JPH10146783A - High responsiveness vacuum hand - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce capacity deterioration even piping from a suction hand to a vacuum pump is set to a small diameter for shortening action time. SOLUTION: In a vacuum hand, a suction selector valve 2 provided on a suction had 1, a filter 5 installed out side a robot, an open air introducing value 6, and a vacuum pump 8 are connected to each other through piping 4, so that suction changing valve 2 and the open air introducing valve 6 are changed to an air discharge position for sucking a workpiece 9 by the hand 1, and changed to an open air release position for releasing the workpiece 9 from the suction hand 1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a high-responsive vacuum hand. For details, see Logistics, Palletizing,
The present invention relates to a suction hand using a vacuum pump for a depalletizing robot.

[0002]

2. Description of the Related Art FIG. As shown in the figure, the suction hand (pad) 01 is a vacuum switch VS1.
And is connected to a filter 03 via a hose 02, and further connected to a vacuum pump 06 via an adsorption switching valve 04 and a vacuum regulating valve 05.

[0003] The suction switching valve 04 switches between an exhaust position where exhaust from the suction pad 01 to the vacuum pump 06 is possible and a stop position where exhaust from the suction hand 01 to the vacuum pump 06 is disabled. Operated by high pressure air.

[0004] A destruction valve 07 is provided in parallel with the filter 03.
The release valve 07 is connected to a supply position at which high-pressure air can be supplied to the suction hand 01 and the suction hand 0
1 is switched to a stop position where supply of high-pressure air is disabled.

Therefore, when performing suction of the work (bag) 08, as shown in FIG. 2, the suction switching valve 04 is switched to the exhaust position, the destruction valve 07 is switched to the stop position, and the suction hand 01 is moved to the work 08. , And it is confirmed that the vacuum switch VS1 has become equal to or lower than a certain set pressure and is turned on, and then the transfer is performed.

When the work 08 is released, the suction switching valve 04 is switched to the stop position and the breaking valve 07 is released.
Are simultaneously switched to the supply position, the pressure in the suction hand 01 is increased, and the work 08 is released.

[0007]

In a suction hand using a vacuum pump (vacuum pump), a vacuum pump 06,
Since the filter 03 and the like are large and heavy, they cannot be attached to the wrist or the like of the robot, and are installed outside the robot.

Therefore, the length of the pipe (hose) from the vacuum pump 06 to the suction hand 01 is long, and the diameter of the pipe is large in order to prevent a decrease in performance due to pressure loss. Further, a large filter 03 is used.

Therefore, in the prior art, the adsorption switching valve 0
It is necessary to increase the vacuum pressure in all parts before the step 4, and it takes a long time before the adsorption. Also, when releasing, similarly, it is necessary to increase the pressure in the portion ahead of the adsorption switching valve 04, which takes time.

[0010]

According to a first aspect of the present invention, there is provided a high-responsive vacuum hand which achieves the above object, a suction switching valve provided in the suction hand, a filter installed outside the robot, and air introduction. A valve and a vacuum pump are connected via a pipe, the suction switching valve and the atmosphere introduction valve are switched to an exhaust position, the work is sucked by the suction hand, and the suction switching valve is switched to an atmosphere opening position, The work is separated from the suction hand.

According to a second aspect of the present invention, there is provided a highly responsive vacuum hand according to the first aspect of the present invention, wherein the air introduction valve is set to the exhaust position before the suction switching valve is switched to the exhaust position. It is characterized in that the pressure in the piping is switched to a vacuum pressure.

According to a third aspect of the present invention, there is provided a highly responsive vacuum hand according to the first or second aspect of the present invention, wherein the suction hand includes a touch for detecting that the suction hand has contacted the work. Equipped with sensors,
The suction switching valve and the air introduction valve are switched to an exhaust position according to a detection signal of the touch sensor.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the drawings. FIG. 1 shows a highly responsive vacuum hand according to one embodiment of the present invention. As shown in the figure, the suction hand (pad) 1 is a vacuum switch V
S1 is provided with an adsorption switching valve 2 and a touch sensor 3, is connected to a filter 5 via a hose 4, and is further connected to a vacuum pump 8 via an air introduction valve 6 and a vacuum control valve 7.

The atmosphere introducing valve 6, the vacuum regulating valve 7, and the vacuum pump 8 are installed outside the robot. Adsorption switching valve 2
Switches between an exhaust position at which exhaust from the suction pad 1 to the vacuum pump 08 can be performed and an atmospheric release position at which air can be released to the atmosphere, and is operated by high-pressure air.

The air introduction valve 6 is for switching between an exhaust position at which air can be exhausted from the suction pad 1 to the vacuum pump 08 and an atmosphere open position at which air can be released to the atmosphere. Operate.

The high-responsive vacuum hand having the above-described configuration functions as follows. When the work (bag) 9 is to be adsorbed, the vacuum pressure inside the pipe (such as a hose) is increased by switching the air introduction valve 6 to the exhaust position in advance,
Then, the suction hand 1 is moved closer to the work 9, and at the moment when the touch sensor 3 is turned on, that is, at the moment when the pad comes into contact with the work 9, the suction switching valve 2 is switched to the exhaust position, and suction is started.

At this time, the vacuum switch VS1 is immediately turned on since the vacuum pressure has already risen inside the piping and the like. After confirming that the vacuum switch VS1 is turned on, the transfer is performed. When the work 9 is released, the suction switching valve 2 is switched to the atmosphere opening position, the inside of the suction hand 1 is set to the atmospheric pressure, and the work 9 is released.

At the same time, the atmosphere release valve 6 is switched to the atmosphere release position to cause the vacuum pump 8 to suck the atmosphere.
This prevents the vacuum pump 8 from operating in a continuous high load operation. Shortly before the adsorption, the air introduction valve 6 is switched to the original state, that is, switched to the exhaust position, and the vacuum pressure inside the piping and the like is increased.

As described above, in this embodiment,
Since the suction switching valve 2 is provided in the suction hand 1, a thick hose 4 is not required and a large filter 5 is unnecessary in order to prevent pressure loss.

Further, since the distance between the suction switching valve 2 and the suction hand 1 is short, it is possible to shorten the time until the space between the suction switching valve 2 and the suction hand 1 is opened to the atmosphere, thereby improving the palletizing and processing ability.

In particular, if the air introduction valve 6 is switched to the exhaust position before the suction switching valve 2 is switched to the exhaust position and the pressure in the hose 4 is increased to a vacuum pressure, the vacuum pressure in the vacuum hand 1 is instantaneously increased. Vacuum pressure can be used.

Further, the work 9 can be separated from the suction hand 1 only by setting the suction switching valve 2 to the open-to-atmosphere position.
There is no need to blow high-pressure air.

[0023]

As described above in detail with reference to the embodiments, in the present invention, since the suction hand is provided with the suction switching valve, the suction switching valve and the vacuum pump are connected to prevent pressure loss. It is not necessary to make the piping to be thick, and a large filter is not required. Also, since the distance between the suction switching valve and the suction hand is short, the space between them is evacuated,
Alternatively, the time required for opening to the atmosphere can be shortened, and palletizing and processing capacity can be increased. Further, by providing the suction hand with the touch sensor, it is possible to automate the process of sucking the work at the same time when the suction hand comes into contact with the work.

[Brief description of the drawings]

FIG. 1 is a pneumatic system diagram of a highly responsive vacuum hand according to one embodiment of the present invention.

FIG. 2 is a pneumatic system diagram of a conventional vacuum hand.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Suction hand (pad) 2 Suction switching valve 3 Touch sensor 4 Hose (piping) 5 Filter 6 Atmospheric introduction valve 7 Vacuum regulating valve 8 Vacuum pump 9 Work (bag)

Claims (3)

[Claims] 1. A suction switching valve provided in a suction hand and a filter, an air introduction valve and a vacuum pump installed outside the robot are connected via a pipe, and the suction switching valve and the air introduction valve are placed in an exhaust position. Wherein the workpiece is sucked by the suction hand, the suction switching valve is switched to the atmosphere opening position, and the work is separated from the suction hand. 2. The high response according to claim 1, wherein the air introduction valve is previously switched to an exhaust position before the adsorption switching valve is switched to an exhaust position, and the inside of the pipe is increased to a vacuum pressure. Sex vacuum hand. 3. The suction hand is provided with a touch sensor for detecting that the suction hand has contacted the work, and the suction switching valve and the air introduction valve are exhausted according to a detection signal of the touch sensor. 3. The highly responsive vacuum hand according to claim 1, wherein the vacuum hand is switched to a position.