WO2007108343A1 - 吸着装置及びこの吸着装置を用いた吸着方法 - Google Patents
吸着装置及びこの吸着装置を用いた吸着方法 Download PDFInfo
- Publication number
- WO2007108343A1 WO2007108343A1 PCT/JP2007/054774 JP2007054774W WO2007108343A1 WO 2007108343 A1 WO2007108343 A1 WO 2007108343A1 JP 2007054774 W JP2007054774 W JP 2007054774W WO 2007108343 A1 WO2007108343 A1 WO 2007108343A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- suction
- hole
- piston
- diameter hole
- suction hole
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
Definitions
- Adsorption device and adsorption method using the adsorption device Adsorption device and adsorption method using the adsorption device
- the present invention relates to an adsorption technique suitable for an apparatus for transferring a curved resin molded product such as a bumper, which is an automobile part.
- Patent Document 1 Japanese Patent Laid-Open No. 11-180552
- Patent Document 2 Japanese Patent Laid-Open No. 5-92385, FIG.
- the orientation of the suction surface of the suction pad can be changed in any of the above-mentioned techniques.
- the suction is performed while sliding so as to follow the workpiece surface in an oblique direction until the suction pad faces the suction surface after the contact.
- There were defects such as scratches on the surface of the molded product.
- an object of the present invention is to prevent the surface of the workpiece from being scratched and securely hold it even when the curved portion or inclined portion of the workpiece is held by suction.
- a support member is disposed in a liquid-tight manner below a cylindrical portion in which a piston member is internally provided and provided with a piston chamber, and the piston is formed at the center of the support member.
- Stone member force A small-diameter hole for allowing the extending piston rod to pass therethrough and a large-diameter hole having a larger diameter than the small-diameter hole and communicating with the piston chamber are formed in common, and the tip end of the piston rod
- an elastic member between the piston member and the support member, and the support member has a side force of the first suction hole that opens into the large-diameter hole.
- the piston rod is provided with a third suction hole formed along the central axis and opening inside the suction member, and a large-diameter hole and the third suction hole are always in communication with each other.
- 2A large-diameter hole with a suction hole that communicates with the piston chamber
- the communication area of the second suction hole communicating with the third suction hole is made smaller than that of the communication area.
- the communication area of the large-diameter hole that communicates with the piston chamber is the area of the planar region where the piston chamber communicates with the large-diameter hole, and the second suction hole that communicates with the third suction hole.
- the communication area is the cross-sectional area of the second suction hole.
- the suction member is moved forward by evacuating the first suction hole force, and at the same time, the suction member is weakened. After the suction member is brought into contact with the workpiece, the suction force is increased and held by suction.
- the suction of the piston chamber is prioritized and the suction member at the tip of the piston rod can be advanced toward the workpiece.
- the suction force of the suction member is still weak, and then the suction force is increased, so that the generation of scratches on the surface of the workpiece is suppressed.
- the suction surface of the suction member is set in a direction so as to abut substantially vertically in accordance with the surface shape of the workpiece.
- FIG. 1 is a front view of a transfer device to which an adsorption device of the present invention is applied.
- FIG. 3 Partial cross-sectional view showing the internal structure of the adsorption device
- FIG. 1 is a front view of a transfer device to which the suction device of the present invention is applied
- FIG. 2 is a side view thereof
- FIG. 3 is a partial sectional view showing the internal structure of the suction device
- the suction device is configured to prevent the surface of the workpiece from being scratched and reliably hold the workpiece even when the curved portion or inclined portion of the workpiece is sucked and held.
- it is applied to an apparatus for transferring a resin-made Pampa W, which is an automobile part.
- the transfer device 30 of the bumper W is provided at the tip of the robot arm 31, and is perpendicular to the extending direction of the arm 31 at the tip of the arm 31.
- Two upper and lower holding plates 32a, 32b extending in the direction, a substrate 33 fastened between the holding plates 32a, 32b and at the center portion and both end portions, and forward from each substrate 33
- the suction device 1 disposed on the central support rod 34 is configured so that the suction surface is in a substantially horizontal posture in order to suck the substantially flat portion of the bumper W, and the support rods 34 on both side ends. Since the suction device 1 installed in the suction side sucks the curved surface of the bumper W, the suction surface is inclined inward so that the suction surface can be directly opposed to the workpiece surface. RU
- the suction device 1 is a cylinder formed at the tip of the fastening member 37. 2 and a support member 4 screwed in a fluid-tight manner via a packing 3 below the cylindrical portion 2.
- the cylindrical member 2 includes a piston member 6 in a piston chamber 5 and a packing 7
- the support member 4 has a small-diameter hole 10 through which the piston rod 8 extending from the piston member 6 can pass, and a large-diameter hole larger than the small-diameter hole 10.
- 11 and 11 are formed with a common shaft center, and a packing 12 is disposed between the small-diameter hole 10 and the piston rod 8.
- the large-diameter hole 11 and the piston chamber 5 are in communication with each other, and a first suction hole 13 is provided from the side surface of the support member 4 toward the large-diameter hole 11.
- a circular notch recess 14 is formed outside the piston rod 8 on the indoor side of the piston member 6. Between the notch recess 14 and the bottom of the large-diameter hole 11 of the support member 4. A panel 15 as an elastic member is sandwiched to press the piston member 6 upward.
- a vacuum cup 16 as an adsorbing member is attached to the tip of the piston rod 8, and a third suction hole 17 that opens to the end face on the vacuum cup 16 side is a bag hole at the center of the piston rod 8. It is formed in a shape.
- a small-diameter second suction hole 18 is provided on the wall surface of the piston rod 8 that always keeps communication between the third suction hole 17 and the large-diameter hole 11. That is, as shown in FIG. 4, even when the piston member 6 is lowered by the maximum stroke, the second suction hole 18 is formed at a position where the third suction hole 17 and the large diameter hole 11 are kept in communication. Yes.
- the sectional area of the second suction hole 18 is extremely small compared to the communication area of the portion where the large diameter hole 11 and the piston chamber 5 communicate.
- a vacuum pump P is connected to the first suction hole 13 so that a vacuum is drawn through the first suction hole 13.
- the transfer device 30 at the tip of the robot arm 31 moves to the suction position immediately above the bumper W placed on the frame 38 (FIG. 1) and stops. At this time, the positional relationship between suction device 1 and Pampa W is
- the vacuum pump P is evacuated. Then, since the communication area of the second suction hole 18 is smaller than the communication area of the large-diameter hole 11 to the piston chamber 5, The vacuum in the piston chamber 5 has priority over the vacuum in the cup 16. For this reason, the piston member 6 descends in the cylindrical portion 2, and the piston rod 8 and the vacuum cup 16 also descend accordingly. At this time, the inside of the vacuum cup 16 is sucked with a very weak suction force.
- the transfer device 30 moves to another transfer position by the robot arm 31 and is transferred.
- the suction force is weakened, and then the suction force is strengthened, so that defects such as scratches on the surface of the Pampa W are suppressed.
- the type of workpiece is arbitrary.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Specific Conveyance Elements (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/225,377 US20090206216A1 (en) | 2006-03-20 | 2007-03-12 | Suction Device and Suction Method Using Suction Device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006077408A JP2007253249A (ja) | 2006-03-20 | 2006-03-20 | 吸着装置及びこの吸着装置を用いた吸着方法 |
JP2006-077408 | 2006-03-20 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2007108343A1 true WO2007108343A1 (ja) | 2007-09-27 |
Family
ID=38522376
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2007/054774 WO2007108343A1 (ja) | 2006-03-20 | 2007-03-12 | 吸着装置及びこの吸着装置を用いた吸着方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20090206216A1 (ja) |
JP (1) | JP2007253249A (ja) |
CN (1) | CN101454126A (ja) |
WO (1) | WO2007108343A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE202007013673U1 (de) | 2007-09-28 | 2009-02-19 | Kuka Systems Gmbh | Flexible Greifeinrichtung |
WO2010108520A1 (en) * | 2009-03-27 | 2010-09-30 | Abb Ag | Tilt motion module |
CN105345830A (zh) * | 2015-12-15 | 2016-02-24 | 清华大学 | 吸盘式机械手 |
Families Citing this family (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102476775A (zh) * | 2010-11-29 | 2012-05-30 | 富泰华工业(深圳)有限公司 | 吸附装置 |
JP5938595B2 (ja) * | 2011-04-06 | 2016-06-22 | Smc株式会社 | エジェクタ付吸着装置 |
FI123181B (fi) * | 2011-04-20 | 2012-12-14 | Autoprod Oy | Alipainetarttuja |
TWI479102B (zh) * | 2012-10-19 | 2015-04-01 | Wistron Corp | 電子裝置及其固定模組 |
CN104042089A (zh) * | 2013-03-11 | 2014-09-17 | 杨蕾 | 旋塞型水杯座 |
JP5657751B1 (ja) * | 2013-07-04 | 2015-01-21 | ファナック株式会社 | 対象物を吸引して搬送する搬送装置 |
CN103786148A (zh) * | 2014-02-12 | 2014-05-14 | 青岛汇智机器人有限公司 | 一种并联机器人下底盘 |
JP6422220B2 (ja) * | 2014-02-28 | 2018-11-14 | 株式会社イシダ | 吸着装置 |
FR3043005B1 (fr) * | 2015-10-28 | 2017-12-22 | Snecma | Prehenseur pneumatique a blocage automatique, dispositif de manutention le comprenant, et procede de prehension le mettant en œuvre |
ITUA20162445A1 (it) * | 2016-04-08 | 2017-10-08 | Ct Pack Srl | Dispositivo di prelievo di articoli. |
CN106865229B (zh) * | 2017-03-14 | 2019-11-01 | 京东方科技集团股份有限公司 | 吸附装置 |
CN111050991A (zh) * | 2017-09-07 | 2020-04-21 | 新光株式会社 | 固定装置 |
JP7024162B2 (ja) * | 2018-02-05 | 2022-02-24 | Smc株式会社 | 真空パッド |
CN108673548B (zh) * | 2018-06-04 | 2021-03-30 | 长沙韶光铬版有限公司 | 一种应用于玻璃转运机构的真空吸附装置 |
CN110561474A (zh) * | 2018-06-05 | 2019-12-13 | 大族激光科技产业集团股份有限公司 | 吸取装置、机械手臂以及机器人 |
CN109407359A (zh) * | 2018-10-29 | 2019-03-01 | 武汉华星光电技术有限公司 | 机械手 |
WO2020230250A1 (ja) * | 2019-05-13 | 2020-11-19 | オムロン株式会社 | コントローラ |
EP3838515A1 (en) * | 2019-12-19 | 2021-06-23 | Tetra Laval Holdings & Finance S.A. | A gripper unit |
TWI731532B (zh) * | 2019-12-27 | 2021-06-21 | 立晏企業有限公司 | 吸盤 |
WO2024013676A1 (en) * | 2022-07-14 | 2024-01-18 | B+ Equipment Sas | Vacuum-driven translating suction cup |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS63112337A (ja) * | 1986-10-31 | 1988-05-17 | Hitachi Chem Co Ltd | 真空吸着シリンダ |
JPS63100178U (ja) * | 1986-12-19 | 1988-06-29 | ||
JPH0387593U (ja) * | 1989-12-22 | 1991-09-05 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58125539A (ja) * | 1982-01-18 | 1983-07-26 | Mitsubishi Heavy Ind Ltd | 吸着装置 |
FR2542243B1 (fr) * | 1983-03-11 | 1987-01-23 | Syspro | Porte-outil pour robot industriel |
JPH06271148A (ja) * | 1993-03-24 | 1994-09-27 | Honda Motor Co Ltd | シート状部材の置替え装置 |
TWI246564B (en) * | 2004-08-06 | 2006-01-01 | Asustek Comp Inc | Rolling sucker |
JP4305670B2 (ja) * | 2006-04-20 | 2009-07-29 | ソニー株式会社 | 吸盤 |
-
2006
- 2006-03-20 JP JP2006077408A patent/JP2007253249A/ja active Pending
-
2007
- 2007-03-12 CN CNA2007800185400A patent/CN101454126A/zh active Pending
- 2007-03-12 US US12/225,377 patent/US20090206216A1/en not_active Abandoned
- 2007-03-12 WO PCT/JP2007/054774 patent/WO2007108343A1/ja active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS63112337A (ja) * | 1986-10-31 | 1988-05-17 | Hitachi Chem Co Ltd | 真空吸着シリンダ |
JPS63100178U (ja) * | 1986-12-19 | 1988-06-29 | ||
JPH0387593U (ja) * | 1989-12-22 | 1991-09-05 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE202007013673U1 (de) | 2007-09-28 | 2009-02-19 | Kuka Systems Gmbh | Flexible Greifeinrichtung |
WO2010108520A1 (en) * | 2009-03-27 | 2010-09-30 | Abb Ag | Tilt motion module |
CN105345830A (zh) * | 2015-12-15 | 2016-02-24 | 清华大学 | 吸盘式机械手 |
Also Published As
Publication number | Publication date |
---|---|
CN101454126A (zh) | 2009-06-10 |
US20090206216A1 (en) | 2009-08-20 |
JP2007253249A (ja) | 2007-10-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2007108343A1 (ja) | 吸着装置及びこの吸着装置を用いた吸着方法 | |
JP3857117B2 (ja) | パイルのプレート状のフレキシブルなワークを個別化するための装置 | |
US7100955B2 (en) | General purpose hand for multiaxis manipulator | |
JP4106450B2 (ja) | 吸着保持装置 | |
JP2001253536A (ja) | 基板移載ロボット装置 | |
US20190185086A1 (en) | System for changing height of hanger mounting plate | |
JP2013086241A (ja) | チャック装置およびチャック方法 | |
JP2010155331A (ja) | バキューム式吸着装置およびロボットハンド | |
JP2002236276A (ja) | 基板の組立方法及び組立装置 | |
TW201418128A (zh) | 吸附噴嘴及吸附裝置 | |
KR101352812B1 (ko) | 시트 부착 장치 | |
US7144009B2 (en) | Apparatus for transmitting a workpiece | |
JP2004233473A (ja) | 大型基板の組立装置及び組立方法 | |
JPH08197470A (ja) | 真空吸着カップ | |
JP2002368065A (ja) | 位置合わせ装置 | |
JP4222741B2 (ja) | 部品実装装置および部品実装方法 | |
JP6369843B2 (ja) | 板材分離装置、その板材分離装置を備えた板材搬送装置、及び板材の分離方法 | |
CN214556859U (zh) | 一种机械设备制造用定量上料机构 | |
JP4543730B2 (ja) | ボディーサイドパネル搬送装置及びボディーサイドパネルの位置決め方法 | |
JP5247275B2 (ja) | 成形品吸着装置 | |
JP6777688B2 (ja) | コネクタ接続用ハンドおよびハンドシステム | |
CN112959062A (zh) | 一种装配装置 | |
JPH11217179A (ja) | 板材搬送装置 | |
CN116921526A (zh) | 辊式折边装置 | |
JPH06270087A (ja) | 真空吸着装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 200780018540.0 Country of ref document: CN |
|
DPE2 | Request for preliminary examination filed before expiration of 19th month from priority date (pct application filed from 20040101) | ||
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 07738246 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 12225377 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 7940/DELNP/2008 Country of ref document: IN |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 07738246 Country of ref document: EP Kind code of ref document: A1 |