JPH06335877A - Vacuum suction device - Google Patents
Vacuum suction deviceInfo
- Publication number
- JPH06335877A JPH06335877A JP5148697A JP14869793A JPH06335877A JP H06335877 A JPH06335877 A JP H06335877A JP 5148697 A JP5148697 A JP 5148697A JP 14869793 A JP14869793 A JP 14869793A JP H06335877 A JPH06335877 A JP H06335877A
- Authority
- JP
- Japan
- Prior art keywords
- suction
- elastic member
- support member
- ring
- vacuum
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
Description
【0001】[0001]
【産業上の利用分野】本発明は、真空吸着機構を用いて
吸着搬送する各種ハンドリング機構、脚に走査型吸盤を
用いた壁面歩行ロボット等において利用するのに適した
真空吸着装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vacuum suction device suitable for use in various handling mechanisms for sucking and transporting using a vacuum suction mechanism, a wall-walking robot using scanning suckers for legs, and the like. .
【0002】[0002]
【従来の技術】対象物の表面に真空吸着させる吸盤は、
全体を柔軟性ある碗状の吸着部材により構成し、あるい
は、図4に示すように、円板状の支持部材1の周辺部に
柔軟性のある吸着面圧接用の環状弾性部材2を備え、そ
の弾性部材2の内部を負圧供給用の真空ポンプに接続し
ている。2. Description of the Related Art Suckers that are vacuum-adsorbed on the surface of an object are
The whole is configured by a flexible bowl-shaped suction member, or, as shown in FIG. 4, a flexible annular elastic member 2 for pressure-contacting a suction surface is provided on the periphery of a disk-shaped support member 1. The inside of the elastic member 2 is connected to a vacuum pump for negative pressure supply.
【0003】このような吸盤は、対象面への吸着状態に
おいて、その吸盤を支持する支持部材1が吸盤の吸着面
3に対して一定の姿勢を保持し得ないのが通例である。
すなわち、同図において支持部材1に外力(モーメント
M)が作用すれば、弾性部材2の圧縮力作用側が部分的
に圧縮変形すると同時に、引張力作用側が部分的に伸長
し、支持部材1が吸着面3に対して鎖線のように傾斜す
ることになる。[0003] In such a suction cup, it is usual that the support member 1 supporting the suction cup cannot maintain a fixed posture with respect to the suction surface 3 of the suction cup in the suction state on the target surface.
That is, in the figure, when an external force (moment M) is applied to the support member 1, the compressive force acting side of the elastic member 2 is partially compressed and deformed, and at the same time, the tensile force acting side is partially extended and the support member 1 is attracted. The surface 3 is inclined like a chain line.
【0004】その結果、例えば、特開昭63−2219
84号公報に開示されているような走査型吸着盤(図4
の吸盤を使用)を用いて、図5に示すように、機体4上
の一対の脚5、6を交互に前方にくり出すように構成し
た壁面歩行ロボットにおいては、一方の脚5の壁面7に
対する吸着を解除し、他方の脚6のみを壁面7に吸着さ
せた状態で、上記一方の脚5を持ち上げて上位の壁面7
に吸着させようとしても、機体が常に吸盤の吸着面に対
して一定の姿勢を保持できず、現に吸着している脚6に
機体4の重量が作用して機体4が下方に傾斜するため、
上方に持ち上げた脚5における吸盤の吸着面が対象面に
接触できず、吸着困難になって歩行動作が不能になる。As a result, for example, JP-A-63-2219
No. 84, a scanning type suction plate (see FIG.
5, a pair of legs 5 and 6 on the machine body 4 are alternately protruded forward in a wall-walking robot, as shown in FIG. In the state where the suction of the other leg 6 is released and only the other leg 6 is attracted to the wall surface 7, the one leg 5 is lifted and the upper wall surface 7
However, even if it is attempted to adsorb to the suction cup, the machine body cannot always maintain a constant posture with respect to the suction surface of the suction cup, and the weight of the machine body 4 acts on the leg 6 that is currently adsorbed, and the machine body 4 tilts downward.
The suction surface of the suction cup of the leg 5 lifted upward cannot contact the target surface, and it becomes difficult to suction and the walking operation becomes impossible.
【0005】[0005]
【発明が解決しようとする課題】本発明の技術的課題
は、簡単な構造により吸盤自体の吸着特性を改善し、吸
盤の支持部材に外力が作用しても、弾性部材の変形によ
り支持部材が吸着面に対して傾斜することがなく、支持
部材が吸着面に対して常に所期の角度を保持して吸着さ
れるようにした真空吸着装置を得ることにある。SUMMARY OF THE INVENTION The technical problem of the present invention is to improve the suction characteristics of the suction cup itself with a simple structure, and even if an external force acts on the support member of the suction cup, the support member is deformed by the deformation of the elastic member. An object of the present invention is to obtain a vacuum suction device in which a support member is always held at a desired angle with respect to the suction surface without being inclined with respect to the suction surface and suction is performed.
【0006】[0006]
【課題を解決するための手段】上記課題を解決するため
の本発明の真空吸着装置は、対象物の表面に吸着する吸
盤を、支持部材の周辺部に柔軟性のある吸着面圧接用の
環状弾性部材を設け、且つその弾性部材内を真空源に接
続することにより構成し、上記弾性部材の内側に、その
弾性部材よりも吸着面側に突出しない吸着位置規制用の
硬質材料製のリングを配設したことを特徴とするもので
ある。上記吸着位置規制用の硬質材料製のリングは、寸
法、形状を異にするものと交換するために着脱自在にす
ることができる。SUMMARY OF THE INVENTION A vacuum suction device of the present invention for solving the above-mentioned problems is provided with a suction ring for sucking on the surface of an object, which has a flexible ring shape for press-contacting a suction surface around a supporting member. An elastic member is provided, and the inside of the elastic member is connected to a vacuum source. A ring made of a hard material for restricting the suction position that does not project to the suction surface side of the elastic member is formed inside the elastic member. It is characterized by being arranged. The ring made of a hard material for regulating the suction position can be made detachable in order to replace it with one having a different size and shape.
【0007】[0007]
【作用】上記構成を有する真空吸着装置は、弾性部材の
内側に吸着位置規制用のリングを配設しているため、弾
性部材の内側を吸引源に接続して負圧にしたとき、リン
グが対象面と支持部材との間に挟圧された状態になり、
支持部材に外力が作用しても、弾性部材の圧縮力作用側
がリングの存在によって圧縮変形することはなく、また
それに伴って引張力作用側も伸長が抑制され、支持部材
が吸着面に対して傾斜することはない。また、上記吸着
位置規制用のリングを、寸法、形状等を異にするものと
交換可能にし、吸着対象面に応じて最適なリングを用い
ると、吸盤の利用範囲、適用範囲を拡大することができ
る。In the vacuum suction device having the above structure, the ring for regulating the suction position is arranged inside the elastic member. Therefore, when the inside of the elastic member is connected to the suction source and a negative pressure is applied, the ring is It becomes a state of being pinched between the target surface and the support member,
Even if an external force acts on the support member, the compression force acting side of the elastic member is not compressed and deformed due to the presence of the ring, and along with that, the tension force acting side is also restrained from expanding, and the support member is attached to the suction surface. There is no inclination. Further, if the ring for controlling the suction position is exchangeable with a ring having a different size, shape, etc., and an optimum ring is used according to the surface to be sucked, the use range and application range of the suction cup can be expanded. it can.
【0008】[0008]
【実施例】図1及び図2は、本発明に係る真空吸着装置
の一実施例の構成を示している。この実施例において
は、壁面等の対象物表面に吸着する吸盤を、円板状の支
持部材11の周辺部にゴム等の柔軟性のある吸着面圧接
用の環状弾性部材12を気密に取付け、且つ支持部材1
1上においてその弾性部材12内に開く吸引口14を真
空源に接続することにより構成している。1 and 2 show the structure of an embodiment of a vacuum suction device according to the present invention. In this embodiment, a suction cup for adsorbing on the surface of an object such as a wall surface is attached to a peripheral portion of a disk-shaped support member 11 in an airtight manner by a flexible elastic ring 12 for adsorbing surface pressure contact such as rubber. And support member 1
The suction port 14 that opens in the elastic member 12 on the upper part of the first structure is connected to a vacuum source.
【0009】また、上記弾性部材12の内側には、その
弾性部材12よりも吸着面側に突出しない吸着位置規制
用の硬質材料製のリング15を、その弾性部材12の内
側に密接させて配設している。この吸着位置規制用のリ
ング15は、支持部材11と一体的に構成することもで
きるが、例えばプラスチック等により形成し、以下に説
明するような真空吸着装置の吸着対象面の種類、性状等
に対応して、寸法、形状などを異にするものを用意し、
それらを吸着対象面に応じて交換するために着脱自在に
することができる。Inside the elastic member 12, a ring 15 made of a hard material for restricting the suction position, which does not project to the suction surface side of the elastic member 12, is arranged in close contact with the inside of the elastic member 12. I have set up. The suction position regulating ring 15 may be formed integrally with the support member 11, but is formed of, for example, plastic or the like, and may have different types and properties of the suction target surface of the vacuum suction device as described below. Correspondingly, we prepare those with different dimensions and shapes,
They can be made removable so that they can be exchanged according to the surface to be attracted.
【0010】上記構成を有する真空吸着装置において
は、弾性部材12の内側に吸着位置規制用のリング15
を配設しているため、弾性部材12の内側を吸引源に接
続して負圧にしたとき、図2に示すように、リング15
が対象面と支持部材11との間に挟圧された状態にな
り、図4によって先に説明したように、支持部材11に
外力(モーメントM)が作用しても、弾性部材12の圧
縮力作用側がリング15の存在によって圧縮変形するこ
とはなく、またそれに伴って引張力作用側も伸長が抑制
され、支持部材11が吸着面13に対して傾斜すること
はない。In the vacuum suction device having the above construction, the ring 15 for regulating the suction position is provided inside the elastic member 12.
Since the inner side of the elastic member 12 is connected to the suction source to make a negative pressure, as shown in FIG.
Becomes a state of being clamped between the target surface and the support member 11, and as described above with reference to FIG. 4, even if an external force (moment M) acts on the support member 11, the compression force of the elastic member 12 is generated. The acting side is not compressed and deformed due to the presence of the ring 15, and the extension of the acting side of the pulling force is also suppressed accordingly, so that the support member 11 is not inclined with respect to the suction surface 13.
【0011】その結果、この真空吸着装置を用いて、図
5に示すような壁面歩行ロボットを構成し、一方の脚に
おける真空吸着装置のみを壁面に吸着させた状態で、他
方の脚を持ち上げて上位の壁面に吸着させようとする場
合においても、機体が常に吸盤の吸着面に対して一定の
姿勢を保持し、機体が下方に傾斜することはなく、その
ため、上方に持ち上げた脚における吸盤の吸着面が対象
面に接触して真空吸着し、容易に歩行動作を行えること
になる。また、本発明者の実験によれば、上記リング1
5により吸盤の気密性が上がって吸着力がアップするこ
とが確かめられている。As a result, a wall-walking robot as shown in FIG. 5 is constructed using this vacuum suction device, and the other leg is lifted while only the vacuum suction device of one leg is sucked onto the wall surface. Even when trying to adsorb to the upper wall, the machine always keeps a certain posture with respect to the suction surface of the suction cup, and the machine does not tilt downward. The suction surface comes into contact with the target surface and is vacuum-sucked, so that the walking motion can be easily performed. Further, according to an experiment by the present inventor, the ring 1
It has been confirmed that in No. 5, the airtightness of the suction cup is increased and the suction force is increased.
【0012】上記吸着位置規制用のリング15として
は、例えば、吸盤の吸着対象面がガラス等の平滑面であ
る場合には、そのリング15の幅を大きく、且つ対象面
に接触する面を粗面にし、ガラス等の対象面との間の摩
擦抵抗を大きくして滑りが生じないようにすることがで
きる。また、吸着対象壁面に凹凸がある場合には、リン
グ15として短いものを用いて、弾性部材12の突出量
を長くし、吸着対象面に対して弾性部材12を十分にな
じませるのが望ましい。As the ring 15 for controlling the suction position, for example, when the suction target surface of the suction cup is a smooth surface such as glass, the width of the ring 15 is large and the surface in contact with the target surface is rough. It is possible to increase the frictional resistance between the surface and the target surface such as glass so that slipping does not occur. Further, when the suction target wall surface has irregularities, it is desirable to use a short ring 15 to increase the protrusion amount of the elastic member 12 so that the elastic member 12 is sufficiently fitted to the suction target surface.
【0013】上記真空吸着装置の利用は、上述した壁面
歩行ロボットの脚に限らず、鉄板その他の各種製品の吸
着移送等のハンドリング機構における製品の把持にも有
効に適用することができる。また、特に、吸着対象に対
して支持部材を傾斜させて吸着させる必要がある場合に
は、図3に示すように、支持部材21及び弾性部材22
は上述した場合と同様に形成し、弾性部材22の内側に
配設する吸着位置規制用のリング25における対象面と
の接触面は傾斜させておけばよく、これによって支持部
材21を所期の姿勢で対象面に吸着させることが可能に
なる。The use of the vacuum suction device can be effectively applied not only to the legs of the wall-walking robot described above but also to gripping a product in a handling mechanism such as suction transfer of an iron plate or other various products. Further, in particular, when it is necessary to incline the support member with respect to the object to be adsorbed and to adsorb it, as shown in FIG. 3, the support member 21 and the elastic member 22 are used.
Is formed in the same manner as described above, and the contact surface of the ring 25 for regulating the suction position arranged inside the elastic member 22 with the target surface may be inclined, whereby the support member 21 can be formed as desired. It becomes possible to make it stick to the target surface in a posture.
【0014】[0014]
【発明の効果】以上に詳述した本発明の真空吸着装置に
よれば、吸盤内に吸着位置規制用のリングを設けるだけ
の非常に簡単な構成で、吸盤自体の吸着特性が著しく改
善され、吸盤の支持部材に外力が作用しても、弾性部材
の変形により支持部材が吸着面に対して傾斜することが
なく、支持部材を吸着面に対して常に所期の角度に保持
して吸着させることができる。また、上記吸着位置規制
用のリングを、寸法、形状等を異にするものと交換可能
にし、吸着対象面に応じて最適な形状、構造のリングを
用いることにより、吸盤の利用範囲、適用範囲を著しく
拡大することができる。According to the vacuum suction device of the present invention described in detail above, the suction characteristics of the suction cup itself are remarkably improved with a very simple structure in which a suction position regulating ring is provided in the suction cup. Even if an external force acts on the support member of the suction cup, the support member does not incline with respect to the suction surface due to the deformation of the elastic member, and the support member is always held at the desired angle with respect to the suction surface and sucked. be able to. Further, the suction position regulation ring can be replaced with a ring having a different size, shape, etc., and by using a ring having an optimum shape and structure according to the suction target surface, the suction cup usage range and application range Can be significantly expanded.
【図1】本発明の真空吸着装置の一実施例の構成を示す
断面図である。FIG. 1 is a cross-sectional view showing the configuration of an embodiment of a vacuum suction device of the present invention.
【図2】上記実施例の吸着状態を示す断面図である。FIG. 2 is a cross-sectional view showing a suction state of the above embodiment.
【図3】本発明の真空吸着装置の他の実施例の構成を示
す断面図である。FIG. 3 is a cross-sectional view showing the configuration of another embodiment of the vacuum suction device of the present invention.
【図4】従来の真空吸着装置の構成を示す断面図であ
る。FIG. 4 is a cross-sectional view showing the configuration of a conventional vacuum suction device.
【図5】図4の真空吸着装置を壁面歩行ロボットの脚に
用いた場合の動作状態を概略的に示す説明図である。5 is an explanatory diagram schematically showing an operating state when the vacuum suction device of FIG. 4 is used for a leg of a wall-walking robot.
11,21 支持部材、 12,22 弾性部材、 13 吸着面、 15,25 リング。 11, 21 Support member, 12, 22 Elastic member, 13 Adsorption surface, 15, 25 Ring.
Claims (2)
の周辺部に柔軟性のある吸着面圧接用の環状弾性部材を
設け、且つその弾性部材内を真空源に接続することによ
り構成し、 上記弾性部材の内側に、その弾性部材よりも吸着面側に
突出しない吸着位置規制用の硬質材料製のリングを配設
した、ことを特徴とする真空吸着装置。1. A suction cup for adsorbing to a surface of an object is provided by providing a flexible annular elastic member for pressure contact with an adsorbing surface on a peripheral portion of a supporting member, and connecting the inside of the elastic member to a vacuum source. The vacuum suction device is characterized in that a ring made of a hard material for restricting the suction position, which does not project to the suction surface side from the elastic member, is arranged inside the elastic member.
着脱自在にした、ことを特徴とする真空吸着装置。2. The vacuum suction device according to claim 1, wherein a ring made of a hard material for restricting the suction position is detachable for replacement.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP5148697A JPH06335877A (en) | 1993-05-27 | 1993-05-27 | Vacuum suction device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP5148697A JPH06335877A (en) | 1993-05-27 | 1993-05-27 | Vacuum suction device |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH06335877A true JPH06335877A (en) | 1994-12-06 |
Family
ID=15458580
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP5148697A Pending JPH06335877A (en) | 1993-05-27 | 1993-05-27 | Vacuum suction device |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH06335877A (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012183620A (en) * | 2011-03-07 | 2012-09-27 | Murata Machinery Ltd | Substrate transfer apparatus |
WO2016142981A1 (en) * | 2015-03-06 | 2016-09-15 | 株式会社日立製作所 | Work robot and gripper |
JP2021010985A (en) * | 2019-07-08 | 2021-02-04 | 株式会社日本ピスコ | Suction mechanism for mobile device |
CN113727817A (en) * | 2019-05-13 | 2021-11-30 | 欧姆龙株式会社 | Controller |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS637484B2 (en) * | 1980-11-17 | 1988-02-17 | Fujitsu Ten Ltd |
-
1993
- 1993-05-27 JP JP5148697A patent/JPH06335877A/en active Pending
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS637484B2 (en) * | 1980-11-17 | 1988-02-17 | Fujitsu Ten Ltd |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012183620A (en) * | 2011-03-07 | 2012-09-27 | Murata Machinery Ltd | Substrate transfer apparatus |
WO2016142981A1 (en) * | 2015-03-06 | 2016-09-15 | 株式会社日立製作所 | Work robot and gripper |
CN113727817A (en) * | 2019-05-13 | 2021-11-30 | 欧姆龙株式会社 | Controller |
CN113727817B (en) * | 2019-05-13 | 2024-05-28 | 欧姆龙株式会社 | Controller for controlling a power supply |
JP2021010985A (en) * | 2019-07-08 | 2021-02-04 | 株式会社日本ピスコ | Suction mechanism for mobile device |
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