JPS59161289A - Vacuum holding type sucker - Google Patents

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

【発明の詳細な説明】 Ｑ）　発明の技術分野 不発明は、各種の組立作業等をロボットに行なわせる際
の各種ワークの吸着装置に関し、特に所望のワークを吸
着した後に真空源の動力を切っても該ワークを吸着保持
できるようにした真空保持型吸着装置に関する。[Detailed Description of the Invention] Q) Technical Field of the Invention The invention relates to a suction device for various workpieces when a robot performs various assembly operations, etc., and in particular, the invention relates to a suction device for various workpieces when a robot performs various assembly operations. The present invention relates to a vacuum holding type suction device that is capable of suctioning and holding a workpiece even when the work is carried out.

（２）従来技術と問題点 従来のこの種の真空吸着装置は、先端に取ジ付けられた
吸着パッドに連通ずる真空源を作動して該吸着パッドで
ワークを吸着して所定の位置まで運搬していた。しかし
この場合、上記吸着パッドでワークを吸着している間は
上記真空源の動力を連続して運転し絖けなけれはならず
、運転エネルギを無駄に消費するものであった。(2) Conventional technology and problems Conventional vacuum suction devices of this type operate a vacuum source that communicates with a suction pad attached to the tip, and the suction pad suctions the workpiece and transports it to a predetermined position. Was. However, in this case, while the suction pad is suctioning the workpiece, the power of the vacuum source must be continuously operated, which wastes operating energy.

これに対処して、吸着パッドでワークを吸着したのを検
出した後に上記真空源の運転を停止するという方式もあ
るが、この場合は吸着パッドの部分から真空源までの距
離がある程度長いのでこの間で外気の侵入を完全に遮断
するのが難しく、上記ワークの吸着力が低下するもので
あった。To deal with this, there is a method that stops the operation of the vacuum source after detecting that the workpiece has been picked up by the suction pad, but in this case, the distance from the suction pad to the vacuum source is quite long, so Therefore, it is difficult to completely block the intrusion of outside air, and the suction power of the workpiece is reduced.

（３）発明の目的 本発明は上記の問題点を解消するためになされたもので
、所望のワークを吸着した後に真空源の動力を切っても
該ワークを吸着保持できる真空保持型吸着装置を提供す
ることを目的とする。(3) Purpose of the Invention The present invention has been made in order to solve the above-mentioned problems, and provides a vacuum holding type suction device that can suction and hold a desired workpiece even if the power of the vacuum source is cut off after suctioning the desired workpiece. The purpose is to provide.

（４）　　発明の構成 そして上記の目的は本発明によれば、真空源と連結され
たシリンダ部を有し、とのシリンダ部の下端壁に形成さ
れた摺動口に気密的にスライド可能とされ内部には空気
流通孔が穿設された真空保持部材を嵌挿し、上記空気流
通孔の上端部をシリンダ部の下端壁内面にて開放、閉塞
可能とすると共に上記真空保持部材の下端には上記空気
流通孔と連通ずる吸着パッドを設はミ且つ上記真空保持
部材を常時ンリンダ部下端から下向きに突出付勢してな
り、上記シリンダ部内を負圧にして吸着パッドをワーク
に押圧することによｐ該ワークを吸着し、このワークを
運搬状態では上記真空保持部材内の負圧でその吸着を保
持し、該ワークを所定場所に押圧しな７５（ら置くこと
によｐその吸着を解除するようにしたことを特徴とする
真空保持型吸着装置を提供することによって達成される
。(4) Structure of the invention and the above-mentioned object is that the present invention has a cylinder part connected to a vacuum source, and can be slid airtight into a sliding opening formed in the lower end wall of the cylinder part. A vacuum holding member having an air circulation hole is inserted into the inside thereof, and the upper end of the air circulation hole can be opened and closed on the inner surface of the lower end wall of the cylinder, and the lower end of the vacuum holding member is A suction pad communicating with the air circulation hole is provided, and the vacuum holding member is always urged to protrude downward from the lower end of the cylinder, thereby creating a negative pressure in the cylinder portion and pressing the suction pad against the workpiece. The workpiece is suctioned, and when the workpiece is being transported, the suction is maintained by the negative pressure in the vacuum holding member, and the suction is released by pressing the workpiece in a predetermined place and placing it. This is achieved by providing a vacuum holding type adsorption device characterized by the following.

（５）発明の実施例 以下、本発明の実施例を添付図面に基いて詳細に説明す
る。(5) Embodiments of the invention Hereinafter, embodiments of the invention will be described in detail with reference to the accompanying drawings.

第１図は本発明による真空保持型吸着装置Ｅを示す断面
図である。シリンダ部１は、その上端部が図示外の真空
ポンプ等の真空源に連結されており、矢印Ａのようにそ
の内部の空気が引き抜かれる。FIG. 1 is a sectional view showing a vacuum holding type adsorption device E according to the present invention. The upper end of the cylinder part 1 is connected to a vacuum source such as a vacuum pump (not shown), and the air inside the cylinder part 1 is drawn out as indicated by arrow A.

上記シリンダ部１の下端壁２には、適宜の直径の摺動口
３が穿設され、この摺動口３には真空保持部材４が嵌挿
されている。この真空保持部材４は、上記シリンダ部１
内の負圧状態を後述の吸着バッド１３に連通すると共に
その内部を上記負圧状態のままに保縛するもので、その
長手方向の中心＝ｐには空気流通孔５が穿設されると共
に、上記下端壁２の内周面に設けられたシールリング６
によって気密が保持された状態で矢印Ｂ、Ｃのように上
下方間にスライド可能とされている。そして、上記真空
保持部材４の上端には大径の円板部材７が一体的に形成
されており、この内部には上記空気流通孔５の上端部と
連通されて外周方向に延び更に下向きに折り曲けられて
上記シリンダ部１内に開口する連通孔８が穿設され、上
記円板部材７の下面にて該連通孔８の周囲にはシリンダ
部１の下端壁２との空気もれを防止するゴム等のシール
部材９が貼設されている。A sliding opening 3 of an appropriate diameter is bored in the lower end wall 2 of the cylinder portion 1, and a vacuum holding member 4 is fitted into the sliding opening 3. This vacuum holding member 4 is connected to the cylinder portion 1
The negative pressure inside the suction pad 13 is communicated with the suction pad 13 described later, and the inside is kept in the negative pressure state as described above, and an air circulation hole 5 is bored at the longitudinal center = p. , a seal ring 6 provided on the inner peripheral surface of the lower end wall 2
It is possible to slide it up and down as shown by arrows B and C while keeping it airtight. A large-diameter disc member 7 is integrally formed at the upper end of the vacuum holding member 4, and inside this disc member 7 is connected to the upper end of the air circulation hole 5, extends in the outer circumferential direction, and further extends downward. A communication hole 8 is formed which is bent and opens into the cylinder part 1, and air leakage between the lower end wall 2 of the cylinder part 1 and the lower end wall 2 of the cylinder part 1 is formed around the communication hole 8 on the lower surface of the disc member 7. A sealing member 9 made of rubber or the like is pasted to prevent this.

上記真空保持部材４の下端部には、Ｅ　ＩＪング１０等
により７ランジ１１が取り付けられており、この７ラン
ジ１１の上面と上記シリンタ一部１の下面との間にはス
プリング１２が介装されている。このスプリング１２は
、例えはコイルスプリングであり、上記真空保持部材４
を常時シリンダ部１の下端から下向きに突出するように
付勢している。したがって、通常は上舊己スプリング１
２の付勢力によって真空保持部材４は矢印Ｃ方向に押し
下げられ、その上端の円板音μ材７の連通孔８はシール
部材９で閉塞されている。ガお、上記フランジ１１はＥ
リング１０で取り付けるものに限られず、真空保持部材
４の下端部に一体的に形成してもよい。A 7 flange 11 is attached to the lower end of the vacuum holding member 4 by an E IJ ring 10 or the like, and a spring 12 is interposed between the upper surface of this 7 flange 11 and the lower surface of the cylinder part 1. has been done. This spring 12 is, for example, a coil spring, and the vacuum holding member 4
is always urged to protrude downward from the lower end of the cylinder portion 1. Therefore, usually the upper spring 1
The vacuum holding member 4 is pushed down in the direction of arrow C by the biasing force 2, and the communication hole 8 of the disc tone μ material 7 at the upper end thereof is closed by the sealing member 9. Gao, the above flange 11 is E
The attachment is not limited to the ring 10, but may be formed integrally with the lower end of the vacuum holding member 4.

さらに上記真空保持部材４の下端には、吸着パッド１３
が取り付けられている。この吸着ノくラド１３は、上記
シリンダ部１内の負圧状態７！ｌ二上記真空保持部材４
を介して連通されてその負圧でワーク１４を吸着するも
ので、例えばゴム等の弾力性を有するもので形成され、
その中１０部には上記真空保持部材４の空気流通孔５と
連通する透孔１５が穿設されると共にその底面１６は凹
曲面状に形成され全体として吸盤状になっている。Furthermore, a suction pad 13 is provided at the lower end of the vacuum holding member 4.
is installed. This suction rod 13 is in a negative pressure state 7 in the cylinder portion 1! l2 The above vacuum holding member 4
The workpiece 14 is communicated with the workpiece 14 by its negative pressure, and is made of an elastic material such as rubber, for example.
A through hole 15 communicating with the air circulation hole 5 of the vacuum holding member 4 is bored in 10 parts of the vacuum holding member 4, and the bottom surface 16 thereof is formed into a concave curved shape and has a suction cup shape as a whole.

このように構成された真空保持型吸着装置Ｅの作動につ
いて第２図（ａ）〜（ｅ）を参照して説明する。まず、
（ａ）図に示すように、シリンダ部１に連結された図示
外の真空源の動力を運転して該シリンダ部１内の空気を
矢印Ａのように引き抜いて上記シリンダ部１内を負圧状
態とし、この状態のまま真空保持型吸着装置Ｅを適宜の
台１７上に載置された適宜のワーク１４の上方に移動さ
せて矢印りのように全体を下降させる。このように下降
していくと、下端の吸着パッド１３が（ｔｌ）図に示す
ようにワーク１４の上面に当接し、さらに吸着装置Ｅを
矢印りのように下降させるとスプリング１２を収縮させ
ながら下降し、このスプリング１２及びフランジ１１を
介して上記吸着バッド１３がワーク１４に強く押圧され
る。このとき、上記真空保持部材４はシリンダ部１に対
して相対的に矢印Ｂ方向に上昇し、その上端の円板部材
７の連通孔８が開放される。The operation of the vacuum holding type adsorption device E constructed in this way will be explained with reference to FIGS. 2(a) to 2(e). first,
(a) As shown in the figure, a vacuum source (not shown) connected to the cylinder section 1 is operated to draw out the air inside the cylinder section 1 in the direction of arrow A, thereby creating a negative pressure inside the cylinder section 1. In this state, the vacuum holding type suction device E is moved above a suitable workpiece 14 placed on a suitable table 17, and the whole is lowered as shown by the arrow. As it descends in this way, the suction pad 13 at the lower end comes into contact with the upper surface of the workpiece 14 as shown in the (tl) figure, and when the suction device E is further lowered in the direction of the arrow, the spring 12 contracts while The suction pad 13 is lowered, and the suction pad 13 is strongly pressed against the workpiece 14 via the spring 12 and the flange 11. At this time, the vacuum holding member 4 rises in the direction of arrow B relative to the cylinder portion 1, and the communication hole 8 of the disc member 7 at its upper end is opened.

すると、上記シリンダ部１内の負圧状態が真空保持部材
４の空気流通孔５に連通して上記吸着バッド１３がワー
ク１４を吸着する。Then, the negative pressure inside the cylinder portion 1 communicates with the air circulation hole 5 of the vacuum holding member 4, and the suction pad 13 suctions the workpiece 14.

仄に、このように吸着バッド１３がワーク１４を吸着し
たのを検出したら吸着装置Ｅは、＠）図に示すように、
矢印Ｕのように上昇する。このとき、真空保持部材４と
吸着バッド１３とはまだ（１））図に示す位置にちゃ、
シリンダ部１の上昇に伴なってスプリング１２だけが伸
長する。このスプリング１２の伸長に伴なって上記真空
保持部材４はシリンダ部１に対して相対的に矢印Ｃ方向
に下降し、その上端の円板部材７の下面のシール部材９
がシリンダ部１の下端壁２に上記スプリング１２の弾発
力及びワークの自重によって密着して連通孔８が閉塞さ
れる。この結果、上記真空保持部材４の空気流通孔５内
は負圧状態に保持されワーク１４は吸着バッド１３に吸
着されたままとなる。このような状態になったことをリ
ミットスイッチ等で検出して、図示外の真空源の動力を
切る。すると、上記シリンダ部１内はしだいに外気圧と
等しくなり常圧状態となる。しかし、上記のように真空
保持部材４内は負圧状態に保たれているので、上記板Ｎ
　パッド１３はワーク１４を吸着しており、この状態で
吸着装置Ｅ全体を移動して、上記ワーク１４を所定の場
所に運搬する。Incidentally, when it is detected that the suction pad 13 has suctioned the workpiece 14 in this way, the suction device E moves as shown in the figure.
Go up like arrow U. At this time, the vacuum holding member 4 and the suction pad 13 are still in the position shown in the figure (1).
As the cylinder portion 1 rises, only the spring 12 expands. As the spring 12 expands, the vacuum holding member 4 descends in the direction of arrow C relative to the cylinder portion 1, and the sealing member 9 on the lower surface of the disk member 7 at its upper end
is in close contact with the lower end wall 2 of the cylinder portion 1 due to the elastic force of the spring 12 and the weight of the workpiece, and the communication hole 8 is closed. As a result, the inside of the air circulation hole 5 of the vacuum holding member 4 is maintained in a negative pressure state, and the workpiece 14 remains attracted to the suction pad 13. This state is detected by a limit switch or the like, and the power to the vacuum source (not shown) is turned off. Then, the inside of the cylinder portion 1 gradually becomes equal to the outside pressure and becomes a normal pressure state. However, since the interior of the vacuum holding member 4 is maintained at a negative pressure state as described above, the plate N
The pad 13 is sucking the workpiece 14, and in this state, the entire suction device E is moved to transport the workpiece 14 to a predetermined location.

次に、上記ワーク１４を所定場所１８に運搬したら、（
ｄ）図に示すように、矢印り方向に吸着装置Ｅの全体を
下降させる。このように下降していくと、ワーク１４の
下面が所定場所１８に押圧当接し、さらにそのまま吸着
゛装置Ｅを矢印り方向に下降させるとスプリング１２・
を収縮させながら下降し、上記真空保持部材４はシリン
ダ部１に対して相対的に矢印Ｂ方向に上昇する。Next, after transporting the work 14 to the predetermined location 18, (
d) As shown in the figure, lower the entire suction device E in the direction of the arrow. As it descends in this way, the lower surface of the workpiece 14 comes into pressure contact with the predetermined location 18, and when the suction device E is further lowered in the direction of the arrow, the spring 12
is lowered while being contracted, and the vacuum holding member 4 rises in the direction of arrow B relative to the cylinder portion 1.

この結果、その上端の円板部材７の連通孔８が開放され
、上記シリンダ部１内の常圧状態が真空保持部材４の空
気流通孔５に連通してその内部が常圧となり、上記吸着
バッド１３はワーク１４の吸着を解除する。As a result, the communication hole 8 of the disk member 7 at the upper end is opened, and the normal pressure state in the cylinder part 1 is communicated with the air circulation hole 5 of the vacuum holding member 4, and the inside becomes normal pressure, and the above-mentioned suction The pad 13 releases the adsorption of the workpiece 14.

このようにして吸着バッド１３がワーク１４の吸着を解
除したところで、（ｃ）図に示すように、上記ワーク１
４を所定場所１８ＶＣ置いて吸着装置Ｅは矢印Ｕのよう
に上昇し、別のワーク１４を運搬すべく再び元の位置へ
戻る。以下、同様にして上記（（転）〜（ｅ）の動作を
繰９返えしてワーク１４を次々に運搬する。When the suction pad 13 releases the suction of the workpiece 14 in this way, as shown in FIG.
4 at a predetermined position 18 VC, the suction device E rises as shown by arrow U, and returns to its original position to transport another work 14. Thereafter, the above operations ((rolling) to (e)) are repeated nine times in the same manner to transport the workpieces 14 one after another.

（６Ｊ　　発明の効果 本発明は以上のように構成されたので、所望のワーク１
４を吸着した後に真空源の動力を切ってもそのまま該ワ
ーク１４を吸着保持できる。(6J Effects of the Invention Since the present invention is configured as described above, the desired workpiece 1
Even if the power of the vacuum source is turned off after suctioning the workpiece 14, the workpiece 14 can be held by suction as it is.

したがって、真空源の動力の運転をワーク１４の吸着時
にのみ限定することができ、従来のような連続運転を要
さずに運転エネルギを節約することができる。また、ワ
ーク１４の吸着保持のだめの真空保持部材４を吸着）く
ラド１３の直近に設けたので、その間における外気の侵
入はほとんどなく、上記吸着バッド１３によるワーク１
４の吸着力が低下することはほとんどない。Therefore, the operation of the power of the vacuum source can be limited to only when the workpiece 14 is attracted, and it is possible to save operating energy without requiring continuous operation as in the conventional case. In addition, since the vacuum holding member 4 for suctioning and holding the workpiece 14 is provided in the immediate vicinity of the suction pad 13, there is almost no intrusion of outside air between them, and the workpiece 14 is held by the suction pad 13.
The adsorption power of No. 4 hardly ever decreases.

さらに、ワーク１４の吸着、離脱は単に吸着装置Ｅを下
降したり或いは上昇するだけでよく、その操作が簡単で
ある等の効果を有する。Furthermore, the workpiece 14 can be attracted and detached by simply lowering or raising the suction device E, which has advantages such as simple operation.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は本発明による真空保持型吸着装置を示す断面図
、第２図（ａ）〜（ｅ）はその作動状態を示す断面説明
図である。 １・・・・・・シリンダ部 ２・・・・・・下端壁 ３・・・・・・摺動口 ４・・・・・・真空保持部材 ５・・・・・・空気流通孔 ７・・・・・・円板部材 ８・・・・・・連通孔 ９・・・・・・シール部材 １１・・・・・・７ランジ １２・・・・・・スプリング １３・・・・・・吸着パッド １４・・・・・・ワーク １５・・＝・・・透孔 Ｅ・・・・・・真空保持型吸着装置 出願人　富士通株式会社FIG. 1 is a sectional view showing a vacuum holding type adsorption device according to the present invention, and FIGS. 2(a) to 2(e) are sectional explanatory views showing its operating state. 1... Cylinder part 2... Lower end wall 3... Sliding port 4... Vacuum holding member 5... Air circulation hole 7. ...Disc member 8...Communication hole 9...Seal member 11...7 Lunge 12...Spring 13... Suction pad 14...Work 15...=...Through hole E...Vacuum holding type suction device Applicant Fujitsu Limited

Claims (1)

【特許請求の範囲】[Claims] 真空源と連結されたシリンダ部を有し、このシリンダ部
の下端壁に形成された摺動口に気密的にスライド可能と
され内部には空気流通孔が穿設された真空保持部材を嵌
挿し、上記空気流通孔の上端部をシリンダ部の下端壁内
面にて開放、閉塞可能とすると共に上記真空保持部材の
下端には上記空気流通孔と連通する吸着パッドを設け、
且つ上記真空保持部材を常時シリンダ部下端から下向き
に突出付勢してな９、上記シリンダ部内を負圧にして吸
着パッドをワークに押圧することにより該ワークを吸着
し、このワークを運搬状態では上記真空保持部材内の負
圧でその吸Ｍを保持し、該ワークを所定場所に押圧しな
がら置くことによりその吸着を解除するようにしたこと
を％徴とする真空保持型吸着装置。It has a cylinder part connected to a vacuum source, and a vacuum holding member that can be slid airtightly into a sliding opening formed in the lower end wall of the cylinder part and has an air circulation hole bored inside. , the upper end of the air flow hole can be opened and closed on the inner surface of the lower end wall of the cylinder part, and the lower end of the vacuum holding member is provided with a suction pad that communicates with the air flow hole;
In addition, the vacuum holding member is constantly urged to project downward from the lower end of the cylinder 9, and the work is suctioned by creating a negative pressure in the cylinder and pressing the suction pad against the work, and the work is not transported. A vacuum holding type suction device characterized in that the suction M is held by negative pressure within the vacuum holding member, and the suction is released by placing the workpiece in a predetermined place while being pressed.