JPH0760675A - Electrostatic attracting hand - Google Patents

Abstract

PURPOSE:To provide an electrostatic attracting hand which attracts a work and by which handling of the work is facilitated and the attracted work can be separated speedily from an attracting surface by using static electricity generated by DC high voltage power supply as an attracting source without using a structure of vacuum-suction. CONSTITUTION:An electrostatic attracting hand attracts and separates a work speedily by connecting a hand 23 composed of an electrostatic attracting head 14 by sandwiching an insulator sheet between a protective film and (+ and -) electrodes, a handling arm 4 though which a high voltage cable 5 passes penetratingly, an arm holder 3 and a protective cover 2 by DC high voltage electric power supply 7 or the DC high voltage electric power supply and a slide type transformer 27.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electrostatic adsorption hand suitable for handling a work having a minute shape or a small adsorption surface such as a ferrite head core, which is difficult to handle with a vacuum adsorption type hand.

[0002]

2. Description of the Related Art Conventionally, a suction hand used for handling a work is a vacuum suction type hand as shown in FIG. 5, in which a pipe 18 for drawing air and a nozzle 19 are fixed to an arm 20 by a nut 17. Then, the suction plate (suction hole) 15 is provided at the tip of the nozzle 19, and the negative pressure is utilized.
The workpiece 16 is sucked onto the suction plate 15 for handling.

However, in the case of a vacuum suction hand, the suction plate 1
No. 5 (suction hole) comes into contact with the flat surface of the work 16 and a large suction force is obtained only when the work 16 is completely blocked. For example, in the case of the work 21 shown in FIG. 3 having a recess such as the notch 22, the suction plate (suction hole) 15 is not completely closed by the flat surface of the work. In this case, there is a problem in that the suction force of the outside air is reduced and the suction force is reduced, so that the workpiece cannot be securely sucked.

Therefore, in order to reliably suck a flat surface of a minute work or a work having a complicated shape, it is necessary to make the suction plate (suction hole) very small to improve the positioning accuracy, and the notch is formed. In the case of a work with a small suction surface due to, etc., use a large number of suction plates (suction holes) and ball valve elements.
It is necessary to prevent the decrease in adsorption power. The mechanism for ensuring the suction in these vacuum suction hands requires high accuracy and has a complicated shape. Even with the vacuum suction hand having the above-described countermeasures, it is extremely difficult to collectively suck and handle a large number of workpieces having a small suction surface due to notches or the like.

[0005]

SUMMARY OF THE INVENTION Therefore, the object of the present invention is to carry out batch handling of workpieces which eliminates the above-mentioned precise and complicated mechanism in the vacuum suction type hand and which is extremely difficult to suck with the vacuum suction type hand. It is to provide an electrostatic adsorption hand having a mechanism capable of facilitating the adsorption of a work by using the static electricity generated by the application of DC high voltage as an adsorption source and quickly separating the adsorbed work from the adsorption surface. .

[0006]

In order to solve the above problems, the present invention is not an improved type of a vacuum suction hand that has been conventionally used for transporting a work, but an electrostatic source generated by applying a DC high voltage to the suction source. With a simple structure, it can easily adsorb a work that was difficult to handle in the past, and by performing analog control that gradually lowers the input voltage of the high voltage power supply with a slide transformer. Thus, it is possible to provide an electrostatic adsorption hand capable of more quickly separating the work.

According to the present invention, a sheet of insulating material between a hand and a protective film, which is composed of a handling arm through which a high-voltage cable penetrates, an arm holder, and a protective cover, is sandwiched between electrodes, and a high DC voltage is applied to the electrodes. An electrostatic adsorption hand is obtained which is characterized in that one or a large number of works are attracted by utilizing the static electricity generated by applying.

According to the present invention, static electricity obtained by applying a high DC voltage to a sheet of an insulator in the above electrostatic adsorption hand is gradually reduced by using a slide type transformer. An electrostatic adsorption hand is obtained which is characterized by removing the charge and separating the adsorbed work.

[0009]

In the present invention, by using static electricity as the adsorption source, the adsorption force extends over almost the entire adsorption surface, so that the workpiece can be easily adsorbed without selecting the shape of the workpiece unlike the vacuum adsorption hand. . Also, the structure of the hand itself becomes simple.

In the electrostatic adsorption hand, the work can be separated after the work is adsorbed quickly without changing the power supply section without using a special electrostatic removing device. Therefore, the work can be easily separated and picked efficiently. You can handle and press and so on.

[0011]

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

(Embodiment 1) FIG. 1 (a) shows an explanatory view which constitutes an electrostatic adsorption hand according to the present invention, and FIG. 2 shows a perspective view in which each portion of the adsorption head portion is developed. As shown in FIG. 2, the electrostatic adsorption hand of the present invention has a handling arm 4, an arm holder 3, and a protective cover 2.
1 (a), the hand 23 having the high voltage cable 5 penetrating the handling arm, the + electrode 11, the − electrode 12, the insulating sheet 1, and the electrostatic attraction head 14 having the protective film 13. The high voltage cable 5 is connected to the DC high voltage power supply 7 as shown in FIG. In the electrostatic adsorption hand of the present invention, a high voltage is applied to the insulator sheet 1 by switching on the DC high-voltage power supply 7 at the time of adsorbing the work, and the generated static electricity is used to adsorb the work to separate the work from the adsorption surface. When this is done, digital control is taken to stop the application of high voltage by switching off the DC high power supply. In FIG. 2, the electrostatic adsorption head 14 includes a + electrode 11, an insulator sheet 1, a − electrode 12 grounded by a ground wire 6, and a protective film 13. And-is sandwiched between electrodes 12. Since a high DC voltage is applied to the + electrode 11 via the high voltage cable 5, the + electrode 11 is covered with a non-conductive protective cover 2 for safety.
Each component of the electrostatic attraction head 14 is adhered by an ultrathin adhesive tape. The electrode 12 is cut in a comb shape and is grounded by the ground wire 6. -A protective film 13 for protecting the electrode is attached to the adsorption surface side of the electrode 12. The arm holder 3 and the handling arm 4 are attached to the protective cover 2. According to the above-described configuration, when the suction surface is brought close to a plurality of works 9 as shown in FIG. 1 and a high DC voltage is applied to the + electrode 11, all the works are attracted to the suction surface. At this time, the work holding table 10 on which the work is set is made non-conductive. The attraction force of the electrostatic attraction hand increases as the thickness of the insulator sheet decreases and the voltage increases.

(Embodiment 2) FIG. 1B is an explanatory view showing another electrostatic adsorption hand of the present invention. In FIG. 1B, in the electrostatic adsorption hand of the first embodiment, instead of digitally controlling the removal of the high voltage applied to the insulator by switching off, the input voltage of the high voltage power supply is changed by the slide type transformer 27. This is an analog control for gradually lowering. High voltage cable 5 connected to DC high voltage power supply 7
A + DC high voltage is applied to the insulating sheet of the electrostatic attraction head 14 via the. Further, the input side AC voltage of the DC high voltage power supply 7 can be increased or decreased by the slide type transformer 27,
The DC high voltage on the output side can be adjusted. Electrostatic adsorption head 14
When attracting the work 9, the electrostatic attraction head 14 is brought into contact with the work 9 and then the input side AC voltage of the DC high-voltage power supply 7 is increased by the motor 25 attached to the voltage adjusting knob 26 of the slide transformer 27. Let A direct current high voltage corresponding to an increase in the input voltage is output, a high voltage is applied to the insulator sheet 1, static electricity is generated in the electrostatic attraction head 14, and the work 9 is attracted. In the embodiment, the applied voltage is gradually increased (analog control) as described above during adsorption, but there is no problem even when the applied voltage is not gradually increased (analog control) during adsorption. After the handling, when the work is separated, the input side AC voltage of the DC high voltage power supply 7 is dropped by the motor 25 attached to the voltage adjusting knob 26 of the slide type transformer 27. The high voltage applied to the insulator sheet 1 is smoothly removed, and the adsorbed work is quickly separated. After the ferrite core, which is the work used in this example, was attracted by the static electricity generated by the application of the high DC voltage to the electrostatic attraction hand, the applied voltage was removed, and the separation state of the work from the attraction surface was investigated. The conditions for work separation after electrostatic attraction are as follows. Workpiece: Ferrite core (shield ring press body) Weight 0.0795 gf / piece Number of works used: 25 pieces Applied voltage: 3.5 KV Application time: 10 seconds The result is as shown in FIG. In the case of removal, out of the 25 adsorbed works, only 7 were separated from the adsorbed surface immediately after the voltage was removed, and thereafter the works remained held until 10 minutes after the investigation. When the voltage was removed by digital control and a slight amount of ion air that did not blow the work was blown onto the adsorption surface, the work gradually separated, and after 3 minutes, all the work separated. In the case of voltage removal by analog control according to the present invention, all the works were separated immediately after the voltage removal.

[0014]

As described above, the electrostatic adsorption hand according to the present invention does not require a highly accurate positioning mechanism or other complicated mechanism unlike the vacuum adsorption type hand in the first embodiment. Further, the work can be easily adsorbed without selecting the shape of the work. Further, according to the conventional hand, in the case of a work made of powder metallurgy such as a ferrite core, the vacuum suction hand has a bad influence such as the suction plate (suction hole) being clogged with powder, and maintenance is difficult, but electrostatic suction is difficult. All you have to do is wipe the suction surface with your hand. Further, in Example 2, the suction hand of the present invention can quickly separate the workpiece after suction. In addition, since the applied voltage of the suction hand of the present invention can be adjusted, static electricity (suction force) can be adjusted.

[Brief description of drawings]

1A and 1B are explanatory views constituting an electrostatic adsorption hand according to the present invention, FIG. 1A is an explanatory view illustrating an electrostatic adsorption hand of the present invention according to a first embodiment, and FIG. Explanatory drawing explaining the electrostatic attraction hand of this invention of Example 2. FIG.

FIG. 2 is a perspective view in which each part of the suction head unit is developed.

FIG. 3 is a perspective view of a work (an example) which is a target of the present invention.

FIG. 4 is a diagram showing a time required to remove the applied voltage after the work is attracted and to separate the work from the attraction surface.

FIG. 5 is a side view of a conventional vacuum suction type hand.

[Explanation of symbols]

 1 Insulator Sheet 2 Protective Cover 3 Arm Holder 4 Handling Arm 5 High Voltage Cable 6 Ground Wire 7 DC High Voltage Power Supply 8 Input Code 9 Workpiece 10 Workholding Stand 11 + Electrode 12-Electrode 13 Protective Film 14 Electrostatic Adhesion Head 15 Adsorption Board ( Adsorption hole) 16 Work 17 Nut 18 Pipe 19 Nozzle 20 Arm 21 Work 22 Notch 23 Hand 24 Input coupler 25 Motor 26 Voltage adjustment knob 27 Sliding transformer

Claims (2)

[Claims] 1. A sheet of an insulator between a hand and a protective film, which comprises a handling arm, an arm holder, and a protective cover, through which a high-voltage cable passes, is sandwiched between electrodes, and a high DC voltage is applied to the electrodes. An electrostatic adsorption hand characterized by adsorbing one or a large number of works by utilizing the static electricity generated by this. 2. The electrostatic adsorption hand according to claim 1, wherein static electricity obtained by applying a high DC voltage to the sheet of the insulator is gradually reduced by using a slide type transformer. The electrostatic adsorption hand is characterized in that the electrostatically adsorbed work is separated by the means to separate the adsorbed work.