JPH0386488A - Suction device - Google Patents

Abstract

PURPOSE:To surely suck a member whose surface smoothness is not enough by forming a vacuum chamber respectively by each cell of a honeycomb core member. CONSTITUTION:One part of the face of the opening faces of the cells of a honeycomb core member 50 consisting of the aggregate of a lot of independent hollow and hexagonal columnar cells and the peripheral edge part of the honeycomb core member 50 are covered by a cover 45. This cover 45 internal part is then communicated to a vacuum source to hold a member of low flatness. In this case, since other cells cover even in the case of the adhesion with the end of the cell of one part and the member to be held being spoiled, a sufficient vacuum suction force can be maintained as the honeycomb core member 50 whole body.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a suction device that is attached to the tip of an arm of a robot or the like and grips a member using a vacuum.

[Prior Art] When transferring flat parts, devices are used that suck the parts using vacuum.

The device shown in FIG. 6 is a conventional example, in which a plate member 120 is swingably supported via a spring 115 at the tip of an arm 110 operated by a main body 100 of the transport device.
Attach the suction pad 130 to. The suction pad 130 is
A hemispherical object made of flexible material such as rubber.
Its interior communicates with a vacuum source via pipe 135. In use, when the suction pad 130 is pressed against the surface of a flat member and a negative pressure is created inside, the suction pad 130 is suctioned to the member by the vacuum effect. In this state, arm 11
0 to transfer the member.

[Problem to be solved by the invention]

In the conventional suction pad mentioned above, the entire pad has 1
It forms a separate vacuum chamber. Since pads are made of materials such as rubber, their peripheral edges are prone to wear and damage. If a leak occurs between the member and the surface of the member at even one point on the periphery, the suction force will rapidly decrease, resulting in problems such as the member being transferred falling.

Furthermore, since the shape of the pad is specified, the surface of the member to be transferred is limited to a flat and smooth surface. If a special pad is used, it is possible to handle components with a surface with a large radius of curvature, such as a cathode ray tube, but it is not possible to adsorb components such as round bars.

Therefore, the present invention can adsorb members with low surface smoothness,
Furthermore, the present invention provides a suction device that can be applied to members having surfaces with a small radius of curvature.

[Means for Solving the Problems] In order to solve the above problems, the adsorption device of the present invention includes a honeycomb core member consisting of an aggregate of a large number of independent hollow hexagonal columnar cells, and cells of the honeycomb core member. basically includes a cover that covers one of the opening surfaces of the honeycomb core member and the peripheral edge of the honeycomb core member, and a means for communicating the inside of the cover with a vacuum source, and further includes a cover that covers one side of the opening surface of the honeycomb core member and a means for communicating the inside of the cover with a vacuum source. It has a configuration in which the surface is formed into a shape that adapts to the surface shape of the gripped member.

[Function] Since the vacuum suction device is constituted by a large number of independent cells, it is possible to grip members with low flatness, and furthermore, it is possible to grip bar materials and the like.

〔Example〕

Hereinafter, the present invention will be described in detail based on the drawings.

FIG. 1 shows the planar shape of a honeycomb core member used in the present invention.

Although various materials and manufacturing methods for honeycomb core members have been proposed, lightweight honeycomb core members made of aluminum foil, paper, aramid fiber, etc. are manufactured by the following method. First, a paper-like material is processed into ribbons, and the ribbons are polymerized and arranged in the direction indicated by the symbol. At this time, adjacent ribbons are alternately bonded with adhesive along the direction indicated by the reference numeral 10, as indicated by the reference numeral 10. Next, a large number of bonded ribbons are stretched in the direction shown by arrow W.

As a result of this stretching, adjacent ribbons in the non-bonded portions are opened to form cells 20.

In this state, the resin contained in the material is cured to fix the shape, thereby obtaining a honeycomb core member.

The honeycomb core member manufactured in this way was measured in the thickness direction (
A honeycomb panel or the like is manufactured by slicing it into appropriate dimensions in the direction (perpendicular to the plane of the paper in Fig. 1) and gluing plate materials to the top and bottom surfaces. Honeycomb panels are lightweight and strong, and can be used as flooring materials for vehicles.
It is used as a building material and an aircraft component.

Hexagonal cells 20 as one of the specifications of the honeycomb core member
The width dimension 25 is taken and displayed as the cell size.

The present invention constructs an adsorption device by utilizing the characteristics of a honeycomb core member formed by a large number of independent cells.

Figures 2 to 4 show an embodiment of the adsorption device.
A suction device, generally designated by the reference numeral 40, includes a robot arm 30.
It can be attached to the tip of the The suction device 40 includes a cup-shaped cover 45 and a block-shaped honeycomb core member 50 disposed within the cover 45 , and a spacer 55 is inserted between the honeycomb core member 50 and the cover 45 . This spacer 55 forms a vacuum chamber 60 between the ceiling plate 46 of the cover 45 and the upper surface 52 of the honeycomb core member 50, and also forms a vacuum chamber 60 between the periphery of the honeycomb core member 50 and the peripheral wall 4 of the cover 45.
Achieve a seal between 7 and 7.

A mounting plate 62 for attaching to a robot arm or the like is provided at the center of the ceiling plate 46 of the cover 45, and the vibro 5 communicating with a vacuum source is connected through a six 68 at the center.

3 and 4 are a plan view and a partially sectional front view of the suction device 40. FIG.

Next, experimental results of the adsorption device of the present invention will be shown.

Characteristics of the honeycomb core member 50, Material: Aramid fiber Specifications: Cell size 25 = 3 mm (1/8 inch) Dimensions: Length in the ribbon direction L = 300 mm Length in the direction perpendicular to the ribbon direction W = 200 mm Thickness T = 20 A honeycomb core member 50 with characteristics of 58 grams or more is attached to the cup 45, and a smooth panel 70 is adsorbed to generate a power of 1190 mmA.
When a vacuum pressure of g was applied, results of desorption tensile force = 65 kg and desorption shear force - 30 kg were obtained.

The above experiments proved that the adsorption device using the honeycomb core portion of the present invention has the ability to obtain sufficient adsorption force.

Since the honeycomb core member used in this adsorption device functions as an assembly of a number of independent hollow hexagonal columnar vacuum chambers, this characteristic can be used to apply to members in the form of flat plates.

FIG. 5 shows a suction device configured to grip a round bar-shaped member 75, with a recess 85 corresponding to the gripping member 75 in the center of a honeycomb core member 80 attached to the cover 45.
form. and (d) recess 8 of the nicham core member 80.
The lower surface portion 90 other than 5 is sealed with an appropriate member. The mounting plate 62 is fixed to the upper surface of the cover 45 and communicated with the vacuum source through the hole 68, as in the previous embodiment.

By using this suction device, even members such as round bars that are difficult to grip with conventional vacuum suction pads can be vacuum suctioned.

In the above embodiments, a case has been described in which the suction device of the present invention is applied to a gripping device for a transfer device, but the suction surface of the suction device may be disposed upward to constitute a fixing device. This fixing device grips the lower surface of the component and accomplishes operations such as processing the upper surface of the component.

[Effects of the Invention] As described above, the present invention focuses on the fact that a honeycomb core member used as a core material of a honeycomb panel etc. is formed by an aggregate of a large number of independent hollow hexagonal columnar cells, This honeycomb core member constitutes an adsorption device that serves as a vacuum chamber.

Each cell of the honeycomb core member forms a vacuum chamber, so even if the closeness between the end of some cells and the surface of the member to be gripped is impaired, other cells will cover the entire honeycomb core member. As such, sufficient vacuum adsorption force can be maintained.

Therefore, it is possible to suction a member whose surface is not sufficiently smooth, and furthermore, it is possible to suction a member whose suction surface has a curvature, such as a round bar.

Furthermore, by using materials such as aramid fibers, it is possible to obtain a lightweight and high-strength honeycomb core member, which allows the suction device to be attached to the tip of the robot arm to be lightweight. .

[Brief explanation of drawings]

FIG. 1 is a plan view showing the shape of the cells of the honeycomb core member used in the present invention, FIG. 2 is an explanatory view showing an embodiment of the present invention, FIG. 3 is a plan view of the adsorption device, and FIG. FIG. 5 is a perspective view showing another embodiment of the present invention, and FIG. 6 is a perspective view showing a conventional device. 40...Adsorption device 5...Cover O...Honeycomb core member O...Vacuum chamber 0...Panel material 5...・Bar material O・・・Honeycomb core member

Claims (1)

[Claims] 1. A hollow pad that is in close contact with the surface of the member to be gripped;
An adsorption device in which the inside of a pad is connected to a vacuum source includes a honeycomb core member consisting of an aggregate of a large number of independent hollow hexagonal columnar cells, one surface of the opening surface of the cells of the honeycomb core member, and the honeycomb core. A suction device comprising: a cover that covers the peripheral edge of a member; and means for communicating the inside of the cover with a vacuum source. 2. The suction device according to claim 1, wherein the surface of the honeycomb core member that comes into contact with the gripped member is formed into a shape that adapts to the surface shape of the gripped member.