JP2001341089A - Article sucking device and its method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an article sucking device capable of certainly carrying out suctional hold of an article susceptible to flaw, etc., or to avoid flawing and capable of improving in sucking reaction of the article as much as possible and its method. SOLUTION: A first valve hole 4 is provided on one side of one or a plural number of working chambers 3 connected to a pressure reducing means 2, a second valve hole 5 is provided on the other side of this or these working chambers by opening it to the suctional side of article b, a valve element 6 to block by selectively corresponding to the first and the second valve hole free to move in the working chambers, a suctional member 7 to prevent inflow of outside air to the second valve hole when it makes contact with an article surface is provided on the lower side of the second valve hole, one end part of a communicating body 8 is connected to the valve element through the inside of the second valve hole, and a spring device 9 to block the second valve hole by the valve body normally by energizing it in a direction to tense the communicating body is provided on this communicating body.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to suction and holding of an article, and can selectively operate a depressurized state and a non-depressurized state according to a contact state of an adsorbing member with the article. The present invention relates to an article suction device and a method thereof.

[0002]

2. Description of the Related Art The present inventor has already disclosed a device for lifting, holding, moving and transporting a member having a flat surface such as a sheet glass, a metal plate, or a wooden finished plate. No. 28687.

[0003] In this device, an adsorbing member in contact with an article surface and a pressure reducing means are communicated via a working chamber, and a valve body which selectively closes the working chamber to a first valve hole and a second valve hole. The valve body is normally urged by an elastic device so as to block the flow of the outside air corresponding to the second valve hole of the working chamber, so that the entire surface of the suction member abuts on the article surface. Then, when the valve body is operated to bring both valve holes of the working chamber into a flowing state, and when only a part of the suction member abuts against the article surface, the valve body is operated to operate the first valve of the working chamber. By blocking the flow of the outside air in response to the holes, even if some of the suction parts cannot be suctioned, the suction can be surely performed without reducing the pressure reducing operation of the pressure reducing means of the other suction parts. It has a great effect that it can be held.

However, in this apparatus, the valve body is separated from the second valve hole by the article pusher first contacting the article surface before the suction member comes into contact with the article surface to be sucked. Since the suction force of the depressurizing means acts on the object, depending on the article, there is a case where the article is damaged by the abutting of the article pressing body and adversely affects the article.

[0005]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and has a first valve hole on one side of one or a plurality of working chambers connected to a pressure reducing means. A second valve hole is provided on the other side of the working chamber so as to be opened on the suction side of the article, and a valve body selectively closed to the first and second valve holes is movable into the working chamber. Provided,
An adsorbing member is provided below the second valve hole to prevent inflow of outside air into the second valve hole when it comes into contact with an article surface, and one end of the link is connected to the valve via the second valve hole. At the same time, the other end is connected to a receiver provided on the suction side of the article, and the link is always urged in a direction to tension the link to close the second valve hole by the valve. Is provided, it is possible to reliably perform suction holding of an article that is likely to be scratched or must be prevented from being scratched, and also possible to improve suction responsiveness of the article as much as possible. It is an object of the present invention to provide an article suction device and a method thereof.

[0006]

Means of the present invention for achieving the above object include a main body, a decompression means connected to the main body, and one or more working chambers connected to the decompression means. A first valve hole connected to the pressure reducing means provided on one side of the working chamber, and a second valve provided on the other side of the first valve hole in the working chamber and opened to an article suction side. A hole, a valve body movably provided in the working chamber and selectively corresponding to the first and second valve holes to close the first or second valve hole, and a valve body outside the second valve hole. An adsorbing member that is provided so as to surround the second valve body and forms a suction chamber for the article, and that prevents external air from flowing into the second valve hole when abutting on the article surface; One end is connected to the valve body via the other end, and the other end is connected to a receiver provided on the suction side of the article. A linkage which has been brought into connection, provided this linkage member, normally, let a bullet machine by biased in a direction to tension the 該連 Kakaritai performing occlusion of the second valve hole by a valve body,
The outer surface of the receiver has the configuration of the article suction device that is positioned inside the suction surface of the article in the suction member.

In the first valve hole and the second valve hole,
An air leakage means is formed to allow a part of air to flow when the valve body comes into contact.

The main body, the pressure reducing means connected to the main body, one or a plurality of working chambers connected to the pressure reducing means, and the pressure reducing means provided on one side of the working chamber. A first valve hole, a second valve hole that is provided on the other side of the first valve hole in the working chamber and that is opened to the suction side of the article, and is provided to be movable into the working chamber and the first and second valve holes are provided. A valve body for selectively closing the first or second valve hole corresponding to the valve hole, and forming a suction chamber for the article by surrounding the second valve body outside the second valve hole; Then, an adsorbing member that prevents inflow of outside air into the second valve hole when abutting on the article surface, one end is connected to the valve body via the inside of the second valve hole, and the other end is connected to the other end. A link connected to a receiver provided on the suction side of the article; and And a resilient device for urging the body in a tensioning direction to close the second valve hole by the valve body, wherein the first valve hole and the second valve hole are partially closed when the valve body abuts. In the article adsorbing device formed with an air leaking means through which air can flow, when the suction force by the pressure reducing means is applied to the working chamber, the entire suction surface of the suction member corresponds to the article surface. When not, the valve body is sucked against the tension of the elastic machine by the suction force to be brought into pressure contact with the first valve hole, and the first valve hole is released by the air leaking means by the pressure reducing means. When the air is leaked to such an extent that the suction force does not decrease and the entire suction surface of the suction member corresponds to the article surface, the suction force by the pressure reducing means is reduced by the air leakage. And acting on the surface of the article through the delivery means to absorb the article. Then, with the suction, the negative pressure difference between the suction chamber and the pressure reducing means approaches, so that the valve body is pulled back to the second valve hole side by the urging force of the elastic machine, and the suction chamber is moved to the suction chamber. An article suction method for suction-holding the article by applying a suction force.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment of an article adsorbing apparatus and method according to the present invention will be described with reference to the drawings. 1 and FIGS. 4 to 6 and FIG.
The main body 1, the pressure reducing means 2, the working chamber 3, the first valve hole 4, the second valve hole 5, the valve body 6, the suction member 7, and the linking member 8 and an ammunition 9.

[0010] Of these, the main body 1 is, for example, as shown in FIG.
Frame 11 that can move up and down and move left and right and back and forth
Are supported at predetermined intervals and in plural rows at predetermined intervals. For example, a mounting table 1 such as a table or a conveyor is supported.
2. The above-described predetermined movement is given to the article b placed on
In some cases, only one main body 1 is attached to the frame 11.

The pressure reducing means 2 is provided so as to be connected to the main body 1 and applies a suction force to a suction chamber 13 to be described later via a suction member 7 to be described later. It comprises a member 14, an on-off valve 15, a pipe 16, and the like. The pressure is reduced to a predetermined value, and a suction force is applied to the suction chamber 13 via the suction member 7 provided at the lower portion of the main body 1.

The above-mentioned working chamber 3 is provided in the main body 1 connected to the pressure reducing means 2 so that a pressure reducing force from the pressure reducing means 2 is applied. When a plurality of main bodies 1, 1, 1 are attached to the frame 11 as shown in FIG. 6, a series of decompression chambers 17 formed inside the frame 11 are connected to the decompression means 2, Each of the working chambers 3, 3, 3 provided in the plurality of bodies 1, 1, 1 is
7.

The above-described first valve hole 4 is provided on one side of the working chamber 3, that is, on the upper wall, and
The valve seat 4a is arranged at the periphery of the valve seat 4a.
Is provided.

The above-mentioned second valve hole 5 is provided on the other side of the first valve hole 4, that is, on the lower wall of the working chamber 3 so as to be open to the atmosphere side (the suction side of the article b). The portion is provided with a valve seat 5a.

As shown in FIGS. 1 to 4, 6 and 8, the valve body 6 is provided movably in the working chamber 3 so that the valve seats of the first valve hole 4 and the second valve hole 5 are provided. The valve holes 4 and 5 are closed and opened selectively in response to 4a and 5a, and are generally formed in a spherical shape.

The first valve hole 4a and the second valve hole 5a are provided with air leaking means 18 through which a part of air can flow when the valve body 6 comes into contact. As shown in FIG. 7A, the leaking means 18 forms the valve seats 4a and 5a surfaces of the first valve hole 4 and the second valve hole 5 in a straight line or a curved line, or in a state shown in FIG. However, a thin groove through which air can flow is formed in one or more places in the valve seat.

Further, as shown in FIG.
The upper surfaces of the a and 5a are formed in an arcuate concave shape so as to match the spherical valve body 6, and the outer shape of the valve body 6 is formed into an elliptical sphere (non-true sphere) or a different shape. As shown in c),
A small-diameter small hole is formed in the hollow valve body b, or a detour (bypass) is formed in an appropriate place such as the main body 1 (not shown). The decompression means 2 and the working chamber 3 or the working chamber 3 and a suction chamber 13 described later
Circulates a part of the air through the air leaking means 18. The part of air is a small amount of air that does not adversely affect the suction force by the pressure reducing means 2.

Although FIG. 7 shows the configuration of the air leaking means 18 in the form of only the second valve hole 5, the same structure and operation can be applied to the first valve hole 4. And the drawings and detailed description thereof are omitted.

The above-mentioned suction member 7 is provided below the second valve hole 5a so as to surround the second valve body 5a to form a suction chamber 13 for the article b, and when it comes into contact with the surface of the article b. Rubber, sponge, urethane foam, etc., which prevent the inflow of outside air into the second valve hole 5a, have a cup-like shape in which the suction chamber 13 is formed, and have good adhesion to the surface of the article b. By molding from a material having flexibility or elasticity, it is possible to more surely adsorb to the article b, and even if there is some unevenness on the surface of the article b, a predetermined shrinkage is made when the article b comes into contact with the surface of the article b. It exerts the cushioning effect of obtaining an amount and provides an adsorption effect.

The adsorbing member 7 is an article adsorbing device A
Performs a buffering action when the suction member 7 comes into contact with the surface of the article b and absorbs an excessive descending amount of the article suction device A. As shown in FIG. Sometimes. In addition, by forming in the flexible material,
Although it does not damage the article b even if it comes into contact with the surface of the article b which is easily scratched, it is needless to say that depending on the article b to be treated, it may be formed of a material having no cushioning property. .

One end of the link 8 is connected to the valve 6 through the second valve hole 5 and the other end of the link 8 is fixed to the receiver 20 provided on the suction side of the article b. Although not shown, the valve body 6 is provided so as to be freely movable toward and away from the vehicle (at least the receiving body 20 is provided in a movable state instead of a fixed state). Is pulled, the valve body 6 is brought into contact with the valve seat 5a of the second valve hole 5, and the length thereof is adjusted so that the communication between the suction chamber 13 in the suction member 7 and the pressure reducing means 2 is cut off. I have. The linking body 8 itself may be, for example, a steel wire or the like that does not expand or contract or bend, but is preferably a flexible wire such as a thread made of a natural or artificial fiber having a predetermined diameter or a synthetic resin wire such as a tex. This allows the slack portion in the suction chamber 13 and the working chamber 3 to be present out of the way when the linking body 8 contracts.

The above-mentioned ammunition 9 is provided between the lower receiving body 20 of the link 8 and the lower wall of the main body 1 and always tensions the link 8 (for example, see FIG. 1). ) To close the second valve hole 5 with the valve element 6, and uses a coil spring that is provided on the link 8.

The spring 9 is set and adjusted to have a spring force slightly weaker than the suction force by the pressure reducing means 2, and the suction force acts on the working chamber 3 to suck the valve body 6. By pulling the connecting body 8 connected thereto and pulling the receiving body 20 against the urging force of the ram 9, the valve body 6 is moved to the first valve hole 4.
Abut. As will be described later, when the negative pressure difference between the decompression means 2 and the working chamber 3 and the suction chamber 13 is close to each other, the receiving body 20 is pushed outward by the elastic machine 9, so that the link 8
The contact of the valve element 6 with the first valve hole 4 is released via the valve.

When the above-mentioned spring 9 employs a coil-shaped spring, its axial center may be bent outward to hinder the opening / closing operation of the valve body 6. As shown in FIG. 4 and the like, the outer cylinder guide body 21 can be stabilized by attaching the outer cylinder guide body 21. In this case, a large number of If the through holes 22 are scattered, the suction operation by the decompression means 2 can be performed smoothly. Further, as shown in FIG. 6, the elastic unit 9 using the coil spring has a larger diameter on the fixed side (the second valve hole 5 side) and a smaller diameter on the movable side (the receiver 20 side). By forming it into an inverted conical shape,
Stabilization of the ammunition 9 can be achieved.

Therefore, the article adsorbing apparatus A and the article adsorbing method according to the embodiment of the present invention configured as described above are:
The article suction device A has the following effects.
A description will be given of an example in which the suction member 7 sucks and holds the article b positioned below from above.

First, when the pressure reducing means 2 is not operated, as shown in FIG. 1, the receiving body 20 is pushed down by an elastic machine 9 such as a coil spring. The connected linking body 8 pulls the valve body 6 downward, and presses the valve body 6 against the valve seat 5 a of the second valve hole 5. At this time, the valve body 6 and the valve seat 5a of the second valve hole 5 are caused by the air leaking means 18 to have the configuration shown in FIG.
As shown in (2), the air is leaked to such an extent that the suction force by the pressure reducing means 2 is not reduced.

When the pressure reducing means 2 is operated in this state,
The suction force is applied to the working chamber 3 to suck the valve body 6 in the working chamber 3. The valve body 6 is sucked against the urging force of the elastic machine 9, and FIG. As shown in (1), the first valve hole 4 is brought into contact with the first valve hole 4 to close the first valve hole 4, thereby preventing further suction of outside air. In this state, the first valve hole 4
Since the air leaking means 18 is provided in the valve body 6 and the valve body 6, as shown in FIG. 3, a small amount of external air, that is, an amount of air that does not lower the suction force by the pressure reducing means 2 as described above. Air leaks from the first valve hole 4.

Next, when the suction member 7 of the article suction device A in the state of preparation for suction is pressed against the surface of the article b, the lower peripheral edge of the suction member 7 contacts the surface of the article b, and the suction member 7 The opening 7 is closed by the surface of the article b.

Then, as shown in FIG. 3, by the action of the air leaking means 18, the suction force by the pressure reducing means 2 becomes:
Suction induction is performed due to the air leakage, and the suction chamber 13
The suction force acts immediately on the inside, and a negative pressure is suddenly applied to the suction chamber 13.

Then, when the negative pressure P1 of the suction chamber 13 and the negative pressure P2 of the upper portion 30 of the valve body 6 are approximated (P1 ≒ P2),
As shown in FIG. 4 (b), the receiving body 20 is pushed downward by the urging force of the ammunition 9, and the link 8 is pulled along with this, so that the valve 6 is separated from the first valve hole 4. As a result, the two chambers 3 and 13 are applied to the working chamber 3 and the suction chamber 13 at a stretch to have substantially the same negative pressure (P1 = P2), and as a result, as shown in FIG. Member 7 is article b
When the main body 1 is pulled up to hold by suction, the main body 1 is sucked and lifted by the suction member 7.

In this state, the article b sucked and held is transferred to another processing machine or the like.
After placing the article b in another process and stopping the decompression operation of the decompression means 2 (or operating the switching valve), the operation chamber 3
By exhausting or sending air from inside, the adsorbing member 7 and the article b
And separated.

In particular, the effective configuration of the apparatus A according to the present invention is such that when the article suction apparatus A is pressed against the article b, a portion protruding from the predetermined position at the suction position on the surface of the article b or an irregular shape, or Even if the upper surface of the article b has a recess or a recessed portion, or as shown in FIG. 6, the suction action portion of the suction member 7 protrudes from the outer peripheral edge of the article b, This is a point that suction can be performed.

That is, in the example shown in FIG. 6, a plurality of article suction devices A are mounted on the frame 11, and each of the working chambers 3, 3. , And the suction force of the decompression means 2 is uniformly applied to these working chambers 3, 3,....

In this state, the plurality of suction members 7 are
When one or more of the suction members 7 of the article suction device A are out of the surface of the article b as shown in FIG. 6, the valve corresponding to the suction member 7 Since the body 6 is lifted upward by the suction force of the decompression means 2 and abuts against the first valve hole 4 and is closed, no suction force acts on the suction chamber 13 of the suction member 7, and the suction force from this portion is not exerted. No air suction. As shown in FIG. 3, the air leaking means 18 is arranged so as to generate an air leak that does not lower the suction force by the pressure reducing means 2.

Therefore, the predetermined suction force by the decompression means 2 is reduced by the suction chambers 13, 13 of the other suction members 7, 7,... Without reducing the suction force of the decompression chamber 17 due to excessive suction due to the absence of the article b. , And the remaining suction members 7, 7,... Can surely hold the article b by suction. If the apparatus A is moved to another process, the article b can be moved. it can. Alternatively, predetermined processing by another processing machine can be performed in a state where the article b is reliably sucked and held by the suction members 7, 7,.

In this embodiment, the valve body 6 is formed in a spherical shape. However, other shapes such as a disk shape may be used. In short, the configuration of the valve body 6 is sufficient if it has a function of closing the first and second valve bodies 4 and 5.

Further, the apparatus A according to the embodiment of the present invention can be used not only for suctioning the article b downward, but also for suctioning the article b at an arbitrary angle such as horizontal or upward. Since the same operation and effect can be exerted, the range is expanded when the device A is used.

[0038]

As described above, according to the present invention, when suction is not performed on the surface of the article, the suction force of the pressure reducing means does not work on the suction member, so that no empty suction is performed. Of the plurality of suction members, even if an attempt is made to cause suction leakage by not corresponding to the article surface, the valve body immediately contacts the first valve hole of the working chamber and closes it, thereby continuously sucking outside air. Since it is not performed, it is possible to surely hold and hold the article by using the pressure reducing means by the same pressure reducing system. In particular, by providing the air leaking means between the valve body and the first and second valve holes, the suction operation can be performed quickly when the adsorbing member responds to the article surface, and high speed is achieved in the article moving process. Is possible. Further, even for an easily scratched article, it is possible to hold the article without adversely affecting the article surface. It has a special effect.

[Brief description of the drawings]

FIG. 1 is a longitudinal sectional front view showing one embodiment of an article suction device according to the present invention.

FIG. 2 is an explanatory view showing air leaking means provided in a valve body and a second valve hole in the article suction device in FIG. 1;

FIG. 3 is an explanatory view showing an air leaking means provided in a valve body and a first valve hole in the article suction device in FIG. 1;

FIGS. 4A and 4B are longitudinal sectional front views showing an operation state of the article suction device in FIG. 1, wherein FIG. 4A shows a non-sucking state of an article, and FIG.

FIG. 5 is a schematic diagram showing a state in which a plurality of article suction devices in FIG. 1 are provided.

6 is a cross-sectional view showing an article suction state of the article suction device in FIG.

FIG. 7 is an explanatory view showing each example of an air leaking means of the article suction device in FIG. 1;

8 is a cross-sectional view showing another example of the suction member of the article suction device in FIG.

[Explanation of symbols]

 A article adsorbing device b article 1 main body 2 decompression means 3 working chamber 4 first valve hole 5 second valve hole 6 valve body 7 suction member 8 linking body 9 elastic machine 18 air leaking means 20 receiver

Claims (3)

[Claims] 1. A main body, a decompression means connected to the main body,
One or more working chambers connected to the pressure reducing means, a first valve hole connected to the pressure reducing means provided on one side of the working chamber, and a first valve hole in the working chamber. A second valve hole provided on the side of the suction port of the article and a first valve hole movably provided in the working chamber and selectively corresponding to the first and second valve holes. And a valve body that closes the second valve hole to form a suction chamber for the article provided outside the second valve hole so as to surround the second valve body. An adsorbing member that prevents the inflow of outside air, a linking body having one end connected to the valve body through the second valve hole, and the other end connected to a receiver provided on the suction side of the article; The second valve hole is closed by the valve body by always urging the link body in the direction of tension by providing the link body. Let a bullet machine for the outer surface of the receptacle, the goods adsorption system is characterized in that is located inside the suction surface of the article in the adsorption member. 2. An air leakage device according to claim 1, wherein said first valve hole and said second valve hole are formed with air leakage means through which a part of air can flow when said valve body comes into contact. Article suction device. 3. A main body, and a decompression means connected to the main body,
One or more working chambers connected to the pressure reducing means, a first valve hole connected to the pressure reducing means provided on one side of the working chamber, and a first valve hole in the working chamber. A second valve hole provided on the side of the suction port of the article and a first valve hole movably provided in the working chamber and selectively corresponding to the first and second valve holes. And a valve body that closes the second valve hole to form a suction chamber for the article provided outside the second valve hole so as to surround the second valve body. An adsorbing member that prevents the inflow of outside air, a linking body having one end connected to the valve body through the second valve hole, and the other end connected to a receiver provided on the suction side of the article; The second valve hole is closed by the valve body by always urging the link body in the direction of tension by providing the link body. The first and second valve holes are provided with an air leakage means through which a part of air can flow when the valve body comes into contact with the first and second valve holes. When the suction force by the pressure reducing means is applied to the working chamber, when the entire suction surface of the suction member does not correspond to the article surface, the valve is pressed against the tension of the elastic machine by the suction force. The body is sucked and pressed against the first valve hole, and the first valve hole is closed in a state where air is leaked by the air leaking means to such an extent that the suction force is not reduced by the pressure reducing means. When the entire suction surface of the suction member corresponds to the surface of the article, the suction force by the pressure reducing means is applied to the surface of the article through the air leaking means to suck the article, and the suction is performed. The negative pressure between the suction chamber and the pressure reducing means. By approaching the difference, the valve body is pulled back to the second valve hole side by the biasing force of the elastic machine, and the article is suction-held by applying the suction force to the suction chamber. Adsorption method.