 25. For example, an air outlet (not shown) for blowing air is provided in the air passage 102. When air is blown out from the outlet, a negative pressure generated by the flow of the blown air causes an air flow Fj in the air passage 102. Note that the shape of the nozzle can be appropriately adjusted. The suction mechanism 50 supplies air to the outlet of the component holding nozzle 100 via a flexible hose (such as a high-pressure hose) to generate an airflow sucked from the opening end 102a. Therefore, it is possible to relatively easily obtain the air flow required for the suction of the component P with a relatively compact configuration and in equipment provided with the air supply device. As long as the flexible hose can be reached, the suction mechanism 50 can generate an air flow regardless of the position, posture, angle, or the like of the component holding nozzle 100.

図２，３に示されるように、伸縮部２５は、複数（一例として、三つ）のノズル部材３０−１〜３０−３を有しており、これらのノズル部材３０−１〜３０−３が相対的に移動することで伸縮する。以後、ノズル部材３０−１〜３０−３の総称としてノズル部材３０を用いる場合もある。また、隣接する二つのノズル部材３０のうち、伸縮部２５の伸び状態で、空気通路１０２の空気の流れ方向で相対的に上流側（伸縮部２５の先端部側）に位置されるノズル部材３０をノズル部材３０Ｕとも称し、空気通路１０２の空気の流れ方向で相対的に下流側（伸縮部２５の先端部とは反対の基端部側）に位置されるノズル部材３０をノズル部材３０Ｄとも称する。 As shown in FIGS. 2 and 3, the expansion and contraction unit 25 has a plurality (three as an example) of nozzle members 30-1 to 30-3, and these nozzle members 30-1 to 30-3. Expands and contracts by relatively moving. Hereinafter, the nozzle member 30 may be used as a generic term for the nozzle members 30-1 to 30-3. In addition, of the two adjacent nozzle members 30, the nozzle member 30 that is located relatively upstream (the tip end side of the elastic portion 25) in the air flow direction of the air passage 102 in the extended state of the elastic portion 25. Is also referred to as a nozzle member 30U, and the nozzle member 30 located relatively downstream (the base end side opposite to the distal end of the telescopic portion 25) in the air flow direction of the air passage 102 is also referred to as a nozzle member 30D. .

複数のノズル部材３０は、相似形状に構成されていて、互いに大きさが異なる。ノズル部材３０は、下流側の基端部３０ｃから上流側の先端部３０ｂに向かうにつれて径が小さくなる円筒状である。つまり、ノズル部材３０の外形は、略円錐状である。ノズル部材３０の外周面３０ｇおよび内周面３０ｈは、基端部３０ｃから先端部３０ｂに向かうにつれて径が小さくなる円筒面状である。ノズル部材３０の筒内は、空気通路１０２に含まれる開口部３０ａである。先端部３０ｂは円形状に開放され、開口部３０ａの開口端部３０ｄが設けられている。また、基端部３０ｃは先端部３０ｂよりも大きな円形状に開放され、開口部３０ａの開口端部３０ｅが設けられている。開口端部３０ｄ，３０ｅは、複数のノズル部材３０において上流側のノズル部材３０になる程、大きさ（径）が小さくなっている。すなわち、複数のノズル部材３０の開口端部３０ｄ，３０ｅは、互いに大きさが異なる。先端部３０ｂは、第一の先端部の一例である。 The plurality of nozzle members 30 are configured in a similar shape, and have different sizes from each other. The nozzle member 30 has a cylindrical shape whose diameter decreases from the downstream base end portion 30c to the upstream end portion 30b. That is, the outer shape of the nozzle member 30 is substantially conical. The outer peripheral surface 30g and the inner peripheral surface 30h of the nozzle member 30 have a cylindrical shape whose diameter decreases from the base end portion 30c toward the distal end portion 30b. The inside of the cylinder of the nozzle member 30 is an opening 30 a included in the air passage 102. The tip 30b is opened in a circular shape, and an opening end 30d of the opening 30a is provided. Further, the base end portion 30c is opened in a circular shape larger than the distal end portion 30b, and an opening end portion 30e of the opening portion 30a is provided. The size (diameter) of the opening end portions 30d and 30e decreases as the number of the nozzle members 30 on the upstream side increases. That is, the opening ends 30d and 30e of the plurality of nozzle members 30 have different sizes from each other. The tip 30b is an example of a first tip.

図２，３に示されるように、相対的に大きいノズル部材３０の中に相対的に小さいノズル部材３０が開口端部３０ｄを介して進退可能に収容されている。隣接する二つのノズル部材３０のうち開口端部３０ｄの大きさが大きい第一のノズル部材３０（ノズル部材３０Ｕ、図４，５）の内側（開口部３０ａ）に、当該二つのノズル部材３０のうち開口端部３０ｄの大きさが小さい第二のノズル部材３０（ノズル部材３０Ｄ）が収容されている。そして、伸縮部２５は、第一のノズル部材３０の開口端部３０ｄの周縁部３０ｆと第二のノズル部材３０の外周面３０ｇとの間に隙間が生じた縮み状態（図３）と、第一のノズル部材３０の開口端部３０ｄから第二のノズル部材３０の一部が突出した伸び状態（図２）と、に伸縮可能となっている。第一のノズル部材３０の開口端部３０ｄの周縁部３０ｆと第二のノズル部材３０の外周面３０ｇとの第一のノズル部材３０の内周面間の隙間は、縮み状態に対して伸び状態の方が小さい。本実施形態では、伸び状態では、第一のノズル部材３０の内周面３０ｈに第二のノズル部材３０の外周面３０ｇが重なった状態（接触した状態）で、第一のノズル部材３０に第二のノズル部材３０が嵌っている。本実施形態では、ノズル部材３０−１とノズル部材３０−２とにおいては、ノズル部材３０−１が第一のノズル部材であり、ノズル部材３０−２が第二のノズル部材である。また、ノズル部材３０−２とノズル部材３０−３とにおいては、ノズル部材３０−２が第一のノズル部材であり、ノズル部材３０−３が第二のノズル部材である。 As shown in FIGS. 2 and 3, a relatively small nozzle member 30 is accommodated in a relatively large nozzle member 30 via an opening end 30d so as to be able to advance and retreat. The inside of the first nozzle member 30 (nozzle member 30U, FIGS. 4 and 5) in which the size of the opening end portion 30d is large among the two adjacent nozzle members 30 (the opening portion 30a) is provided. The second nozzle member 30 (nozzle member 30D) having the small opening end 30d is housed therein. The elastic portion 25 is in a contracted state (FIG. 3) in which a gap is formed between the peripheral edge portion 30f of the opening end portion 30d of the first nozzle member 30 and the outer peripheral surface 30g of the second nozzle member 30. The second nozzle member 30 can be expanded and contracted into an extended state (FIG. 2) in which a part of the second nozzle member 30 protrudes from the opening end 30 d of the one nozzle member 30. The gap between the inner peripheral surface of the first nozzle member 30 between the peripheral edge 30f of the opening end portion 30d of the first nozzle member 30 and the outer peripheral surface 30g of the second nozzle member 30 is in an extended state with respect to a contracted state. Is smaller. In the present embodiment, in the extended state, the outer peripheral surface 30g of the second nozzle member 30 overlaps the inner peripheral surface 30h of the first nozzle member 30 (contact state). The second nozzle member 30 is fitted. In the present embodiment, in the nozzle member 30-1 and the nozzle member 30-2, the nozzle member 30-1 is a first nozzle member, and the nozzle member 30-2 is a second nozzle member. In the nozzle member 30-2 and the nozzle member 30-3, the nozzle member 30-2 is a first nozzle member, and the nozzle member 30-3 is a second nozzle member.

伸縮部２５の縮み状態（図３）では、各ノズル部材３０−１〜３０−３の開口端部３０ｄが伸縮部２５の先端部２５ａに位置され、これらのノズル部材３０−１〜３０−３の開口端部３０ｄによって開口端部１０２ａが構成される。伸縮部２５の伸び状態（図３）では、最上流側（伸縮部２５の最も先端部側）のノズル部材３０−３の開口端部３０ｄだけが伸縮部２５の先端部２５ａに位置され、このノズル部材３０−３の開口端部３０ｄによって開口端部１０２ａが構成される。したがって、伸縮部２５の縮み状態（図３）よりも伸び状態の方が、開口端部１０２ａの大きさ（開口量）が小さい。すなわち、伸縮部２５の縮み状態と伸び状態とで開口端部１０２ａの大きさが異なる。よって、伸縮部２５の伸縮状態を変更させることにより開口端部１０２ａの大きさを変更することができる。部品保持ノズル１００は、伸縮部２５の先端部２５ａに位置された開口端部３０ｄからの空気の吸い込みにより部品Ｐを保持する。先端部２５ａは、第二の先端部の一例である。 In the contracted state of the expansion and contraction section 25 (FIG. 3), the opening end 30d of each of the nozzle members 30-1 to 30-3 is positioned at the distal end 25a of the expansion and contraction section 25, and these nozzle members 30-1 to 30-3 The opening end portion 102a is constituted by the opening end portion 30d. In the extended state of the elastic portion 25 (FIG. 3), only the opening end 30 d of the nozzle member 30-3 on the most upstream side (most distal end side of the elastic portion 25) is located at the distal end portion 25 a of the elastic portion 25. An opening end 102a is formed by the opening end 30d of the nozzle member 30-3. Therefore, the size (opening amount) of the opening end portion 102a is smaller in the extended state than in the contracted state (FIG. 3) of the elastic portion 25. That is, the size of the opening end 102a differs between the contracted state and the expanded state of the elastic part 25. Therefore, the size of the opening end 102a can be changed by changing the expansion / contraction state of the expansion / contraction part 25. The component holding nozzle 100 holds the component P by sucking air from the opening end 30 d located at the tip end 25 a of the expansion and contraction portion 25. The tip portion 25a is an example of a second tip portion.

また、図４〜６に示されるように、ノズル部材３０Ｄ（第一のノズル部材）には、伸縮部２５の伸縮方向（Ｚ方向）にノズル部材３０Ｕ（第二のノズル部材）を案内する案内部３０ｉが設けられている。案内部３０ｉは、内周面３０ｈに設けられており、伸縮部２５の伸縮方向に伸びている。案内部３０ｉには、伸縮部２５の伸縮方向に伸びた溝部３０ｊが設けられている。また、ノズル部材３０Ｄとノズル部材３０Ｕとの間には、介在部材３１が介在しており、この介在部材３１が溝部３０ｊに入れられている。介在部材３１は、板バネ（弾性部材）であり、一端部がノズル部材３０Ｕの外周面３０ｇに固定されている。案内部３０ｉは、溝部３０ｊに入れられた介在部材３１を伸縮部２５の伸縮方向に案内することによりノズル部材３０Ｄを伸縮部２５の伸縮方向に案内する。また、案内部３０ｉは、介在部材３１を介してノズル部材３０Ｕの回転を制限している。伸縮部２５の伸び状態では、介在部材３１は、溝部３０ｊを埋める。よって、伸縮部２５の伸び状態では、溝部３０ｊを介して空気が流れるのが抑制される。 As shown in FIGS. 4 to 6, the nozzle member 30 </ b> D (first nozzle member) has a guide that guides the nozzle member 30 </ b> U (second nozzle member) in the expansion and contraction direction (Z direction) of the expansion and contraction portion 25. The unit 30i is provided. The guide portion 30i is provided on the inner peripheral surface 30h, and extends in the direction of expansion and contraction of the expansion and contraction portion 25. The guide part 30i is provided with a groove part 30j extending in the expansion and contraction direction of the expansion and contraction part 25. Further, an intervening member 31 is interposed between the nozzle member 30D and the nozzle member 30U, and the intervening member 31 is inserted into the groove 30j. The intervening member 31 is a leaf spring (elastic member), and one end is fixed to the outer peripheral surface 30g of the nozzle member 30U. The guide part 30i guides the intervening member 31 inserted in the groove part 30j in the expansion and contraction direction of the expansion and contraction part 25, thereby guiding the nozzle member 30D in the expansion and contraction direction of the expansion and contraction part 25. Further, the guide portion 30i restricts the rotation of the nozzle member 30U via the intervening member 31. In the extended state of the elastic portion 25, the intervening member 31 fills the groove 30j. Therefore, in the stretched state of the elastic portion 25, the flow of air through the groove 30j is suppressed.

図７，８に示されるように、変更機構２６は、モータ４０と、ピニオン４１と、ラック４２と、を有している。モータ４１は、例えば、最も下流側（伸縮部２５の最も基端部側）のノズル部材３０−１に不図示の結合部材を介して結合されている。ピニオン４１は、モータ４０に結合されている。ラック４２は、最も上流側のノズル部材３０−３の基端部３０ｃに結合されて、当該ノズル部材３０−３と一体に移動する。また、ラック４２は、ピニオン４１と噛み合っている。モータ４０がピニオン４１を回転させることにより、ラック４２がノズル部材３０−３と一体に伸縮方向に移動する。モータ４０の回転方向に応じてノズル部材３０−３の移動方向が変わる。縮み方向に移動されたノズル部材３０−３は、ノズル部材３０−２内に収容されるとノズル部材３０−２に設けられた引掛部４３に当接する。これにより、ノズル部材３０−３とノズル部材３０−２とが一体となって移動する。そして、ノズル部材３０−２，３０−３がノズル部材３０−１に収容されると、ノズル部材３０−１に設けられたストッパ４４にノズル部材３０−２が当接して、ノズル部材３０−２，３０−３の移動が制限される。すなわち、ストッパ４４は、伸縮部２５の縮み状態でノズル部材３０Ｄに対するノズル部材３０Ｕの伸縮部２５の伸縮方向の位置決めを行う。以上のとおり、本実施形態では、単一のモータ４０によって、複数のノズル部材３０を移動させる。ストッパ４４は、位置決め部の一例である。 As shown in FIGS. 7 and 8, the change mechanism 26 has a motor 40, a pinion 41, and a rack 42. The motor 41 is, for example, coupled to the nozzle member 30-1 on the most downstream side (the most proximal end side of the telescopic part 25) via a coupling member (not shown). The pinion 41 is connected to the motor 40. The rack 42 is coupled to the base end portion 30c of the nozzle member 30-3 on the most upstream side, and moves integrally with the nozzle member 30-3. The rack 42 is engaged with the pinion 41. When the motor 40 rotates the pinion 41, the rack 42 moves integrally with the nozzle member 30-3 in the expansion and contraction direction. The moving direction of the nozzle member 30-3 changes according to the rotation direction of the motor 40. When the nozzle member 30-3 moved in the contracting direction is accommodated in the nozzle member 30-2, the nozzle member 30-3 comes into contact with the hook 43 provided on the nozzle member 30-2. Thereby, the nozzle member 30-3 and the nozzle member 30-2 move integrally. When the nozzle members 30-2 and 30-3 are accommodated in the nozzle member 30-1, the nozzle member 30-2 comes into contact with the stopper 44 provided on the nozzle member 30-1, and the nozzle member 30-2 , 30-3 are restricted. That is, the stopper 44 performs positioning of the expansion and contraction direction of the expansion and contraction portion 25 of the nozzle member 30U with respect to the nozzle member 30D in the contracted state of the expansion and contraction portion 25. As described above, in the present embodiment, the plurality of nozzle members 30 are moved by the single motor 40. The stopper 44 is an example of a positioning unit.

以上、説明したように、本実施形態の部品保持ノズル１００は、ノズル部材３０Ｄ（第一のノズル部材）の開口端部３０ｄの周縁部３０ｆとノズル部材３０Ｕ（第二のノズル部材）の外周面３０ｇとの間に隙間が生じた縮み状態と、ノズル部材３０Ｄの開口端部３０ｄからノズル部材３０Ｕの一部が突出した伸び状態と、に伸縮可能な伸縮部２５と、伸縮部２５を伸縮させる変更機構２６と、を備えている。よって、本実施形態によれば、例えば、変更機構２６によって伸縮部２５の伸縮状態を変更することにより、開口端部１０２ａの仕様（大きさや形状）を変更することができる。よって、例えば、開口端部１０２ａを、部品Ｐの仕様（大きさや形状）に応じた大きさに設定することができる。 As described above, the component holding nozzle 100 of the present embodiment includes the peripheral portion 30f of the opening end 30d of the nozzle member 30D (first nozzle member) and the outer peripheral surface of the nozzle member 30U (second nozzle member). The expansion / contraction part 25 and the expansion / contraction part 25 which can expand and contract to a contracted state in which a gap is formed between the nozzle member 30D and an extended state in which a part of the nozzle member 30U protrudes from the opening end 30d of the nozzle member 30D. A change mechanism 26. Therefore, according to the present embodiment, for example, the specification (size and shape) of the opening end portion 102a can be changed by changing the expansion and contraction state of the expansion and contraction portion 25 by the change mechanism 26. Therefore, for example, the opening end portion 102a can be set to a size according to the specification (size and shape) of the component P.

また、本実施形態では、ノズル部材３０は、先端部３０ｂに向かうにつれて径が小さくなっている。よって、伸縮部２５を延ばすことで伸縮部２５の先端部２５ａの径が小さくなるので、小さい部品Ｐを保持しやすい。 Further, in the present embodiment, the diameter of the nozzle member 30 decreases toward the distal end portion 30b. Therefore, since the diameter of the distal end portion 25a of the elastic portion 25 is reduced by extending the elastic portion 25, it is easy to hold a small component P.

また、本実施形態では、ノズル部材３０Ｄには、伸縮部２５の伸縮方向にノズル部材３０Ｕを案内する案内部３０ｉが設けられている。よって、伸縮部２５の伸縮を良好に行うことができる。 Further, in the present embodiment, the nozzle member 30D is provided with a guide portion 30i that guides the nozzle member 30U in the expansion and contraction direction of the expansion and contraction portion 25. Therefore, the expansion and contraction of the expansion and contraction portion 25 can be favorably performed.

また、本実施形態の部品保持ノズル１００は、開口端部３０ｄからの空気の吸い込みを生じる吸引機構５０を備えている。よって、本実施形態によれば、例えば、吸引機構５０が部品保持ノズル１００から離間して設けられた場合に比べて、より高い吸引力が得られやすい。 Further, the component holding nozzle 100 of the present embodiment includes a suction mechanism 50 that sucks air from the opening end 30d. Therefore, according to the present embodiment, for example, a higher suction force can be easily obtained than when the suction mechanism 50 is provided separately from the component holding nozzle 100.

＜第二の実施形態＞
図９〜１１に示されるように、本実施形態は、介在部材３１が第一の実施形態と主に異なる。本実施形態では、介在部材３１は、ノズル部材３０Ｕの外周面３０ｇに結合された弾性部３１ａと、弾性部３１ａに接続されて溝部３０ｊに入れられた球状の引掛部３１ｂと、を有している。弾性部３１ａは、例えばコイルバネやゴム部材等によって構成され、弾性的に伸縮可能である。また、溝部３０ｊには、凹面状の位置決め部３０ｍ，３０ｎが設けられている。位置決め部３０ｍの上流側に位置決め部３０ｎが設けられている。伸縮部２５の縮み状態（図９）では、引掛部３１ｂが位置決め部３０ｍに入れられて位置決め部３０ｍによって位置決めされている（移動の制限がなされている）。この状態から、変更機構２６によってノズル部材３０Ｕが上流側に移動されると、弾性部３１ａの圧縮変形を伴いながら引掛部３１ｂが位置決め部３０ｍから外れて、溝部３０ｊに沿って上流側に移動する。そして、引掛部３１ｂは、弾性部３１ａの復元変形によって位置決め部３０ｎに押し込まれて、位置決め部３０ｎに位置決めされる（移動の制限がなされる）。位置決め部３０ｎに引掛部３１ｂが位置された状態が、伸縮部２５の伸び状態である。 <Second embodiment>
As shown in FIGS. 9 to 11, in the present embodiment, an intervening member 31 is mainly different from the first embodiment. In the present embodiment, the interposition member 31 includes an elastic portion 31a coupled to the outer peripheral surface 30g of the nozzle member 30U, and a spherical hook portion 31b connected to the elastic portion 31a and inserted into the groove 30j. I have. The elastic portion 31a is made of, for example, a coil spring, a rubber member, or the like, and is elastically expandable and contractable. The groove 30j is provided with concave positioning portions 30m and 30n. A positioning section 30n is provided upstream of the positioning section 30m. In the contracted state of the elastic part 25 (FIG. 9), the hook part 31b is inserted into the positioning part 30m and is positioned by the positioning part 30m (the movement is restricted). When the nozzle member 30U is moved to the upstream side by the change mechanism 26 from this state, the hooking part 31b is disengaged from the positioning part 30m while being compressed and deformed by the elastic part 31a, and moves to the upstream side along the groove 30j. . Then, the hook portion 31b is pushed into the positioning portion 30n by the restoring deformation of the elastic portion 31a, and is positioned by the positioning portion 30n (the movement is restricted). The state where the hooking part 31b is located on the positioning part 30n is the state of extension of the elastic part 25.

以上の構成によれば、伸び状態と縮み状態とで、引掛部３１ｂが位置決めされることにより、ノズル部材３０Ｕが位置決めされるので、部品Ｐを保持する際にノズル部材３０Ｕが動くことを抑制しやすい。 According to the above configuration, the nozzle member 30U is positioned by positioning the hook portion 31b in the extended state and the contracted state, so that the nozzle member 30U is prevented from moving when holding the component P. Cheap.

＜第三の実施形態＞
図１２に示されるように、本実施形態は、伸縮部２５の伸び状態で、複数のノズル部材３０において伸縮部２５の先端部２５ａに向かうにつれて、ノズル部材３０の開口端部３０ｄの中心Ａｘ１が伸縮部２５の伸縮方向（Ｚ方向）と交差（一例として直交）する第一の方向（Ｘ方向）に移動されている。具体的には、複数のノズル部材３０−１〜３０−４の開口端部３０ｄの中心Ａｘ１−１〜Ａｘ１−４のうち、中心Ａｘ１−１を基準とした場合、中心Ａｘ−２〜Ａｘ１−４の順で中心Ａｘ１−１から第一の方向に離れている。よって、容器の隅に配置された部品Ｐも保持しやすい。 <Third embodiment>
As shown in FIG. 12, in the present embodiment, the center Ax1 of the opening end 30 d of the nozzle member 30 in the plurality of nozzle members 30 in the stretched state of the plurality of nozzle members 30 toward the distal end portion 25 a of the expansion member 25. It is moved in a first direction (X direction) that intersects (as an example, at right angles) the expansion and contraction direction (Z direction) of the expansion and contraction section 25. Specifically, among the centers Ax1-1 to Ax1-4 of the opening ends 30d of the plurality of nozzle members 30-1 to 30-4, when the center Ax1-1 is used as a reference, the centers Ax-2 to Ax1- 4 in the first direction from the center Ax1-1. Therefore, it is easy to hold the parts P arranged at the corners of the container.

＜第四の実施形態＞
図１３，１４に示されるように、本実施形態は、ノズル部材３０の形状が、第一の実施形態と主に異なる。本実施形態では、ノズル部材３０は、一例として、二つのノズル部材３０−１，３０−２を有している。ノズル部材３０−１は、第一のノズル部材の一例であり、ノズル部材３０−２は、第二のノズル部材の一例である。 <Fourth embodiment>
As shown in FIGS. 13 and 14, the present embodiment mainly differs from the first embodiment in the shape of the nozzle member 30. In the present embodiment, the nozzle member 30 has, for example, two nozzle members 30-1 and 30-2. The nozzle member 30-1 is an example of a first nozzle member, and the nozzle member 30-2 is an example of a second nozzle member.

ノズル部材３０−１は、筒部３０ｐと、筒部３０ｐの一端部に設けられた壁部３０ｑと、を有している。筒部３０ｐ内に、ノズル部材３０−２が収容されている。壁部３０ｑには、開口部３０ｑａ（貫通孔）が設けられており、この開口部３０ｑａに開口端部３０ｄが設けられている。壁部３０ｐは、ノズル部材３０−１の先端部３０ｂに含まれている。０壁部３０ｑは、第一の壁部の一例である。 The nozzle member 30-1 has a cylindrical part 30p and a wall part 30q provided at one end of the cylindrical part 30p. The nozzle member 30-2 is accommodated in the cylindrical portion 30p. An opening 30qa (through hole) is provided in the wall 30q, and an opening end 30d is provided in the opening 30qa. The wall 30p is included in the tip 30b of the nozzle member 30-1. The 0 wall 30q is an example of a first wall.

ノズル部材３０−２は、筒部３０ｒと、筒部３０ｒの一端部に設けられた壁部３０ｓと、壁部３０ｓから壁部３０ｑ側に突出した凸部３０ｔと、を有している。ノズル部材３０−２には、筒部３０ｒ、壁部３０ｓおよび凸部３０ｔを貫通した開口部３０ｕが設けられており、この開口部３０ｕの凸部３０ｔ（ノズル部材３０−２）の先端部３０ｂで開口した部分がノズル部材３０−２における開口端部３０ｄとなっている。壁部３０ｓは、第二の壁部の一例である。 The nozzle member 30-2 has a cylindrical part 30r, a wall part 30s provided at one end of the cylindrical part 30r, and a convex part 30t protruding from the wall part 30s toward the wall part 30q. The nozzle member 30-2 is provided with an opening 30u that penetrates the cylindrical portion 30r, the wall 30s, and the protrusion 30t, and the tip 30b of the protrusion 30t (nozzle member 30-2) of the opening 30u. The portion opened by the mark is the opening end 30d of the nozzle member 30-2. The wall 30s is an example of a second wall.

伸縮部２５の縮み状態（図１３）では、壁部３０ｑと壁部３０ｓとが離間しているとともに、ノズル部材３０−１の開口端部３０ｄの周縁部３０ｆとノズル部材３０−２との間に隙間が生じている。一方、伸縮部２５の縮み状態（図１４）では、壁部３０ｑに壁部３０ｓが重ねられているとともに凸部３０ｔがノズル部材３０−１の開口端部３０ｄから突出している。 In the contracted state of the elastic portion 25 (FIG. 13), the wall portion 30q and the wall portion 30s are separated from each other, and between the peripheral edge portion 30f of the opening end portion 30d of the nozzle member 30-1 and the nozzle member 30-2. There is a gap in On the other hand, in the contracted state of the elastic portion 25 (FIG. 14), the wall portion 30s is overlapped with the wall portion 30q, and the convex portion 30t protrudes from the opening end 30d of the nozzle member 30-1.

以上の構成によれば、第一の実施形態と同様に、例えば、変更機構２６によって伸縮部２５の伸縮状態を変更することにより、開口端部１０２ａの仕様（大きさや形状）を変更することができる。よって、例えば、開口端部１０２ａを、部品Ｐの仕様（大きさや形状）に応じた大きさに設定することができる。 According to the above configuration, similarly to the first embodiment, for example, the specification (size and shape) of the opening end portion 102a can be changed by changing the expansion / contraction state of the expansion / contraction portion 25 by the change mechanism 26. it can. Therefore, for example, the opening end portion 102a can be set to a size according to the specification (size and shape) of the component P.

なお、上記各実施形態で説明した部品保持ノズル１００のうち、吸引機構５０を、空気通路１０２に空気を吹き出す（吐き出す）吹出機構（吐出機構）に替えることにより、開口端部３０ｄから空気を吹き出す吹出装置（空気吹出装置）を構成することができる。すなわち、吹出装置は、部品保持ノズル１００のうち吸引機構５０以外の構成と、空気通路１０２に通じて設けられ空気通路１０２に空気を吹き出す吹出機構と、を備える。 In the component holding nozzle 100 described in each of the above embodiments, the suction mechanism 50 is replaced with a blowing mechanism (discharge mechanism) that blows (discharges) air into the air passage 102, thereby blowing air from the opening end 30d. A blowing device (air blowing device) can be configured. That is, the blowing device includes a configuration other than the suction mechanism 50 of the component holding nozzle 100, and a blowing mechanism that is provided through the air passage 102 and blows air into the air passage 102.

以上、本発明の実施形態を例示したが、上記実施形態は一例であって、発明の範囲を限定することは意図していない。これら実施形態は、その他の様々な形態で実施されることが可能であり、発明の要旨を逸脱しない範囲で、種々の省略、置き換え、組み合わせ、変更を行うことができる。これら実施形態は、発明の範囲や要旨に含まれるとともに、特許請求の範囲に記載された発明とその均等の範囲に含まれる。また、各実施形態や各変形例の構成や形状は、部分的に入れ替えて実施することも可能である。また、各構成や形状等のスペック（構造や、種類、方向、形状、大きさ、長さ、幅、厚さ、高さ、数、配置、位置、材質等）は、適宜に変更して実施することができる。 As mentioned above, although the embodiment of the present invention was illustrated, the above-mentioned embodiment is an example and is not intended to limit the scope of the invention. These embodiments can be implemented in other various forms, and various omissions, replacements, combinations, and changes can be made without departing from the spirit of the invention. These embodiments are included in the scope and gist of the invention, and are also included in the invention described in the claims and their equivalents. Further, the configuration and shape of each embodiment and each modified example can be partially replaced and implemented. In addition, the specifications (structure, type, direction, shape, size, length, width, thickness, height, number, arrangement, position, material, etc.) of each configuration and shape are appropriately changed and implemented. can do.

２５…伸縮部、２５ａ…先端部（第二の先端部）、２６…変更機構、３０，３０−１〜３０−４，３０Ｄ，３０Ｕ…ノズル部材、３０ｂ…先端部（第一の先端部）、３０ｄ…開口端部、３０ｉ…案内部、３０ｊ…溝部、３０ｍ，３０ｎ…位置決め部、３０ｑ…壁部（第一の壁部）、３０ｓ…壁部（第二の壁部）、３０ｔ…凸部、３１…介在部材、４４…ストッパ（位置決め部）、１００…部品保持ノズル、Ｐ…部品。 25 ... Expansion part, 25a ... Tip (second tip), 26 ... Change mechanism, 30, 30-1 to 30-4, 30D, 30U ... Nozzle member, 30b ... Tip (first tip) 30d: Open end, 30i: Guide, 30j: Groove, 30m, 30n: Positioning, 30q: Wall (first wall), 30s: Wall (second wall), 30t: Convex Part, 31 intervening member, 44 stopper (positioning part), 100 part holding nozzle, P part.

Claims

An opening end is provided at each first tip, and a plurality of nozzle members having different sizes of the opening end are provided, and the size of the opening end is larger among two adjacent nozzle members. Inside the first nozzle member, the second nozzle member of which the size of the opening end is smaller among the two nozzle members is housed, and the peripheral edge of the opening end of the first nozzle member. A contracted state in which a gap is formed between the first nozzle member and the second nozzle member, and an extended state in which a part of the second nozzle member protrudes from the opening end of the first nozzle member. A possible telescopic part,
A change mechanism that expands and contracts the expandable portion,
With
Holding the part by suction of air from the open end located at the second tip of the telescopic part ,
The first nozzle member has a first wall portion provided with the opening end portion and included in the first tip portion,
The second nozzle member has a second wall facing the inner surface of the first wall, and a protrusion protruding from the second wall toward the first wall. ,
The opening end of the second nozzle member is provided on the projection,
In the contracted state, the first wall portion and the second wall portion are separated from each other, and in the extended state, the second wall portion is overlapped with the first wall portion, and A component holding nozzle having a projection protruding from the opening end of the first nozzle member .

2. The component holding nozzle according to claim 1, wherein the first nozzle member is provided with a guide portion that guides the second nozzle member in a direction in which the expansion and contraction portion extends and contracts. 3.

An interposed member that is elastically deformed and interposed between the first nozzle member and the second nozzle member,
The guide portion is provided with a groove portion extending in the expansion and contraction direction,
The component holding nozzle according to claim 2 , wherein the intervening member is placed in the groove.

An opening end is provided at each first tip, and a plurality of nozzle members having different sizes of the opening end are provided, and the size of the opening end is larger among two adjacent nozzle members. Inside the first nozzle member, the second nozzle member having a smaller size of the opening end portion of the two nozzle members is housed, and a peripheral edge of the opening end portion of the first nozzle member. A contracted state in which a gap is formed between the first nozzle member and the second nozzle member, and an extended state in which a part of the second nozzle member protrudes from the opening end of the first nozzle member. A possible telescopic part,
A change mechanism that expands and contracts the expandable portion,
An interposed member that is elastically deformed by being interposed between the first nozzle member and the second nozzle member,
With
Holding the part by suction of air from the open end located at the second tip of the telescopic part,
The first nozzle member is provided with a guide portion for guiding the second nozzle member in the direction of expansion and contraction of the expansion and contraction portion,
The guide portion is provided with a groove portion extending in the expansion and contraction direction,
The interposition member is a component holding nozzle that is inserted into the groove.

The component holding nozzle according to any one of claims 2 to 4 , further comprising a positioning portion that positions the second nozzle member with respect to the first nozzle member in the expansion and contraction direction.

The component holding nozzle according to any one of claims 1 to 5 , further comprising a suction mechanism that sucks air from the open end.