JPS6241417A - Sucker for vacuum sucker - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a suction cup for a vacuum suction device, and more particularly, to a suction cup for a vacuum suction device that is suitable for being attached to the end of a leg of a mobile robot. This invention relates to an improvement to this suction cup, which has excellent suction performance on non-smooth surfaces with uneven surfaces.

[Background of the invention]

Before explaining the present invention, the suction action of the suction cup attached to the tip of the leg of a mobile robot will be explained below: (1) The suction cup is brought close to an object to be suctioned, and the suction cup and the object are brought into contact.

(2) Press the suction cup against the suction target to form an airtight space between the suction cup and the suction target. This is generally called a preload operation.

(3) The air in the airtight space formed between the suction cup and the object to be sucked is discharged, and the pressure in the airtight space is lowered to below atmospheric pressure. In this way, a force given by the product of the negative pressure and the pressure-receiving area in the airtight space acts on the suction cup body. This is generally called adsorption force.

On the other hand, suckers are known to have the following properties.

(1) When the surface of the object to be attracted becomes rough, the surface of the object to be attracted becomes rough. The followability of the suction cup is poor, and as a result, the pressing force during the preload operation must be increased.

(2) Increasing the axial height of the suction cup body improves the ability of the suction cup to follow the object. Similarly, by reducing the radial thickness of the portion where the suction cup contacts the object, the ability of the suction cup to follow the object is improved.

Furthermore, even if the portion of the suction cup that touches the object is made of a soft material, the ability of the suction cup to follow the object can be improved.

(3) In relation to (2) above, increasing the axial height of the suction cup body increases the amount of air that must be discharged from the airtight space between the suction cup and the object, creating negative pressure in the airtight space. It takes longer to reach a certain value.

In other words, it takes a longer time for the suction cup to attach to the object.

The suction cups attached to the tips of the legs of mobile robots are required to have (α) good followability of the suction cup to the object, (2) large suction force, and (3) short time required for suction operation. However, the main purpose of the suction cups commonly used in the past is to attach to an object and lift it upward. Since it does not take into account the fact that forces are applied from various directions, the above-mentioned suction cups cannot be attached to the tips of the legs of mobile robots for convenience.

On the other hand, as an example of a suction cup that can be attached to a non-smooth surface having an uneven surface, a suction cup shown in Japanese Patent Laid-Open No. 59-77116 was first known. -7
Publication No. 7116 describes that the entire portion of the suction cup that contacts the object to be sucked is made of a soft plastic material, and according to this, the gap formed between the suction cup and the non-smooth surface is made of soft plastic material Since the gap is filled with material, no air leaks from the gap.

However, in the suction cup shown in JP-A-59-77116, when compressive force in the axial direction is applied to the suction cup, there is a risk that the soft plastic material will be crushed and large deformation will occur. Yes, there is still room to solve this problem. In addition, in the suction cup shown in the above publication, if a force is applied to the suction cup in a direction parallel to the suction layer surface, a shearing load is applied to the soft plastic material, which may cause large deformation. There is still room for improvement in this regard as well.

[Purpose of the invention]

The present invention has been made as a result of various studies in order to solve the above-mentioned problems of the prior art, and its purpose is to be suitable for adsorption to non-smooth surfaces with uneven surfaces. We also provide an improved suction cup for a vacuum suction device that does not cause major deformation or damage even when force is applied to the suction cup from any direction, and can also shorten the time required for suction operation. This is what I am trying to do.

[Summary of the invention]

In order to achieve the above object, the present invention provides a structure of a suction cup for a vacuum suction device that includes a suction cup body that forms a negative pressure space when suctioning an object, and an exhaust pipe that communicates with the space. consists of a hard member that contacts the object and maintains the shape of the suction cup body when the suction cup is attracted to the object, and a soft member that closes the gap between the suction cup body and the suction object. It is characterized by:

[Embodiments of the invention]

Hereinafter, the present invention will be explained based on an embodiment shown in FIGS. 1 to 7. FIG. 1 is a longitudinal cross-sectional view of a suction cup for a vacuum suction device according to the present invention, and FIG. 2 is a bottom view of FIG. 1. 1 and 2, the suction cup main body includes a skeleton member 1 that maintains the shape of the suction cup main body in contact with the object when the suction cup main body is attracted to the object, and the suction cup main body and the suction object. and a sealing member 2 that closes the gap between the two. The frame member 1 is made of, for example, a metal material that undergoes little elastic deformation even when an external force is applied to the suction cup body. Note that the skeleton member 1 may be made of a polymeric material such as hard rubber or plastic in addition to the above-mentioned metal material. Further, the seal member 2 is molded from a highly flexible material such as gel-like silicone rubber, and the skeleton member 1 and seal member 2 described above are adhesively bonded without any gap between them. has been done. The exhaust pipe is a metal tube connected to the skeleton member 1 of the 3D suction cup body, and the exhaust pipe 3 and the skeleton member 1 are connected without any gap by suitable means such as adhesion or fitting.

Fig. 3 is a perspective view showing how the suction cup of the present invention is used, Fig. 4 is a partial vertical sectional view of Fig. 3, and Figs. As an example of the case, a case is shown in which a suction cup is suctioned onto an object 4 having a weld line 4', and the gap between the skeleton member 1 and the suction object 4 is closed by the sealing member 2. An airtight space is formed between the suction cup main body and the suction target part 4 to enable the suction cup to suction the target object 4.

FIGS. 5 to 7 are diagrams for explaining the adsorption characteristics when forces are applied from various directions to the suction cup of the present invention adsorbed to the object 4.

In FIG. 5, which shows the state in which the tension force F1 in the axial direction is acting on the suction cup of the present invention, the atmospheric pressure a is
It acts only on the skeleton member 1 that is in contact with the seal member 2, and does not act on the seal member 2.

In FIG. 6, which shows a state in which a compressive force F2 in the axial direction is applied to the suction cup of the present invention, the compressive force F2 is applied to the suction target 4.
The compressive force F2 acting on the suction cup does not act on the sealing member 2, and the reaction force r is generated on the suction target 4 through the skeleton member 1 in contact with the suction cup.

In FIG. 7, which shows a state in which a parallel force F3 is acting on the suction cup of the present invention, the atmospheric pressure acting on the suction cup passes through the skeleton member 1, and the skeleton member 1 is in contact with the suction target 4. Acts as compressive stress on the part. Therefore, as described above, when a force F3 in a parallel direction acts on the suction cup of the present invention, a frictional force f is generated at the portion where the skeleton member 1 contacts the suction cup object 4, and a force in a direction parallel to the suction cup is generated. F3 does not act on the seal member 2.

FIG. 8 is a longitudinal sectional view showing another embodiment of the suction cup of the present invention.

In the embodiments of FIGS. 1 to 7, the sealing member 2
In the embodiment shown in FIG. 8, the sealing member 2 is adhesively bonded to the inside of the skeleton member 1 without any gap, and even with this configuration, the sealing member 2 is bonded to the outside of the skeleton member 1. The same effects as in the first embodiment can be achieved.

In FIG. 9 showing still another embodiment of the suction cup of the present invention,
A groove 5 is formed along the outer periphery of the skeleton member 1, and in the embodiment shown in FIG. According to this configuration, in addition to obtaining the same effects as in the first and second embodiments, a different effect is achieved in that the seal member 2 installed in the groove 5 of the skeleton member 1 does not easily fall off. .

FIG. 10 shows still another embodiment of the suction cup of the present invention. That is, in FIG. 10, the skeleton member 1 of the suction cup main body is divided into three chambers by the partition part 1a, and a sealing member 2 is adhesively bonded to each chamber without any gap. , the exhaust pipes 3 are joined together without any gaps by suitable means such as adhesion or fitting. According to this structure, the exhaust pipes 3 are connected without any gaps, such as when a hole is formed in a part of the object 4 to be attracted. In any case, the suction action on the object 4 can always be performed satisfactorily by the negative pressure action of either chamber.

〔Effect of the invention〕

The present invention is as described above, and as is clear from the explanation of the illustrations and examples, (1) the suction cup of the present invention is suitable for suction to a non-smooth surface having an uneven surface, and is capable of applying force to the suction cup from all directions. The axial height of the suction cup is made sufficiently low to ensure that the volume of the airtight space is not large enough to cause large deformation and breakage even if the suction cup is Even if the vacuum suction device is made smaller, the time required for suction operation can be shortened while maintaining the required suction capacity.According to the present invention, it is suitable to be incorporated into a vacuum suction device typified by a mobile robot. You can get an improved suction cup.

[Brief explanation of drawings]

1 to 7 show an embodiment of a suction cup for a vacuum suction device according to the present invention, FIG. 1 is a longitudinal sectional view thereof, FIG. 2 is a bottom view of FIG. 1, and FIG. 3 is a suction cup according to the present invention. Fig. 4 is a partial vertical sectional view of Fig. 3, and Fig. 5 is a diagram showing a case where an axial tensile force is applied to the suction cup of the present invention adsorbed to an object. 21, FIG. 6 is a vertical cross-sectional view when compressive force in the axial direction is applied to the suction cup of the present invention adsorbed to an object, and FIG. 7 is a vertical cross-sectional view of the suction cup of the invention adsorbed to an object. Vertical cross-sectional view when a force in a direction parallel to the suction surface is applied, No. 8
10 through 10 are longitudinal sectional views showing other embodiments of the suction cup of the present invention. l...skeleton member, la...partition, 2...seal member, rate 1 figure also 2 figure condolence 3 figure next year's figure S figure ¥6 figure and a half] figure name 8 figure also q figure

Claims (1)

[Claims] 1. In the structure of a suction cup for a vacuum suction device, which includes a suction cup body that forms a negative pressure space when suctioning an object, and an exhaust pipe that communicates with the space, the structure of the suction cup body is When the suction cup is attracted to an object, the suction cup is made up of a hard member that comes into contact with the object and maintains the shape of the suction cup body, and a soft member that closes the gap between the suction cup body and the suction object. Features a suction cup for vacuum suction equipment. 2. A suction cup for a vacuum suction device according to the invention as set forth in claim 1, in which a soft member is installed in a groove formed along the outer periphery of a suction cup body made of a hard member. 3. A suction cup for a vacuum suction device according to the invention as set forth in claim 1, wherein the negative pressure space formed when the suction cup is suctioned to an object is divided into a plurality of independent chambers.