JPH0679676A - Suction pad of automated device and object holding method - Google Patents
Suction pad of automated device and object holding methodInfo
- Publication number
- JPH0679676A JPH0679676A JP26066492A JP26066492A JPH0679676A JP H0679676 A JPH0679676 A JP H0679676A JP 26066492 A JP26066492 A JP 26066492A JP 26066492 A JP26066492 A JP 26066492A JP H0679676 A JPH0679676 A JP H0679676A
- Authority
- JP
- Japan
- Prior art keywords
- article
- suction pad
- suction
- pad
- holding
- 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.)
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Links
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- Manipulator (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、産業用ロボット等の自
動化装置において、物品を保持して搬送などを行なう吸
着パッド、およびこれを用いた物品の保持方法に関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suction pad for holding and carrying an article in an automation device such as an industrial robot, and a method for holding an article using the suction pad.
【０００２】[0002]
【従来の技術】産業用ロボット等の自動化装置において
は、物品を処理工程から次段の処理工程へ搬送したり、
物品を同じ位置で一時保持して持ち上げたりすることを
目的として、吸着パッドが用いられている。2. Description of the Related Art In automation equipment such as industrial robots, articles are transferred from a processing step to the next processing step,
A suction pad is used for the purpose of temporarily holding and lifting an article at the same position.
【０００３】図３に示したように、吸着パッド１１′
は、ロボットのアーム２１の先端に取り付けられ、ワー
ク３１（物品）にその先端の吸着面１７′を当接し、真
空ポンプ等で吸着パッド１１′内を負圧とし、大気との
圧力差によりワーク３１を保持するものである。吸着パ
ッド１１′としては一般に、シリコンゴムなどの可撓性
材料が用いられている。可撓性材料からなる吸着パッド
１１′を用いると、吸着パッド１１′を軽くワーク３１
に押し当て、ワーク３１が確実に物品を吸引、保持して
いることを確認してからワーク３１を取り上げることが
でき、取り上げミスの発生を防止できる。As shown in FIG. 3, the suction pad 11 '
Is attached to the tip of the arm 21 of the robot, the suction surface 17 ′ of the tip is brought into contact with the work 31 (article), the suction pad 11 ′ is made a negative pressure by a vacuum pump or the like, and the work is caused by the pressure difference from the atmosphere. It holds 31. A flexible material such as silicon rubber is generally used as the suction pad 11 '. When the suction pad 11 'made of a flexible material is used, the suction pad 11' is lightly attached to the work piece 31.
It is possible to pick up the work 31 after confirming that the work 31 is surely sucking and holding the article by pressing against the work 31, and it is possible to prevent a pick-up error.
【０００４】[0004]
【発明が解決しようとする課題】しかしながら、シリコ
ンゴム製の吸着パッド１１′では、ワーク３１を保持、
解放したのちに、吸着パッド１１′の吸着面１７′の跡
がワーク３１上に付着して残るという欠点があり、特に
外観上の問題が厳格なガラス製品やプラスチック製品な
どで問題が大きかった。また、シリコンゴム等の可撓性
の素材は、一般に耐熱性が悪いため、高温下にあるワー
クを吸引、保持しようとすると、ワークに融着するとい
う欠点もあった。However, the work piece 31 is held by the silicon rubber suction pad 11 '.
After the release, there is a drawback that the marks of the suction surface 17 'of the suction pad 11' adheres and remains on the work 31, and the problem is particularly serious in the glass product and the plastic product, etc., which have severe external appearance problems. In addition, since a flexible material such as silicone rubber generally has poor heat resistance, there is a drawback that when a work under high temperature is sucked and held, it is fused to the work.
【０００５】フェノール樹脂、金属などのように耐熱性
を有する素材を用いて吸着パッドを製造することも考え
られるが、これらの素材は可撓性を有しないため、取り
上げミスの発生することが多い。そこで、図４に示した
ようにロボットのアーム２１の先端に爪２３を設け、ワ
ーク３１の外側を両端から挟み込むようにして保持する
ことも行なわれている。しかしこの場合は、作業性が悪
く、ワーク３１を傷付けるおそれもあった。本発明は、
吸着面の跡を残すことなく確実に物品を保持できる吸着
パッドを提供するものである。It is possible to manufacture the adsorption pad by using a material having heat resistance such as phenol resin or metal, but since these materials do not have flexibility, a picking error often occurs. . Therefore, as shown in FIG. 4, a pawl 23 is provided at the tip of the arm 21 of the robot, and the work 31 is held by sandwiching the outside of the work 31 from both ends. However, in this case, the workability is poor and the work 31 may be damaged. The present invention is
The present invention provides a suction pad that can hold an article without leaving a mark on the suction surface.
【０００６】[0006]
【課題を解決するための手段】本発明の自動化装置の吸
着パッドは、物品を吸着して保持する自動化装置の吸着
パッドにおいて、吸着面が非付着性物質からなる薄膜で
被覆された可撓性の素材からなることを特徴とする。A suction pad of an automation device according to the present invention is a flexible suction pad of an automation device for sucking and holding an article, wherein the suction surface is covered with a thin film made of a non-adhesive substance. It is characterized by being made of the material.
【０００７】また、本発明の自動化装置における物品の
保持方法は、吸着面が非付着性物質からなる薄膜で被覆
された可撓性の素材からなる吸着パッドの吸着面を物品
に当接し、吸着パッド内を負圧として物品を吸引、保持
することを特徴とする。Further, in the method for holding an article in the automation device of the present invention, the adsorption surface of the adsorption pad made of a flexible material whose adsorption surface is covered with a thin film made of a non-adhesive substance is brought into contact with the article to adsorb it. It is characterized in that a negative pressure is applied inside the pad to suck and hold the article.
【０００８】[0008]
【実施例】図１は、本発明の吸着パッドの実施例を示す
断面図である。吸着パッド１１は、蛇腹構造を有し伸縮
性を示す基部１３と、伏せた盃ないし椀状のパッド部１
５とからなり、パッド部１５の先端が吸着面１７を形成
する。なお、基部１３の蛇腹構造は必ずしも必要としな
い。そして、本発明の吸着パッド１１では、物品と当接
される吸着面１７が、非付着性物質、好ましくは更に耐
熱性を有する物質からなる薄膜で被覆されている。吸着
パッド１１は、可撓性材料から成形され、シリコンゴ
ム、ＡＢＳ樹脂、ナイロン等のゴムないしは可撓性の合
成樹脂などからなる。1 is a sectional view showing an embodiment of a suction pad of the present invention. The suction pad 11 includes a base portion 13 having a bellows structure and having elasticity, and a pad portion 1 in the shape of a bowl or a bowl that is laid down.
5 and the tip of the pad portion 15 forms the suction surface 17. The bellows structure of the base 13 is not always necessary. In the suction pad 11 of the present invention, the suction surface 17 that contacts the article is covered with a thin film made of a non-adhesive substance, preferably a substance having heat resistance. The suction pad 11 is made of a flexible material and is made of silicone rubber, ABS resin, rubber such as nylon, or flexible synthetic resin.
【０００９】非付着性かつ耐熱性の物質としては、無機
物を中心として広く選択でき、例えばカーボン等の非金
属性無機物単体、白金、金等の金属、炭化タングステ
ン、炭化ケイ素、窒化ケイ素、サーメット等のセラミッ
クスないしは超硬材料、アルミナ、シリカ、酸化ジルコ
ニウム等の酸化物、フッ化マグネシウム等の酸化物以外
の無機化合物などの無機物が好適に用いられる。また、
有機物を用いることもできる。The non-adhesive and heat-resistant substance can be widely selected centering on inorganic substances. For example, non-metallic inorganic substance simple substance such as carbon, metal such as platinum and gold, tungsten carbide, silicon carbide, silicon nitride, cermet, etc. Inorganic substances such as ceramics or superhard materials, oxides such as alumina, silica and zirconium oxide, and inorganic compounds other than oxides such as magnesium fluoride are preferably used. Also,
Organic substances can also be used.
【００１０】吸着面１７に形成される薄膜の厚さは２μ
ｍ以下が好適であり、好ましくは０．１〜１．５μｍで
ある。この薄膜の厚さが厚くなりすぎると、吸着パッド
１１の素材がもつ可撓性が失なわれ好ましくない。吸着
面１７への薄膜の形成は、真空蒸着、スパッタリングな
どにより行なうことができる。The thickness of the thin film formed on the suction surface 17 is 2 μm.
m or less is suitable, and preferably 0.1 to 1.5 μm. If the thickness of this thin film becomes too thick, the flexibility of the material of the suction pad 11 is lost, which is not preferable. The thin film can be formed on the adsorption surface 17 by vacuum vapor deposition, sputtering, or the like.
【００１１】本発明の吸着パッド１１は、可撓性を有
し、しかもワーク表面に吸着面１５の跡を付けず、耐熱
性も良好であり、ワーク一般の取り上げ、搬送に好適で
あるが、特に以下の用途にすぐれている。 （１） ガラス製品、プラスチック製品、金属製品のよ
うに吸着面の跡が付きやすく、また、外観品質に対する
要求が厳しいもの、特にガラス製品の取り上げ、搬送。The suction pad 11 of the present invention is flexible, has no trace of the suction surface 15 on the surface of the work, has good heat resistance, and is suitable for picking up and transporting general works. Especially, it is excellent for the following applications. (1) Glass products, plastic products, metal products, etc. that easily have marks on the suction surface and have severe requirements for appearance quality, especially glass products that are picked up and transported.
【００１２】（２） 加熱下に成形されたガラスレンズ
を、成形直後のまだ高温下にある状態で取り上げ、搬送
する場合のように、高温下のワークを取り扱う場合。 （３） 真空蒸着、スパッタリング時のように清浄化し
たガラス部品、プラスチック部品を汚染することなく基
板ホルダに装着するロボットの吸着パッド。(2) When handling a work at a high temperature, such as when picking up and transporting a glass lens that has been molded under heating and is still at a high temperature immediately after molding. (3) A suction pad for robots that mounts glass parts and plastic parts that have been cleaned as in vacuum deposition and sputtering on the substrate holder without contaminating them.
【００１３】以下、一例としてガラスレンズの成形時の
取り上げ搬送について説明する。なお、このレンズ成形
法の詳細については、例えば、特公平３−５２４１７号
公報などに報告されている。 （１） 第１工程：図２（Ａ） 予備成形した光学ガラスからなるレンズ材料３３を、ロ
ボットのアーム２１に取り付けられた本発明の吸着ヘッ
ド１１で吸引、保持し、下型４１の上に載せてセットす
る。As an example, the picking up and conveying when molding a glass lens will be described below. The details of this lens molding method are reported in, for example, Japanese Patent Publication No. 3-52417. (1) First step: FIG. 2 (A) The lens material 33 made of preformed optical glass is sucked and held by the suction head 11 of the present invention attached to the arm 21 of the robot, and is placed on the lower mold 41. Place and set.
【００１４】（２） 第２工程：図２（Ｂ） 上型４３と下型４１との間で加熱下にプレスしてレンズ
３５を押圧成形する。 （３） 第３工程：図２（Ｃ） １００〜３００℃に成形レンズ３５の温度が低下した時
点で、上型４３を引き上げる。(2) Second step: FIG. 2 (B) The lens 35 is press-molded by pressing under heating between the upper mold 43 and the lower mold 41. (3) Third step: FIG. 2 (C) When the temperature of the molded lens 35 decreases to 100 to 300 ° C., the upper mold 43 is pulled up.
【００１５】（４） 第４工程：図２（Ｄ） 本発明の吸着パッド１１を、高温下にある成形済みの成
形レンズ３５に軽く押し当て、吸着パッド１１の内部を
負圧として成形レンズ３５を吸引し、吸着パッド１１で
レンズ３５を引き上げる。 （５） 第５工程 成形レンズ３５をパレットへ移送し、パレット内に整列
させる。(4) Fourth step: FIG. 2 (D) The suction pad 11 of the present invention is lightly pressed against the molded lens 35 that has already been molded under high temperature, and the inside of the suction pad 11 is used as a negative pressure to form the molded lens 35. Is sucked, and the lens 35 is pulled up by the suction pad 11. (5) Fifth Step The molded lenses 35 are transferred to a pallet and aligned in the pallet.
【００１６】実験例 真空蒸着装置を用い、シリコンバムからなる吸着パッド
の吸着面およびその近傍にカーボン（炭素）を真空蒸着
し、膜厚約０．２μｍの被膜を形成した。自動搬送機能
付きガラスレンズ成形システムにおいて、搬送用ロボッ
トのアームに上記の本発明の吸着パッドを取り付け、図
２に示した各工程により、直径１０ｍｍのガラスレンズ
を成形した。一方、薄膜が形成されていない通常のシリ
コンゴム製吸着パッドを用いて同様にガラスレンズを成
形し比較例とした。Experimental Example Using a vacuum vapor deposition apparatus, carbon (carbon) was vacuum vapor deposited on the adsorption surface of the adsorption pad made of silicon bum and in the vicinity thereof to form a film having a thickness of about 0.2 μm. In the glass lens forming system with an automatic transfer function, the suction pad of the present invention was attached to the arm of the transfer robot, and a glass lens having a diameter of 10 mm was formed by each step shown in FIG. On the other hand, a glass lens was similarly molded using a usual silicone rubber suction pad on which a thin film was not formed, and used as a comparative example.
【００１７】結果は以下の通りであった。 （１） 本発明の吸着パッドを用いた場合 予備成形した光学ガラスからなるレンズ材料を吸引、搬
送した際に、レンズ材料に吸着面の跡が付かず、また、
成形レンズを２５０℃で吸引、搬送しても融着を起こさ
ず、吸着面の跡も付かなかった。この操作を５０００回
連続後も同様の結果であった。The results were as follows: (1) When the suction pad of the present invention is used When the lens material made of preformed optical glass is sucked and conveyed, the lens material has no trace of the suction surface, and
Even when the molded lens was sucked and conveyed at 250 ° C., fusion did not occur and no trace of the suction surface was left. The same result was obtained after this operation was repeated 5000 times.
【００１８】（２） 通常の吸着パッドを用いた場合
（比較例） 予備成形したレンズ材料を吸引、搬送した際に吸着面の
跡がレンズ材料に付いた。また、２５０℃の成形レンズ
を吸引、搬送したところ１回目で融着した。(2) Using a normal suction pad (comparative example) When the preformed lens material was sucked and conveyed, traces of the suction surface were attached to the lens material. Further, when the molded lens at 250 ° C. was sucked and conveyed, it was fused at the first time.
【００１９】[0019]
【発明の効果】本発明によれば、ゴム等の可撓性の素材
からなる吸着パッドの吸着面に、非付着性物質からなる
薄膜を形成することにより、吸着パッドによる物品の吸
引時に吸着パッドの跡が物品に付着することがない。ま
た、さらに耐熱性を有する薄膜を形成すれば、融着を防
止して高温下にある物品を取り扱うことができる。According to the present invention, a thin film made of a non-adhesive substance is formed on the suction surface of a suction pad made of a flexible material such as rubber, so that the suction pad is sucked when the article is sucked by the suction pad. Mark does not adhere to the article. Further, by forming a thin film having heat resistance, it is possible to prevent fusion and handle an article at high temperature.
【図１】本発明の吸着パッドの実施例を示す断面図であ
る。FIG. 1 is a cross-sectional view showing an embodiment of a suction pad of the present invention.
【図２】本発明の吸着パッドをガラスレンズ成形システ
ムに応用した場合の各工程を示す説明図である。FIG. 2 is an explanatory diagram showing each step when the suction pad of the present invention is applied to a glass lens molding system.
【図３】従来の吸着パッドにより、ワークを吸引、保持
した状態を示す説明図である。FIG. 3 is an explanatory view showing a state where a work is sucked and held by a conventional suction pad.
【図４】爪にワークを保持した状態を示す説明図であ
る。FIG. 4 is an explanatory diagram showing a state in which a work is held by a claw.
１１，１１′ 吸着パッド １３ 基部 １５ パッド部 １７，１７′ 吸着面 ２１ アーム ２３ 爪 ３１ ワーク ３３ レンズ材料 ３５ 成形レンズ ４１ 下型 ４３ 上型 11, 11 'Suction pad 13 Base 15 Pad part 17, 17' Suction surface 21 Arm 23 Claw 31 Work 33 Lens material 35 Molded lens 41 Lower mold 43 Upper mold
Claims (7)
着パッドにおいて、 吸着面が非付着性物質からなる薄膜で被覆された可撓性
の素材からなることを特徴とする自動化装置の吸着パッ
ド。1. An adsorption pad of an automation device for adsorbing and holding an article, wherein the adsorption surface is made of a flexible material covered with a thin film of a non-adhesive substance. .
なる請求項１に記載の自動化装置の吸着パッド。2. The suction pad of the automation device according to claim 1, wherein the thin film is made of a non-adhesive and heat-resistant material.
覆された可撓性の素材からなる吸着パッドの吸着面を物
品に当接し、吸着パッド内を負圧として物品を吸引、保
持することを特徴とする物品の保持方法。3. The suction surface of a suction pad made of a flexible material whose suction surface is covered with a thin film made of a non-adhesive substance is brought into contact with an article, and the article is suctioned and held by using a negative pressure in the suction pad. A method for holding an article, comprising:
製品または金属製品である請求項３に記載の物品の保持
方法。4. The method for holding an article according to claim 3, wherein the article is a glass product, a plastic product or a metal product.
らなる請求項３に記載の物品の保持方法。5. The method for holding an article according to claim 3, wherein the thin film is made of a non-adhesive and heat-resistant substance.
求項５に記載の物品の保持方法。6. The method for holding an article according to claim 5, wherein the article is an article at a high temperature.
ス成形された直後のガラスレンズである請求項２に記載
の物品の保持方法。7. The method for holding an article according to claim 2, wherein the article is a glass lens immediately after being press-molded using a mold under heating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4260664A JP2781829B2 (en) | 1992-09-02 | 1992-09-02 | Suction pad of automated device and method of holding article |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4260664A JP2781829B2 (en) | 1992-09-02 | 1992-09-02 | Suction pad of automated device and method of holding article |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0679676A true JPH0679676A (en) | 1994-03-22 |
| JP2781829B2 JP2781829B2 (en) | 1998-07-30 |
Family
ID=17351056
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4260664A Expired - Fee Related JP2781829B2 (en) | 1992-09-02 | 1992-09-02 | Suction pad of automated device and method of holding article |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2781829B2 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003062782A (en) * | 2001-06-14 | 2003-03-05 | Myotoku Ltd | Adsorption pad and its manufacturing method |
| JP2006250758A (en) * | 2005-03-11 | 2006-09-21 | Tdk Corp | Inspection method and inspection device |
| JP3145202U (en) * | 2008-07-16 | 2008-10-02 | サンアロイ工業株式会社 | Suction support device |
| JP3145653U (en) * | 2008-08-04 | 2008-10-16 | サンアロイ工業株式会社 | Suction support device for hollow body |
| JP2015202543A (en) * | 2014-04-15 | 2015-11-16 | トヨタ自動車東日本株式会社 | object gripping device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5097374U (en) * | 1973-12-28 | 1975-08-14 | ||
| JPS6137635A (en) * | 1984-07-31 | 1986-02-22 | Showa Electric Wire & Cable Co Ltd | Heat-resisting adsorptive disc strip |
-
1992
- 1992-09-02 JP JP4260664A patent/JP2781829B2/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5097374U (en) * | 1973-12-28 | 1975-08-14 | ||
| JPS6137635A (en) * | 1984-07-31 | 1986-02-22 | Showa Electric Wire & Cable Co Ltd | Heat-resisting adsorptive disc strip |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003062782A (en) * | 2001-06-14 | 2003-03-05 | Myotoku Ltd | Adsorption pad and its manufacturing method |
| JP2006250758A (en) * | 2005-03-11 | 2006-09-21 | Tdk Corp | Inspection method and inspection device |
| JP3145202U (en) * | 2008-07-16 | 2008-10-02 | サンアロイ工業株式会社 | Suction support device |
| JP3145653U (en) * | 2008-08-04 | 2008-10-16 | サンアロイ工業株式会社 | Suction support device for hollow body |
| JP2015202543A (en) * | 2014-04-15 | 2015-11-16 | トヨタ自動車東日本株式会社 | object gripping device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2781829B2 (en) | 1998-07-30 |
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