JP2015199145A - Adsorber and transport device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an adsorber which makes it possible to reliably adsorb an object to be transported with a simple structure.SOLUTION: An adsorber is equipped with: a plate 12 attached to a robot hand 42 for transporting an object to be transported; and inclined planes 18B which are inclined downwards from a top face 12A in such a manner that the inclined planes approach each other, and has: a recess 18 in which an open hole 20 is provided on a bottom 18A; a mounting member 22 which is inserted in the open hole 20; an electromagnetic holder 24 which is mounted onto the mounting member 22, is disposed below the plate 12 and adsorbs the object to be transported; and a support member 26 which is mounted onto the mounting member 22 and supported on the inclined plane 18B.

Description

本発明は、被搬送物を搬送する際に用いられる被搬送物の吸着装置、及びこの吸着装置を用いた搬送装置に関する。   The present invention relates to a suction device for a transport object used when transporting the transport object, and a transport device using the suction device.

従来から、搬送装置の被搬送物を搬送するロボットハンドと、ロボットハンドの先端部に取り付けられて被搬送物を把持する把持部との間にコンプライアンス装置を介在させて、被搬送物の姿勢に倣って把持部の位置、角度等を変化させて確実な把持を実現する方法が知られている。このようなコンプライアンス装置として、特許文献１に開示の装置がある。特許文献１に開示のコンプライアンス装置では、圧縮流体を用いて把持部の位置、角度等を変化させている。   Conventionally, a compliance device is interposed between the robot hand that transports the object to be transported by the transport device and the gripping part that is attached to the tip of the robot hand and grips the object to be transported, so that the posture of the object to be transported is maintained. A method for realizing reliable gripping by changing the position, angle, and the like of the gripping part is known. As such a compliance apparatus, there is an apparatus disclosed in Patent Document 1. In the compliance device disclosed in Patent Document 1, the position, angle, and the like of the grip portion are changed using a compressed fluid.

特開２０００−１５３４８９号公報JP 2000-153489 A

しかし、上記コンプライアンス装置では、圧縮流体を用いるため、圧縮流体を給排するための構造を備える必要があり、部品点数が多く複雑な構造になる傾向がある。   However, since the compliance device uses a compressed fluid, it is necessary to have a structure for supplying and discharging the compressed fluid, and the number of parts tends to be complicated.

本発明は、上記の事情を鑑みて、簡単な構造で被搬送物の確実な吸着を可能にする吸着装置及びこの吸着装置を用いた搬送装置を提供することを課題とする。   In view of the above circumstances, an object of the present invention is to provide a suction device that enables reliable suction of an object to be transported with a simple structure, and a transport device using the suction device.

すなわち、本発明は以下の通りである。
（１）被搬送物を搬送するための搬送部材に取り付けられる板材と、前記板材に形成され、上面から下方に向かって互いに接近する方向へ傾斜する斜面を備え、底部に貫通孔が設けられた凹部と、前記貫通孔に挿入される取付部材と、前記取付部材に取り付けられると共に前記板材よりも下方に配置され、前記被搬送物を吸着する吸着部材と、前記取付部材に取り付けられ、前記斜面に支持される支持部材と、を有する吸着装置。
（２）前記支持部材は、多角錐台形状とされ、前記凹部は、前記支持部材に対応する形状とされている、前記（１）に記載の吸着装置。
（３）さらに、前記支持部材を前記凹部に押し付ける弾性体を有する、前記（１）又は前記（２）に記載の搬送装置。
（４）前記弾性体は、コイルスプリングであり、前記コイルスプリングは、前記取付部材を外囲いするように前記板材と前記吸着部材との間に配置される、前記（３）に記載の搬送装置。
（５）被搬送物を搬送するための搬送部材と、前記搬送部材に取り付けられた前記（１）〜（４）のいずれか１項に記載の吸着装置と、を有する搬送装置。 That is, the present invention is as follows.
(1) A plate member attached to a conveying member for conveying an object to be conveyed, and a slope formed in the plate member and inclined to approach each other downward from the upper surface, and provided with a through hole at the bottom. A recess, an attachment member inserted into the through-hole, an attachment member attached to the attachment member and disposed below the plate member, and adsorbing the object to be transported; attached to the attachment member; And a support member supported by the suction device.
(2) The adsorption device according to (1), wherein the support member has a polygonal frustum shape, and the concave portion has a shape corresponding to the support member.
(3) The transport apparatus according to (1) or (2), further including an elastic body that presses the support member against the recess.
(4) The conveying device according to (3), wherein the elastic body is a coil spring, and the coil spring is disposed between the plate member and the adsorption member so as to surround the attachment member. .
(5) A transport apparatus having a transport member for transporting an object to be transported and the suction apparatus according to any one of (1) to (4) attached to the transport member.

本発明の吸着装置及び搬送装置によれば、簡単な構造で被搬送物の確実な吸着を可能にできる。   According to the adsorbing device and the conveying device of the present invention, it is possible to reliably adsorb the object to be conveyed with a simple structure.

本発明の第１実施形態に係る吸着装置を斜め上方から見た斜視図である。It is the perspective view which looked at the adsorption | suction apparatus which concerns on 1st Embodiment of this invention from diagonally upward. 図１の矢印２−２線断面図である。It is the arrow 2-2 sectional view taken on the line of FIG. 第１実施形態の吸着装置の支持部材が凹部の斜面から浮き上がった状態を示す、図２に対応する断面図である。It is sectional drawing corresponding to FIG. 2 which shows the state which the supporting member of the adsorption | suction apparatus of 1st Embodiment floated from the slope of a recessed part. （Ａ）第１実施形態の支持部材の断面図である。（Ｂ）第１実施形態の支持部材を下方から見た下面図である。（Ｃ）第１実施形態の支持部材を側方から見た側面図である。(A) It is sectional drawing of the supporting member of 1st Embodiment. (B) It is the bottom view which looked at the supporting member of 1st Embodiment from the downward direction. (C) It is the side view which looked at the supporting member of 1st Embodiment from the side. （Ａ）第１実施形態の板材を上方から見た上面図である。（Ｂ）第１実施形態の板材を側方から見た側面図である。（Ｃ）第１実施形態の板材の断面図である。(A) It is the top view which looked at the board | plate material of 1st Embodiment from upper direction. (B) It is the side view which looked at the board | plate material of 1st Embodiment from the side. (C) It is sectional drawing of the board | plate material of 1st Embodiment.

（第１実施形態）
本発明の第１実施形態に係る吸着装置１０及び搬送装置４０について説明する。本実施形態の搬送装置４０は、図示しない被搬送物を搬送する用途に用いられる。この搬送装置４０は、被搬送物を吸着する吸着装置１０と、この吸着装置１０が先端部に取り付けられたロボットハンド４２（本発明の搬送部材の一例）と、を有している。なお、本実施形態のロボットハンド４２は、図示しないロボットアームに装着されて使用される。 (First embodiment)
The suction device 10 and the transport device 40 according to the first embodiment of the present invention will be described. The transport apparatus 40 of this embodiment is used for a purpose of transporting an object to be transported (not shown). The transport device 40 includes a suction device 10 that sucks an object to be transported, and a robot hand 42 (an example of a transport member of the present invention) to which the suction device 10 is attached at the tip. Note that the robot hand 42 of the present embodiment is used by being mounted on a robot arm (not shown).

なお、図１中の矢印Ｘは水平方向に沿った第１の方向を示し、矢印Ｙは水平方向に沿って第１の方向と直交する方向を示し、矢印Ｚは上下方向を示している。   In addition, the arrow X in FIG. 1 shows the 1st direction along a horizontal direction, the arrow Y shows the direction orthogonal to a 1st direction along a horizontal direction, and the arrow Z has shown the up-down direction.

図２に示されるように、吸着装置１０は、ロボットハンド４２に取り付けられる板材１２を有している。具体的には、板材１２は、支柱１４を介してロボットハンド４２に取り付けられる。   As shown in FIG. 2, the suction device 10 includes a plate 12 that is attached to the robot hand 42. Specifically, the plate material 12 is attached to the robot hand 42 via the support column 14.

図１に示されるように、板材１２は、角部が面取りされた矩形状とされている。この板材１２の四隅近傍には、貫通孔１６がそれぞれ形成されている。この貫通孔１６と支柱１４の端部に形成されたねじ穴（図示省略）との位置を合わせた状態で、板材１２の下方から貫通孔１６を通してボルト１７を支柱１４の上記ねじ穴に捩じ込むことで板材１２が支柱１４に取り付けられる（図２参照）。   As shown in FIG. 1, the plate 12 has a rectangular shape with chamfered corners. Through holes 16 are respectively formed in the vicinity of the four corners of the plate member 12. In a state where the positions of the through holes 16 and screw holes (not shown) formed at the end portions of the support posts 14 are aligned, the bolts 17 are screwed into the screw holes of the support posts 14 through the through holes 16 from below the plate material 12. As a result, the plate member 12 is attached to the column 14 (see FIG. 2).

また、板材１２は、金属材料で形成されている。この金属材料としては、例えばＳＣ材、アルミ材、ＳＵＳ材が挙げられる。なお、板材１２をアルミ材で形成した場合には、吸着装置１０を軽量化できる。   The plate 12 is made of a metal material. Examples of the metal material include SC material, aluminum material, and SUS material. In addition, when the board | plate material 12 is formed with the aluminum material, the adsorption | suction apparatus 10 can be reduced in weight.

支柱１４は、多角柱状（本実施形態では、六角柱状）とされている。なお、本発明はこの構成に限定されず、支柱１４の形状は、円柱、楕円柱等でもよい。また、支柱１４は、金属材料で形成されている。この金属材料としては、板材１２と同様の材料が挙げられる。なお、支柱１４をアルミ材で形成した場合には、吸着装置１０を軽量化できる。   The column 14 has a polygonal column shape (in this embodiment, a hexagonal column shape). Note that the present invention is not limited to this configuration, and the shape of the column 14 may be a cylinder, an elliptical column, or the like. Moreover, the support | pillar 14 is formed with the metal material. Examples of the metal material include the same material as that of the plate material 12. In addition, when the support | pillar 14 is formed with the aluminum material, the adsorption | suction apparatus 10 can be reduced in weight.

ボルト１７は、ヘッド部に多角形（本実施形態では、六角形）の穴が形成されている。すなわち、本実施形態のボルト１７は、六角穴付きボルトである。このボルト１７を形成する金属材料としては、例えばＳＣ材、ＳＵＳ材が挙げられる。   The bolt 17 has a polygonal (hexagonal in this embodiment) hole formed in the head portion. That is, the bolt 17 of this embodiment is a hexagon socket head cap screw. Examples of the metal material forming the bolt 17 include SC material and SUS material.

図２及び図５に示されるように、板材１２の上面１２Ａの中央部には、凹部１８が形成されている。この凹部１８は、底部１８Ａと、上面１２Ａから下方に向かって互いに接近する方向へ傾斜する斜面１８Ｂとを備えている。本実施形態の凹部１８は、四角錐台形状とされており、対向する斜面１８Ｂが上面１２Ａから下方に向かって互いに接近している。なお、本発明は上記構成に限定されず、凹部１８は、四角錐台形状以外の多角錐台形状、円錐台形状等であってもよい。例えば、凹部１８が三角錐台形状の場合には、一の斜面と他の２つの斜面の境界部（他の斜面の縁部）とが上面１２Ａから下方に向かって互いに接近する方向へ傾斜し、凹部１８が円錐台形状の場合には、斜面の対向する部分が上面１２Ａから下方に向かって互いに接近する方向へ傾斜する。   As shown in FIGS. 2 and 5, a recess 18 is formed at the center of the upper surface 12 </ b> A of the plate member 12. The concave portion 18 includes a bottom portion 18A and an inclined surface 18B that inclines in a direction approaching each other downward from the upper surface 12A. The concave portion 18 of the present embodiment has a quadrangular frustum shape, and the inclined surfaces 18B facing each other approach each other downward from the upper surface 12A. In addition, this invention is not limited to the said structure, The recessed part 18 may be polygonal frustum shapes other than a quadrangular frustum shape, frustum shape, etc. For example, when the recess 18 has a triangular frustum shape, the boundary between one slope and the other two slopes (the edges of the other slopes) inclines toward the lower side from the upper surface 12A. When the concave portion 18 has a truncated cone shape, the opposed portions of the inclined surface incline in a direction approaching each other downward from the upper surface 12A.

また、本実施形態の凹部１８は、後述する支持部材２６の形状に対応する形状とされている。なお、ここでいう「支持部材２６の形状に対応する形状」とは、支持部材２６が凹部１８に嵌る形状、具体的には、支持部材２６の形状と凹部１８の形状が略同じで、支持部材２６を凹部１８に嵌めた状態で支持部材２６の各壁面２６Ｂが凹部１８の各斜面１８Ｂにそれぞれ接触する形状を指す。   Moreover, the recessed part 18 of this embodiment is made into the shape corresponding to the shape of the support member 26 mentioned later. Here, the “shape corresponding to the shape of the support member 26” is a shape in which the support member 26 fits into the concave portion 18, specifically, the shape of the support member 26 and the shape of the concave portion 18 are substantially the same. A shape in which each wall surface 26 </ b> B of the support member 26 is in contact with each inclined surface 18 </ b> B of the recess 18 in a state where the member 26 is fitted in the recess 18.

凹部１８の底部１８Ａには、上下に貫通する貫通孔２０が設けられている。この貫通孔２０には、円柱状に形成された取付部材２２が挿入されている。この取付部材２２は、貫通孔２０を通り下端部２２Ａが板材１２よりも下方に位置し、上端部２２Ｂが板材よりも上方に位置している。取付部材２２の下端部２２Ａには、被搬送物を吸着するための電磁ホルダ２４（本発明の吸着手段の一例）が取り付けられている。この電磁ホルダ２４は、板材１２よりも下方に配置されている。   A through hole 20 penetrating vertically is provided in the bottom 18A of the recess 18. A mounting member 22 formed in a cylindrical shape is inserted into the through hole 20. The attachment member 22 passes through the through hole 20, the lower end portion 22 </ b> A is located below the plate material 12, and the upper end portion 22 </ b> B is located above the plate material. An electromagnetic holder 24 (an example of an adsorbing unit of the present invention) for adsorbing an object to be conveyed is attached to the lower end portion 22A of the attachment member 22. The electromagnetic holder 24 is disposed below the plate material 12.

また、取付部材２２の上端部２２Ｂ側には、斜面１８Ｂに接して支持される支持部材２６が取り付けられている。この支持部材２６は、四角錐台形状とされ、凹部１８に嵌められるように形成されている。支持部材２６を凹部１８に嵌めると、壁面２６Ｂが斜面１８Ｂに接して、支持部材２６を介して取付部材２２及び電磁ホルダ２４が凹部１８から浮き上がり可能（言い換えると、離間可能）に支持される。
なお、本実施形態では、支持部材２６を四角錐台形状としているが、本発明はこの構成に限定されず、支持部材２６は、四角錐台形状以外の多角錐台形状、円錐台形状等であってもよい。 A support member 26 that is supported in contact with the inclined surface 18B is attached to the upper end portion 22B side of the attachment member 22. The support member 26 has a quadrangular pyramid shape and is formed to be fitted into the recess 18. When the support member 26 is fitted in the recess 18, the wall surface 26 </ b> B comes into contact with the inclined surface 18 </ b> B, and the attachment member 22 and the electromagnetic holder 24 are supported via the support member 26 so as to be able to lift from the recess 18 (in other words, be separated from each other).
In the present embodiment, the support member 26 has a quadrangular frustum shape, but the present invention is not limited to this configuration, and the support member 26 has a polygonal frustum shape other than the quadrangular frustum shape, a truncated cone shape, or the like. There may be.

また、取付部材２２は、金属材料で形成されている。この金属材料としては、例えばＳＣ材、ＳＵＳ材が挙げられる。なお、本実施形態では、取付部材２２として、ヘッド部に多角形（本実施形態では、六角形）の穴が形成されたボルト（本実施形態では、六角穴付きボルト）を用いている。以下では、取付部材２２のねじ部を符号２２Ｃ、ヘッド部を符号２２Ｄとして示す。   The attachment member 22 is made of a metal material. Examples of the metal material include SC material and SUS material. In the present embodiment, a bolt (in this embodiment, a hexagon socket head cap screw) having a polygonal (in this embodiment, hexagonal) hole formed in the head portion is used as the attachment member 22. Hereinafter, the screw portion of the mounting member 22 is denoted by reference numeral 22C, and the head portion is denoted by reference numeral 22D.

図２及び図４に示されるように、支持部材２６の中央部には、上下に貫通するねじ孔２８が形成されている。このねじ孔２８には、取付部材２２のねじ部２２Ｃが捩じ込まれている。このように支持部材２６のねじ孔２８に取付部材２２のねじ部２２Ｃを捩じ込むことで、取付部材２２に支持部材２６が取付けられている。   As shown in FIGS. 2 and 4, a screw hole 28 penetrating vertically is formed in the central portion of the support member 26. A screw portion 22C of the attachment member 22 is screwed into the screw hole 28. Thus, the support member 26 is attached to the attachment member 22 by screwing the screw portion 22 </ b> C of the attachment member 22 into the screw hole 28 of the support member 26.

また、支持部材２６は、金属材料で形成されている。この金属材料としては、板材１２と同様の材料が挙げられる。なお、支持部材２６をアルミ材で形成した場合には、吸着装置１０を軽量化できる。   The support member 26 is made of a metal material. Examples of the metal material include the same material as that of the plate material 12. When the support member 26 is formed of an aluminum material, the adsorption device 10 can be reduced in weight.

電磁ホルダ２４は、ブロック状とされ、図示しない配線から供給される電力によって磁力を発生させて、被搬送物を吸着する。なお、本実施形態の被搬送物は、金属材料を含んで構成された複合材であり、電磁ホルダ２４の磁力によって吸着される。   The electromagnetic holder 24 has a block shape and generates a magnetic force by electric power supplied from a wiring (not shown) to attract the object to be conveyed. In addition, the conveyed object of this embodiment is a composite material including a metal material, and is attracted by the magnetic force of the electromagnetic holder 24.

また、電磁ホルダ２４の上面の中央部には、ねじ穴（図示省略）が形成されている。このねじ穴には、取付部材２２のねじ部２２Ｃが捩じ込まれている。このように、電磁ホルダ２４の上記ねじ穴に取付部材２２のねじ部２２Ｃを捩じ込むことで、取付部材２２に電磁ホルダ２４が取り付けられている。   Further, a screw hole (not shown) is formed at the center of the upper surface of the electromagnetic holder 24. The screw portion 22C of the mounting member 22 is screwed into the screw hole. Thus, the electromagnetic holder 24 is attached to the attachment member 22 by screwing the screw portion 22C of the attachment member 22 into the screw hole of the electromagnetic holder 24.

図２及び図３に示されるように、吸着装置１０は、支持部材２６を凹部１８に押し付ける弾性体の一例としてのコイルスプリング３２を有している。このコイルスプリング３２は、板材１２の下面１２Ｂと電磁ホルダ２４の上面２４Ａとの間に配置されて、取付部材２２の下端部２２Ａ側を外囲いしている。このコイルスプリング３２は、支持部材２６が凹部１８に嵌合した状態（図１図示状態）では、コイルスプリング３２が圧縮状態とされ、圧縮に対する反発力によって板材１２と電磁ホルダ２４との間のスペースを確保している。この反発力によって、支持部材２６が凹部１８に押し付けられている。   As shown in FIGS. 2 and 3, the suction device 10 includes a coil spring 32 as an example of an elastic body that presses the support member 26 against the recess 18. The coil spring 32 is disposed between the lower surface 12B of the plate member 12 and the upper surface 24A of the electromagnetic holder 24 and surrounds the lower end portion 22A side of the mounting member 22. The coil spring 32 is in a compressed state when the support member 26 is fitted in the recess 18 (shown in FIG. 1), and a space between the plate 12 and the electromagnetic holder 24 due to a repulsive force against the compression. Is secured. The support member 26 is pressed against the recess 18 by the repulsive force.

また、コイルスプリング３２は、金属材料で形成されている。この金属材料としては、例えば、ＳＵＳ材が挙げられる。   The coil spring 32 is made of a metal material. Examples of the metal material include SUS material.

次に本実施形態の吸着装置１０及び搬送装置４０の作用効果について説明する。
搬送装置４０では、ロボットハンド４２を下方に移動させて吸着装置１０の電磁ホルダ２４の下面２４Ｂを被搬送物に押し付けると、コイルスプリング３２が圧縮されながら支持部材２６が凹部１８の斜面１８Ｂから浮き上がり、支持部材２６が移動及び傾倒可能な状態となる。ここで、被搬送物の姿勢（具体的には、電磁ホルダ２４の下面２４Ｂが接する被搬送物の表面の姿勢）が傾いている場合には、電磁ホルダ２４と共に取付部材２２及び支持部材２６が被搬送物の姿勢に倣って傾倒する。そして被搬送物の姿勢に倣って傾倒した電磁ホルダ２４によって被搬送物が吸着される。すなわち、吸着装置１０では、被搬送物の姿勢に関わらず、被搬送物の確実な吸着が可能になる。
なお、本実施形態の吸着装置１０は、図１に示すように全６軸方向へ支持部材２６が移動及び傾倒できるように構成されている。 Next, the effect of the adsorption apparatus 10 and the conveyance apparatus 40 of this embodiment is demonstrated.
In the transport device 40, when the robot hand 42 is moved downward and the lower surface 24B of the electromagnetic holder 24 of the suction device 10 is pressed against the object to be transported, the support member 26 is lifted from the inclined surface 18B of the recess 18 while the coil spring 32 is compressed. Thus, the support member 26 can move and tilt. Here, when the attitude of the object to be conveyed (specifically, the attitude of the surface of the object to be conveyed with which the lower surface 24B of the electromagnetic holder 24 is in contact) is inclined, the attachment member 22 and the support member 26 together with the electromagnetic holder 24 are Tilt according to the posture of the conveyed object. Then, the object to be conveyed is adsorbed by the electromagnetic holder 24 that is inclined following the posture of the object to be conveyed. In other words, the suction device 10 can reliably suck the conveyed object regardless of the posture of the conveyed object.
In addition, the adsorption | suction apparatus 10 of this embodiment is comprised so that the supporting member 26 can move and tilt in all the 6 axial directions, as shown in FIG.

また、吸着装置１０では、凹部１８に上面１２Ａから下方に向かって互いに接近する方向へ傾斜する斜面１８Ｂを備えさせていることから、ロボットハンド４２の上昇によって支持部材２６が凹部１８の斜面１８Ｂから浮き上がった状態から凹部１８に嵌合した元の状態へ戻る際に、斜面１８Ｂが支持部材２６を元の位置へとガイドする。このため、簡単な構造で浮き上がった状態の支持部材２６を凹部１８の元の位置へと戻すことができる（原点復帰）。   Further, in the suction device 10, the concave portion 18 is provided with the inclined surfaces 18 </ b> B that are inclined toward each other downward from the upper surface 12 </ b> A, so that the support member 26 is moved from the inclined surface 18 </ b> B of the concave portion 18 by raising the robot hand 42. When returning from the lifted state to the original state fitted in the recess 18, the inclined surface 18B guides the support member 26 to the original position. For this reason, the support member 26 in a state of being lifted with a simple structure can be returned to the original position of the recess 18 (origin return).

さらに、吸着装置１０では、ロボットハンド４２が上昇すると、コイルスプリング３２の反発力及び被搬送物の重量によって、支持部材２６が凹部１８の斜面１８Ｂから浮き上がった状態から凹部１８に嵌合した元の状態へ強制的に戻されるため、圧縮流体又は電力を用いる構造と比べて、コイルスプリング３２を用いる簡単な構造で浮き上がった状態の支持部材２６を凹部１８の元の位置へと確実に戻すことができる。   Further, in the suction device 10, when the robot hand 42 is lifted, the support member 26 is fitted to the recess 18 from the state of being lifted from the inclined surface 18 </ b> B of the recess 18 due to the repulsive force of the coil spring 32 and the weight of the conveyed object. Since it is forcibly returned to the state, it is possible to reliably return the support member 26 in the lifted state to the original position of the recess 18 with a simple structure using the coil spring 32 as compared with a structure using compressed fluid or electric power. it can.

そして、吸着装置１０では、支持部材２６の形状を多角錐台形状にし、凹部１８の形状を支持部材２６に対応した形状としていることから、支持部材２６が凹部１８に嵌合した状態では、支持部材２６が板材１２に対して取付部材２２を軸として回転するのが防止される。このため、吸着装置１０で被搬送物を吸着し、支持部材２６が凹部１８に嵌合した状態では、支持部材２６が板材１２に対して取付部材２２を軸として回転しないため、被搬送物の回転角を決定することができる。   In the suction device 10, the shape of the support member 26 is a polygonal frustum shape, and the shape of the recess 18 is a shape corresponding to the support member 26. Therefore, in the state where the support member 26 is fitted in the recess 18, the support is supported. The member 26 is prevented from rotating about the mounting member 22 with respect to the plate member 12. For this reason, in a state where the object to be conveyed is adsorbed by the suction device 10 and the support member 26 is fitted in the recess 18, the support member 26 does not rotate around the mounting member 22 with respect to the plate member 12. The rotation angle can be determined.

（その他の実施形態）
第１実施形態では、吸着部材の一例として電磁ホルダ２４を用いたが、本発明はこの構成に限定されない。吸着部材としては、被搬送物を吸着できれば、例えば、圧力差で被搬送物を吸着する吸盤又は、被搬送物との接触面から気体を吸引して吸着する吸引部材を用いてもよい。 (Other embodiments)
In 1st Embodiment, although the electromagnetic holder 24 was used as an example of an adsorption | suction member, this invention is not limited to this structure. As the adsorption member, for example, a suction cup that adsorbs the object to be conveyed by a pressure difference or a suction member that sucks and adsorbs the gas from the contact surface with the object to be conveyed may be used as long as the object can be adsorbed.

また、第１実施形態では、コイルスプリング３２を板材１２の下面１２Ｂと電磁ホルダ２４の上面２４Ａとの間に配置しているが、本発明はこの構成に限定されない。例えば、板材１２の上方に別の板材を設けて、別の板材の下面と取付部材２２のヘッド部２２Ｄとの間、又は、別の部材の下面と支持部材２６の上面２６Ａとの間にコイルスプリング３２を設ける構成としてもよい。   Moreover, in 1st Embodiment, although the coil spring 32 is arrange | positioned between the lower surface 12B of the board | plate material 12, and the upper surface 24A of the electromagnetic holder 24, this invention is not limited to this structure. For example, another plate material is provided above the plate material 12, and the coil is provided between the lower surface of the other plate material and the head portion 22 </ b> D of the mounting member 22, or between the lower surface of the other member and the upper surface 26 </ b> A of the support member 26. The spring 32 may be provided.

さらに、第１実施形態では、コイルスプリング３２の反発力を用いて支持部材２６を凹部１８の斜面１８Ｂから浮き上がった状態から凹部１８に嵌合した元の状態へ強制的に戻す構成としているが、本発明はこの構成に限定されない。例えば、コイルスプリング３２を設けずに、被搬送物、取付部材２２、電磁ホルダ２４及び支持部材２６の重量によって支持部材２６を凹部１８の斜面１８Ｂから浮き上がった状態から凹部１８に嵌合した元の状態へ強制的に戻す構成としてもよい。   Furthermore, in 1st Embodiment, it is set as the structure which forcibly returns the supporting member 26 from the state which floated from the inclined surface 18B of the recessed part 18 to the original state fitted to the recessed part 18 using the repulsive force of the coil spring 32, The present invention is not limited to this configuration. For example, without providing the coil spring 32, the support member 26 is fitted to the recess 18 from the state where the support member 26 is lifted from the inclined surface 18 </ b> B of the recess 18 due to the weight of the object to be transported, the mounting member 22, the electromagnetic holder 24 and the support member 26. It may be configured to forcibly return to the state.

以上、実施形態を挙げて本発明の実施の形態を説明したが、これらの実施形態は一例であり、要旨を逸脱しない範囲内で種々変更して実施できる。また、本発明の権利範囲がこれらの実施形態に限定されないことは言うまでもない。   The embodiments of the present invention have been described above with reference to the embodiments. However, these embodiments are merely examples, and various modifications can be made without departing from the scope of the invention. It goes without saying that the scope of rights of the present invention is not limited to these embodiments.

１０ 吸着装置
１２ 板材
１２Ａ 上面
１８ 凹部
１８Ａ 底部
２０ 貫通孔
２２ 取付部材
２４ 電磁ホルダ（吸着部材）
２６ 支持部材
３２ コイルスプリング（弾性体）
４０ 搬送装置
４２ ロボットハンド（搬送部材） DESCRIPTION OF SYMBOLS 10 Adsorption device 12 Plate material 12A Upper surface 18 Recess 18A Bottom 20 Through hole 22 Mounting member 24 Electromagnetic holder (adsorption member)
26 Support member 32 Coil spring (elastic body)
40 Conveying device 42 Robot hand (conveying member)

Claims (5)

被搬送物を搬送するための搬送部材に取り付けられる板材と、
前記板材に形成され、上面から下方に向かって互いに接近する方向へ傾斜する斜面を備え、底部に貫通孔が設けられた凹部と、
前記貫通孔に挿入される取付部材と、
前記取付部材に取り付けられると共に前記板材よりも下方に配置され、前記被搬送物を吸着する吸着部材と、
前記取付部材に取り付けられ、前記斜面に支持される支持部材と、
を有する吸着装置。 A plate attached to a conveying member for conveying an object to be conveyed;
A concave portion formed on the plate material, provided with slopes inclined in a direction approaching each other downward from the upper surface, and provided with a through hole at the bottom;
An attachment member inserted into the through hole;
An adsorption member that is attached to the attachment member and disposed below the plate member, and adsorbs the object to be conveyed;
A support member attached to the attachment member and supported by the slope;
Adsorbing device. 前記支持部材は、多角錐台形状とされ、
前記凹部は、前記支持部材に対応する形状とされている、請求項１に記載の吸着装置。 The support member has a polygonal frustum shape,
The suction device according to claim 1, wherein the recess has a shape corresponding to the support member. さらに、前記支持部材を前記凹部に押し付ける弾性体を有する、請求項１又は請求項２に記載の吸着装置。   Furthermore, the adsorption | suction apparatus of Claim 1 or 2 which has an elastic body which presses the said supporting member to the said recessed part. 前記弾性体は、コイルスプリングであり、
前記コイルスプリングは、前記取付部材を外囲いするように前記板材と前記吸着部材との間に配置される、請求項３に記載の吸着装置。 The elastic body is a coil spring;
The adsorption device according to claim 3, wherein the coil spring is disposed between the plate member and the adsorption member so as to surround the attachment member. 被搬送物を搬送するための搬送部材と、
前記搬送部材に取り付けられた請求項１〜４のいずれか１項に記載の吸着装置と、
を有する搬送装置。 A conveying member for conveying an object to be conveyed;
The adsorption device according to any one of claims 1 to 4, attached to the conveying member;
Conveying device having

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