JPH02204243A - Substance suction device - Google Patents
Substance suction deviceInfo
- Publication number
- JPH02204243A JPH02204243A JP2479789A JP2479789A JPH02204243A JP H02204243 A JPH02204243 A JP H02204243A JP 2479789 A JP2479789 A JP 2479789A JP 2479789 A JP2479789 A JP 2479789A JP H02204243 A JPH02204243 A JP H02204243A
- Authority
- JP
- Japan
- Prior art keywords
- sucker
- suction cup
- suction
- valve
- substance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000126 substance Substances 0.000 title abstract 4
- WHBHBVVOGNECLV-OBQKJFGGSA-N 11-deoxycortisol Chemical compound O=C1CC[C@]2(C)[C@H]3CC[C@](C)([C@@](CC4)(O)C(=O)CO)[C@@H]4[C@@H]3CCC2=C1 WHBHBVVOGNECLV-OBQKJFGGSA-N 0.000 abstract 3
- 238000010586 diagram Methods 0.000 description 7
- 101100327917 Caenorhabditis elegans chup-1 gene Proteins 0.000 description 5
- 238000009423 ventilation Methods 0.000 description 3
- 239000003575 carbonaceous material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Landscapes
- Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
[産業上の利用分野]
本発明は、例えば搬送のためにシート状物体等の被吸着
物を吸盤で吸着する物体吸着装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to an object suction device that uses a suction cup to suction an object to be suctioned, such as a sheet-like object, for conveyance, for example.
[従来の技術]
従来から、シート状物体を収納部から1枚ずつ個別に取
り出して搬送するために、吸引ポンプに連通した吸盤で
シート状物体で吸着する方法が知られている。[Prior Art] Conventionally, a method is known in which a sheet-like object is sucked by a suction cup connected to a suction pump in order to take out sheet-like objects one by one from a storage section and convey them.
第4図は従来の物体吸着装置の構成図であり、シート状
物体Sの上方に位置する吸盤1は傘状とし、中心部には
通気孔1aが設けられ1通気孔1aには吸気管2の一端
が接続されている。また、吸%管2は上下動機構3によ
り支持されており、吸盤lは上下方向に可動とされてい
る。−方、吸気管2の他端には圧力計4、″rrt磁弁
5、吸引ポンプ6が順次に接続されており、これらの圧
力計4.電磁弁5、吸引ポンプ6には制gl信号線を介
して制御部7が接続されている。なお、電磁弁5は吸気
/ff−2を吸引ポンプ6側に直結させるか、或いは外
部即ち大気中に開放させるかの切換えを行う気体流路の
変更手段として用いられている。FIG. 4 is a configuration diagram of a conventional object suction device, in which a suction cup 1 located above a sheet-like object S has an umbrella shape, and a ventilation hole 1a is provided in the center. is connected at one end. Further, the % suction tube 2 is supported by a vertical movement mechanism 3, and the suction cup 1 is movable in the vertical direction. On the other hand, a pressure gauge 4, an "rrt magnetic valve 5, and a suction pump 6 are connected in sequence to the other end of the intake pipe 2, and these pressure gauges 4, solenoid valve 5, and suction pump 6 receive a control gl signal. The control unit 7 is connected via a line.The solenoid valve 5 is a gas flow path that switches between directly connecting the intake/ff-2 to the suction pump 6 side or opening it to the outside, that is, the atmosphere. It is used as a means of changing.
先ず、制御部7から出力された制御信号に基づいて吸引
ポンプ6が始動し、電磁弁5は閉じられ吸引ポンプ6は
吸気管2に直結した状態になる。First, the suction pump 6 is started based on a control signal output from the control section 7, the solenoid valve 5 is closed, and the suction pump 6 is directly connected to the intake pipe 2.
このとき、吸盤lを上下動機構3により降下させシート
状物体Sに密着させると、シート状物体Sは吸引ポンプ
6の吸引力により吸盤1に吸着され、吸気管2内は負圧
状態になる。圧力計4からはこの負圧状態における圧力
値が制御部7に出力されるので、制御部7はこの圧力値
が一定となるように吸引ポンプ6の動作を制御する。そ
して、吸盤lに吸着されたシート状物体Sは上下動機構
3により上方に持ち上げられ、所定位置に搬送される。At this time, when the suction cup 1 is lowered by the vertical movement mechanism 3 and brought into close contact with the sheet-like object S, the sheet-like object S is attracted to the suction cup 1 by the suction force of the suction pump 6, and the inside of the intake pipe 2 becomes in a negative pressure state. . Since the pressure value in this negative pressure state is output from the pressure gauge 4 to the control section 7, the control section 7 controls the operation of the suction pump 6 so that this pressure value is constant. Then, the sheet-like object S attracted by the suction cup L is lifted upward by the vertical movement mechanism 3 and conveyed to a predetermined position.
所定位置においてシート状物体Sを吸盤lから取り外す
場合には、制御部7からの制御信号により電磁弁5を開
き、吸引管2を吸引ポンプ6側から開放状態に切換えて
吸気管2の一端を大気中に開放する。すると、吸気管2
は負圧状態から大気圧に戻るので、シート状物体Sへの
吸引力は失われ、シート状物体Sは吸盤1から落下する
。When removing the sheet-like object S from the suction cup l at a predetermined position, the solenoid valve 5 is opened by a control signal from the control unit 7, the suction pipe 2 is switched to the open state from the suction pump 6 side, and one end of the suction pipe 2 is opened. Open to atmosphere. Then, intake pipe 2
Since the pressure returns from the negative pressure state to atmospheric pressure, the suction force to the sheet-like object S is lost, and the sheet-like object S falls from the suction cup 1.
[発明が解決しようとする課題]
しかしながら、ト述のような従来の物体吸着装置では、
圧力計4、電磁弁5、吸引ポンプ6等のユニットが必要
とされ、装置自体が大型かつ高価になるという問題点が
ある。また、吸引ポンプ6の吸引圧を正確に制御しない
と、シート状物体Sを吸引できなかったり、2枚重ねて
吸引してしまう虞れもある。従って、吸引ポンプ6の性
能のばらつき、駆動″e、源周波周波数異、圧力計4の
誤差等の吸引圧の制御に関する誤差要因が数多く存在し
、動作上の大きな欠点となっている。[Problem to be solved by the invention] However, in the conventional object suction device as described above,
Units such as a pressure gauge 4, an electromagnetic valve 5, and a suction pump 6 are required, which poses a problem in that the device itself becomes large and expensive. Furthermore, unless the suction pressure of the suction pump 6 is accurately controlled, there is a risk that the sheet-like objects S may not be suctioned or that two sheets will be suctioned one on top of the other. Therefore, there are many error factors related to suction pressure control, such as variations in the performance of the suction pump 6, drive ``e'', differences in source frequency, and errors in the pressure gauge 4, which are major operational drawbacks.
本発明の目的は、簡素な構成でありながら。An object of the present invention is to have a simple configuration.
定の吸引圧で被吸着物を吸着でき、確実な吸着を可能に
する物体吸着装置を提供することにある。To provide an object suction device capable of suctioning an object to be suctioned with a constant suction pressure and ensuring reliable suction.
[課題を解決するためのf段]
上記の目的を達成するために、本発明に係る物体吸着装
置においては、91性部材から成る吸盤に連通ずる吸気
管を開閉弁に接続し、前記吸盤を被吸着物体上から押圧
したときの前記吸盤の変形状態を検出して前記開閉弁の
開閉を行う制御手段を備えたことを特徴とするものであ
る。[F stage for solving the problem] In order to achieve the above object, in the object suction device according to the present invention, an intake pipe communicating with a suction cup made of a 91-carbon material is connected to an on-off valve, and the suction cup is connected to an on-off valve. The present invention is characterized by comprising a control means for opening and closing the opening/closing valve by detecting a deformed state of the suction cup when pressed from above an object to be attracted.
[作用]
上記の構成を有する物体吸着装置は、吸盤を開閉弁を開
放した状態で被吸着物体の上部から降下させ、抑圧密着
がなされると弾性部材から成る吸盤は変形を生ずる。制
御手段により吸盤が所定変形状態に達したことを検出す
ると、開閉弁を閉じ吸盤内を密閉してから吸盤を引き上
げる。このとき、吸盤は弾性部材から成るので元の形状
に戻ろうとするため、吸盤は負圧状態となり被吸着物を
吸着する。[Operation] In the object suction device having the above configuration, the suction cup is lowered from above the object to be suctioned with the opening/closing valve open, and when the suction cup is pressed into close contact with the suction cup, the suction cup made of an elastic member is deformed. When the control means detects that the suction cup has reached a predetermined deformed state, the on-off valve is closed to seal the inside of the suction cup, and then the suction cup is pulled up. At this time, since the suction cup is made of an elastic member, it tries to return to its original shape, so that the suction cup becomes in a negative pressure state and attracts the object to be sucked.
本発明を第1図〜第3図に図示の実施例に基づいて詳細
に説明する。The present invention will be explained in detail based on the embodiments shown in FIGS. 1 to 3.
第1図は本発明に係る物体吸着装置の第1の実施例の構
成図を示し、シート状物体Sの上方には弾性部材から成
る傘状の吸盤10が配置されており、その中心部には通
気孔10aが設けられている1通気孔10aには吸気管
11の一端が連結されており、吸気管11の他端には開
閉弁12が取り付けられている。吸気管11は4二下動
機構13により支持されており、更に上下動機構13に
はアーム14を介してスイッチ15が取り付けられ、こ
のスイッチ15にはシート状物体Sと吸盤10との相対
的位ごを検知するための棒状のアクチュエータ16が連
結されている。そして、開閉弁12.上下動機構13.
及びスイッチ15には、制御信号線を介して制御部17
が接続されている。FIG. 1 shows a configuration diagram of a first embodiment of an object suction device according to the present invention, in which an umbrella-shaped suction cup 10 made of an elastic member is arranged above a sheet-like object S, and a One end of an intake pipe 11 is connected to the first ventilation hole 10a provided with a ventilation hole 10a, and an on-off valve 12 is attached to the other end of the intake pipe 11. The intake pipe 11 is supported by a downward movement mechanism 13, and a switch 15 is attached to the vertical movement mechanism 13 via an arm 14. A rod-shaped actuator 16 for detecting position is connected. And the on-off valve 12. Vertical movement mechanism 13.
And the switch 15 is connected to the control section 17 via a control signal line.
is connected.
ここで、制御部17に図示しない入力端末機器等から動
作開始信号が入力されると、制御部17は開閉弁12に
制御信号を送出し、開閉弁12を開放状態にして吸気管
11の一端を大気中に開放する。同時に、上下動#Jl
!構13によって吸盤lOは降下を始め、第2図に示す
ように吸盤10がシート状物体S1.:密着する。吸盤
lOは密rf後も更に降下し続け、シート状物体Sに押
し付けられて偏平状態に変形する。吸5i10が押圧力
により所定の変形状態に達すると、アクチュエータ16
の先端がシート状物体Sに接触するので、スイッチ15
は制御部17にスイッチング信号を送出する。制御部1
7はスイッチング信号を受けて開閉弁12を閉止すると
共に、上下動機構13の動作を一時的に停止させる。そ
して、今度は一ヒ下動機構13により吸盤10を引き上
げると、吸盤10が復元しようとする弾性力により吸気
管11内が負圧状態になるため、シート状物体Sは吸盤
10に吸引される。吸盤10によって所定位置にシート
状物体Sを搬送すると、制御部17により開閉弁12を
開放して、吸気管ll内を負圧状態から大気圧に戻し、
シート状物体Sを吸盤lOから落下させる。Here, when an operation start signal is input to the control unit 17 from an input terminal device (not shown), the control unit 17 sends a control signal to the on-off valve 12, and opens the on-off valve 12 to one end of the intake pipe 11. released into the atmosphere. At the same time, vertical movement #Jl
! The suction cup 10 starts to descend due to the mechanism 13, and as shown in FIG. :In close contact. The suction cup IO continues to descend even after the dense RF, is pressed against the sheet-like object S, and deforms into a flat state. When the suction 5i10 reaches a predetermined deformed state due to the pressing force, the actuator 16
Since the tip of the switch 15 comes into contact with the sheet-like object S, the switch 15
sends a switching signal to the control section 17. Control part 1
7 receives the switching signal and closes the on-off valve 12, and also temporarily stops the operation of the vertical movement mechanism 13. Then, when the suction cup 10 is pulled up by the lower movement mechanism 13, the inside of the intake pipe 11 becomes a negative pressure state due to the elastic force of the suction cup 10 trying to restore itself, so that the sheet-like object S is sucked into the suction cup 10. . When the sheet-like object S is conveyed to a predetermined position by the suction cup 10, the control unit 17 opens the on-off valve 12 to return the inside of the intake pipe 11 from a negative pressure state to atmospheric pressure,
A sheet-like object S is dropped from a suction cup lO.
第3図は第2の実施例の構成図を示し、シート状物体S
の、F方に配置された弾性部材から成る伏皿状の吸盤2
0の上部には、排気弁21と吸気弁22がそれぞれ設け
られている。排気弁21の弁体21aは吸盤20の外側
に位置し、吸盤20内に設けられたばね21bにより吸
盤20の上部外壁面に向けて付勢されており、一方で吸
気弁22の弁体22aは吸盤20の内側に位置し、吸盤
20の外側に設けられたばね22bにより吸盤20の上
部内壁面に向けて付勢されており、通常では弁体21a
、22aは吸盤20の外内壁面にそれぞれ密着して閉+
h した状態になっている。また、吸気弁22のばね2
2bは排気弁21のばね21bよりも弾性力の大きなば
ねとされ、弁体22aは弁体2Laよりも強い力で吸盤
20の壁部に向けて付勢されている。なお、吸盤20に
は第1の実施例と同様に、上下動機構23が取り付けら
れている。FIG. 3 shows a configuration diagram of the second embodiment, in which the sheet-like object S
A suction cup 2 in the shape of a flattened plate made of an elastic member arranged in the F direction of
0, an exhaust valve 21 and an intake valve 22 are provided, respectively. The valve body 21a of the exhaust valve 21 is located outside the suction cup 20, and is biased toward the upper outer wall surface of the suction cup 20 by a spring 21b provided inside the suction cup 20, while the valve body 22a of the intake valve 22 is It is located inside the suction cup 20 and is biased toward the upper inner wall surface of the suction cup 20 by a spring 22b provided on the outside of the suction cup 20, and normally the valve body 21a
, 22a are closed in close contact with the outer and inner wall surfaces of the suction cup 20, respectively.
h It is in a state where it is. In addition, the spring 2 of the intake valve 22
2b is a spring having a larger elastic force than the spring 21b of the exhaust valve 21, and the valve body 22a is urged toward the wall of the suction cup 20 with a stronger force than the valve body 2La. Note that a vertical movement mechanism 23 is attached to the suction cup 20 as in the first embodiment.
先ず、上下動機4R23により吸盤20を降Fさせ、シ
ート状物体Sに押し付けて変形させる。吸a20が変形
を始めると、吸a20内の空気は排気弁21を押し上げ
ようとするので、ばね21bが圧縮されて排気弁21が
開き排気が行われる。First, the suction cup 20 is lowered F by the vertical movator 4R23, and is pressed against the sheet-like object S to deform it. When the suction a20 starts to deform, the air in the suction a20 tries to push up the exhaust valve 21, so the spring 21b is compressed, the exhaust valve 21 opens, and exhaust is performed.
ここで、上下動機構23により吸盤20を若干上昇させ
ると、吸盤20内は負圧状態となるので、吸盤20はシ
ート状物体Sを吸着する。また、このとき吸気弁22は
排気弁21よりも強力に付勢されているので、負圧状態
であっても吸気弁22が開くことはない、吸盤20によ
りシート状物体Sを所定の位置に搬送すると、吸気弁2
2の弁体22aが外部から押圧される。すると、吸気弁
ばね22bはこの押圧力により圧縮されるので、吸気弁
22が開いて空気が流入し吸盤20内は負圧状態から大
気圧に戻り、シート状物体Sは吸盤20から落下する。Here, when the suction cup 20 is slightly raised by the vertical movement mechanism 23, the interior of the suction cup 20 becomes a negative pressure state, so that the suction cup 20 attracts the sheet-like object S. Furthermore, since the intake valve 22 is more strongly biased than the exhaust valve 21 at this time, the intake valve 22 will not open even in a negative pressure state. When transported, the intake valve 2
The second valve body 22a is pressed from the outside. Then, the intake valve spring 22b is compressed by this pressing force, so the intake valve 22 opens, air flows in, the inside of the suction cup 20 returns from a negative pressure state to atmospheric pressure, and the sheet-like object S falls from the suction cup 20.
なお、この第2の実施例においても、第1の実施例と同
様にスイッチ15、アクチュエータ16、制御部17等
を設けて、自動的に動作させることが可能である。It should be noted that in this second embodiment as well, the switch 15, actuator 16, control section 17, etc. can be provided in the same way as in the first embodiment, so that they can be operated automatically.
[発明の効果]
以り説明したように本発明に係る物体吸着装置は、吸引
ポンプ、電磁弁、圧力計等を必要とせず、装置の簡素化
及び低価格化が実現できる。また、吸盤の所定の変形に
より生ずる負圧のみによって被吸着物を吸着しているの
で、吸引ポンプの性能のばらつき、電源電圧の変化や周
波数の相異、圧力計の誤差等の誤差要因を排除でき、常
に安定した吸着力で吸着し搬送することができる。[Effects of the Invention] As explained above, the object suction device according to the present invention does not require a suction pump, a solenoid valve, a pressure gauge, etc., and the device can be simplified and lowered in price. In addition, since the object to be attracted is attracted only by the negative pressure generated by the specified deformation of the suction cup, error factors such as variations in suction pump performance, changes in power supply voltage and frequency, and errors in pressure gauges are eliminated. It is possible to always attract and transport with stable suction force.
図面第1図〜第3図は本発明に係る物体吸着装置の実施
例を示し、第1図は第1の実施例の構成図、第2図はそ
の作動説明図、第3図はPf42の実施例の構成図であ
り、第4図は従来例の構成図である。
符号io、20は吸盤、10aは通気孔、11は吸気管
、12は開閉弁、13.23は上下動機構、15はスイ
ッチ、16はアクチュエータ。
17は制御部、21は排気弁、22は吸気弁である。
特許出願人 キャノン株式会社
慕1厘
第3図Drawings 1 to 3 show an embodiment of the object suction device according to the present invention, FIG. 1 is a configuration diagram of the first embodiment, FIG. 2 is an explanatory diagram of its operation, and FIG. This is a configuration diagram of an embodiment, and FIG. 4 is a configuration diagram of a conventional example. Reference numeral io, 20 is a suction cup, 10a is a vent, 11 is an intake pipe, 12 is an on-off valve, 13.23 is a vertical movement mechanism, 15 is a switch, and 16 is an actuator. 17 is a control section, 21 is an exhaust valve, and 22 is an intake valve. Patent applicant: Canon Co., Ltd.
Claims (1)
接続し、前記吸盤を被吸着物体上から押圧したときの前
記吸盤の変形状態を検出して前記開閉弁の開閉を行う制
御手段を備えたことを特徴とする物体吸着装置。1. A control means that connects an intake pipe communicating with a suction cup made of an elastic member to an on-off valve, and opens and closes the on-off valve by detecting a deformed state of the suction cup when the suction cup is pressed from above an object to be sucked. An object suction device characterized by comprising:
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2479789A JPH02204243A (en) | 1989-02-03 | 1989-02-03 | Substance suction device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2479789A JPH02204243A (en) | 1989-02-03 | 1989-02-03 | Substance suction device |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH02204243A true JPH02204243A (en) | 1990-08-14 |
Family
ID=12148183
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2479789A Pending JPH02204243A (en) | 1989-02-03 | 1989-02-03 | Substance suction device |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH02204243A (en) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04121952U (en) * | 1991-04-12 | 1992-10-30 | 三菱重工業株式会社 | Sheet conveyance device |
JP2004058202A (en) * | 2002-07-29 | 2004-02-26 | Toyota Motor Corp | Suction device |
KR100926775B1 (en) * | 2008-09-26 | 2009-11-16 | 한일원자력(주) | Auto annealing system of dosimeter, and method of annealing |
JP2011089785A (en) * | 2009-10-20 | 2011-05-06 | Hitachi-Ge Nuclear Energy Ltd | Underwater remote investigation device, and underwater remote investigation method |
JP2012001007A (en) * | 2010-06-14 | 2012-01-05 | Honda Motor Co Ltd | Small article holding device of vehicle |
JP2013076685A (en) * | 2011-09-30 | 2013-04-25 | Ulvac Japan Ltd | Flow rate measurement apparatus |
-
1989
- 1989-02-03 JP JP2479789A patent/JPH02204243A/en active Pending
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04121952U (en) * | 1991-04-12 | 1992-10-30 | 三菱重工業株式会社 | Sheet conveyance device |
JP2004058202A (en) * | 2002-07-29 | 2004-02-26 | Toyota Motor Corp | Suction device |
KR100926775B1 (en) * | 2008-09-26 | 2009-11-16 | 한일원자력(주) | Auto annealing system of dosimeter, and method of annealing |
JP2011089785A (en) * | 2009-10-20 | 2011-05-06 | Hitachi-Ge Nuclear Energy Ltd | Underwater remote investigation device, and underwater remote investigation method |
JP2012001007A (en) * | 2010-06-14 | 2012-01-05 | Honda Motor Co Ltd | Small article holding device of vehicle |
JP2013076685A (en) * | 2011-09-30 | 2013-04-25 | Ulvac Japan Ltd | Flow rate measurement apparatus |
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