JPH11170187A - Sucking equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a sucking equipment capable of smoothly sucking even an article large in area of an adsorption face, and can accurately handle the article without the occurrence of a positional slippage. SOLUTION: In this sucking equipment where a porous sucking mat 10 is attached to a frame 30 connected to a suction equipment with a plurality of connecting members 21, the pillar-shaped connection member 21 smaller in a diameter than an inserting through hole is inserted through into inserting through holes 24a, 34a provided in a guide member 24 and the frame 30 in the order of the holes 24a and 34a, and the sucking mat 10 is joined to the tip part 21a of the connecting member 21 and a compression spring 26 is attached to the periphery of the tip part 21a, and the restoring force of the compression spring 26 is set up that the connecting member 21 may not be substantially moved in an axial direction (x) by pressing force given from the sucking mat 10 in a vertical attitude where an article having the fixed maximum allowable weight is sucked.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for adsorbing and handling articles having a flat surface such as a semi-cured mortar block, and more particularly to an apparatus for smoothly adsorbing articles having a large flat surface area. The present invention relates to a suction device that is well handled.

[0002]

2. Description of the Related Art A vacuum suction device used for sucking and handling a flat semi-plastic material such as a semi-cured mortar block includes a frame to which a pipe connected to a vacuum pump is connected, and a frame attached to the frame. Provided with a porous adsorption mat. In producing a decorative panel by forming a pattern on the surface of lightweight cellular concrete,
For example, when a mortar panel in a semi-cured state is attached to and detached from a press device, it is necessary to adsorb the panel smoothly and handle it with high accuracy and stability. Since such a panel is a large version having a length of about 1 to 3.5 m,
It is not easy to precisely control its attitude. In particular, control in a horizontal position to smoothly suck a panel placed horizontally with the surface to be sucked up, and stable and accurate suction without dislocation even if the surface to be sucked is vertical It is desired to control the vehicle in the vertical posture.

[0003] When adsorbing a panel in a horizontal position, the panel may already be placed slightly inclined from the horizontal. Further, it is not easy to arrange the suction surface of the suction mat exactly parallel to the suction surface of the panel. If the suction surface of the suction mat and the surface to be suctioned of the panel are not arranged in parallel, a problem may occur in intake air, which may hinder suction. Therefore, there is a demand for a means capable of smoothly sucking even when the suction surface of the panel is not exactly parallel to the suction surface of the suction mat and is slightly inclined. For this purpose, it is effective to change the angle of the suction mat so that the suction surface pressed against the panel follows the suction surface of the panel. The suction mat is connected to the frame,
A member having a function of adjusting a distance from the frame is used as the connecting member. When a plurality of such connecting members are dispersedly arranged between the suction mat and the frame, the relative angle between the suction mat and the frame becomes variable. This causes the suction surface of the suction mat to follow the suction surface of the panel.

A connecting member (21) for connecting each part of the suction mat to the frame at a variable interval comprises, for example, a connecting member (21) on which a compression spring (26) is mounted as shown in FIG. According to this, the connecting member (21)
The threaded tip (21a) has a suction mat (1
0), and the body (21b) is connected to the frame (30).
Insertion hole (3) which is a stupid hole provided in the support plate (34)
The head (21c) of the nut (22), which is screwed, is supported by the support plate (34) by the restoring force of the compression spring (26). Therefore, when a load exceeding the restoring force is applied to the compression spring (26) by pressing the suction mat (10) against the panel (M), the suction mat (10) is moved to the upper side of the connecting member body (21b). Rotation is performed with a portion in contact with the insertion hole (34a) as a fulcrum (21d), and an axial direction (x) of the connecting member (21), that is, the suction surface (12a) of the suction mat (10).
Move in a direction perpendicular to. Thereby, the relative angle between the suction mat (10) and the frame (30) is adjusted.

[0005] However, the suction device having such a mounting structure for the suction mat (10) has a problem in the control in the vertical posture described below. That is, the panel (M) placed with the surface to be sucked (Ma) facing upward is placed on the suction mat (1) in a horizontal posture.
This occurs when the object is sucked and lifted from above at 0), and then is rotated 90 degrees and handled in a vertical posture as shown in the figure. As described above, the adsorption mat (10)
Can rotate with respect to the frame (30).
If the restoring force exceeds 6), the suction mat (10) is inclined as shown. This is because the panel (M) and the suction mat (1) are supported with respect to the fulcrum (21d) of the connecting member (21).
Since the moment due to the weight of 0) acts, it is most affected when the suction mat (10) is in the vertical posture. If the suction mat (10) is tilted and displaced in this way, it may result in trouble in handling the panel (M) with high accuracy. For example, a deviation from the control position of the robot hand holding the suction device occurs, and the panel (M) cannot be accurately placed at the handling destination. In particular, if the object to be adsorbed is a soft article such as a semi-cured mortar block, it may collide with the handling destination and cause damage such as deformation.

As described above, in the control in the horizontal posture, the suction mat (12) of the suction mat (10) follows the suction surface (Ma) of the panel (M) in order to follow the suction surface (Ma). The relative angle between 10) and the frame (30) is variable. When the suction mat (10) is inclined with respect to the frame (30), the connecting member (21) moves in the axial direction (x) as shown. At this time, since the connecting member (21) having the conventional mounting structure is supported at one point at the fulcrum (21d) and must rotate and move in the axial direction (x), it is difficult to operate smoothly. There was a point.

[0007]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems in the prior art, and has as its object to smoothly adsorb an object having a large surface area to be adsorbed. In addition, an object of the present invention is to provide a suction device capable of handling with high accuracy without causing displacement.
In particular, control in a horizontal position to smoothly adsorb the object placed horizontally with the surface to be adsorbed upward, and stable with high precision without causing displacement even if the surface to be adsorbed is vertical It is an object of the present invention to provide a suction device capable of controlling in a vertical posture in which a suction posture is held.

[0008]

To achieve the above object, a suction device according to the present invention is a suction device in which a porous suction mat is attached to a frame connected to the suction device by a plurality of connecting members. And, in this order, a columnar connecting member having a smaller diameter than the insertion holes is connected to the insertion holes provided in the frame, a suction mat is connected to the front end thereof, and a compression spring is mounted around the front end thereof. The restoring force of the compression spring is set so that the connecting member does not substantially move in the axial direction by the pressing force from the suction mat in the vertical posture in which the article having the maximum allowable weight is sucked.

[0009]

Embodiments of the present invention will be described with reference to the drawings. The object handled by the suction device of the present invention is any article having a flat surface. Especially,
It can be effectively applied to articles having a large flat surface area. Hereinafter, as a preferred embodiment, an apparatus for handling a semi-cured mortar panel, which is an intermediate product for manufacturing a decorative panel used as an exterior material of a building or the like, will be described. The configuration of the present invention can be appropriately changed in design without departing from the gist thereof.

FIGS. 1 to 4 are a plan sectional view, a front view, a side sectional view, and a partial rear view of a suction device according to the present invention.
5 and 6 are a partially enlarged view of FIG. 1 and a side view thereof. The suction device for vacuum-suctioning and handling the semi-cured mortar panel (M) having a large flat surface (Ma) area is a pipe (4) connected to a vacuum suction device (not shown).
1) A frame (30) to be connected to, and a porous suction mat (10) attached to the frame (30)
Is provided.

The suction mat (10) is in the form of a thin flat plate, and the flat plate (11) close to the suction target (M) and the adsorbent (1).
2) A laminated structure with the flat plate (14) near the frame (30) is formed. The flat plate (11) has an adsorbent (1
It is made of a rigid material to maintain the flatness of 2). The flat plate (11) is connected and supported by a flat plate (14) described later. The adsorbent (12) is made of urethane rubber or the like, and as shown in FIG. 4, a large number of suction holes (13) are provided on the adsorption surface (12a) that contacts the adsorption target (M). This suction hole (13) also penetrates the flat plate (11) and communicates with the suction device.

The laminate of the flat plate (11) and the adsorbent (12) is attached to the flat plate (14) near the frame (30) by a spacing adjusting member (15). Interval adjustment member (1
5) has a function of adjusting the interval between the laminate of the flat plate (11) and the adsorbent (12), in addition to connecting the laminate to the flat plate (14). The space between the flat plate (14) and the flat plate (11) is a substantially box-shaped space that is kept airtight. The suction pipes (42), (43), (45), and (46) communicating with the suction device are attached to the flat plate (14). Communication to the suction device is ensured.

The flat plate (14) near the frame (30)
It is connected to the support plate (34) at the end of the frame (30) by a connecting member (21) described later. Support plate (34)
The robot hand (4) assists in maintaining the flatness of the flat plate (14) and handles the suction mat (10).
This is a member connected to 4). L-shaped rib (32)
(33) is lined with a lattice, and a support plate (34)
The flatness of itself is reinforced.

The robot hand (44) is connected to a suction pipe (41).
The frame (30) is also stabilized by being connected to the support plate (34) via the connecting rod (47). Here, the suction pipe (41) connected to the suction device is branched into four suction pipes (42), (43), (45), and (46), and then connected to the suction mat (10) via the frame (30). Communicating. Further, a suction pipe may be attached to the robot hand (44) to increase the number of suction pipes facing the suction mat (10). When a plurality of suction pipes are dispersed and faced to the suction mat (10) in this manner, it contributes to uniform suction force in each suction hole (13) of the suction mat (10).

In the suction device described above, the present invention is characterized by a connecting member (21) for connecting the flat plate (14) of the suction mat (10) and the support plate (34) of the frame (30). The detailed structure is as shown in FIGS. 7 and 8 show the operation in comparison with the prior art shown in FIG. 9, FIG. 7 is a plan sectional view showing the suction state in a horizontal posture, and FIG. 8 shows the suction state in a vertical posture. It is a plane sectional view. The connecting member (21) is a columnar member smaller in diameter than the insertion holes (24a) and (34a) of the guide member (24) and the support plate (34), and bolts can be used. The connecting member (21) is inserted from the support plate (34) side of the frame (30) to the flat plate (14) side of the suction mat (10). At this time, the nut (2) connected to the support plate (34)
2) After being inserted through the collar (23) and the guide member (24), it is inserted through the support plate (34). And it was inserted into the compression spring (26) and the nut (27) inserted between the support plate (34) and the flat plate (14), and the tip part (21a) protruded below the flat plate (14). It is screwed into the screw thread in the columnar screw receiving portion (14a).

As a result, the head (21c) of the connecting member (21) is supported against the frame (30) via the nut (22) by the restoring force of the spring (26), and the body (21b). ) Are inserted through the insertion holes (24a) and (34a) of the guide member (24) and the flat plate (34), and the front end (21a) is connected to the mat (10) via the screw receiving portion (14a). . Therefore, similarly to the prior art shown in the explanatory view of FIG. 9, the portion of the suction mat (10) connected to the connecting member (21) is within a predetermined range in the axial direction (x) of the connecting member (21). It is movable. A plurality of connecting members (21) having such an effect are dispersedly provided on the suction mat (10). Therefore, the relative angle of the suction mat (10) with respect to the frame (30) is variously adjusted, and the object to be sucked (M) having a large area of the surface to be sucked (Ma) can also be smoothly sucked.

In this embodiment of the present invention, the nut (22), the collar (23), and the guide member (24) are provided on the support plate (34). for that reason,
The body (21b) of the connecting member (21) has a simple structure.
7 has a long tubular portion, and at the time of suction in the horizontal posture shown in FIG. 7, the body (21 b) is supported by the fulcrum (21
d) and a fulcrum (21d '). Therefore,
As in the prior art, the suction mat (10) and the frame (3)
While the relative angle with respect to 0) can be adjusted, the one-point support as in the prior art is prevented, and the rotation of the connecting member (21) and the movement in the axial direction (x) are performed smoothly. Also, since the two fulcrums (21d) and (21d ') correspond to both ends of the cylindrical portion through which the body (21b) is inserted, the connecting member (2
The amount of rotation of 1) is appropriately regulated. The maximum rotation amount (α) is determined by the ratio (arctanb / arctanb /) of the length (a) of the cylindrical portion into which the body (21b) is inserted and the clearance (b) in the insertion hole (34a) of the flat plate (34). a), by increasing the length (a) of the tubular portion, the clearance (b) can be increased and the connecting member (2)
The movement of 1) becomes easy.

In the illustrated embodiment, the body (21b) of the connecting member (21) is inserted through the collar (23) and the two nuts (22) in addition to the guide member (24). These are not essential components. For example, a guide member (24) having a sufficient length is used to connect the connecting member (2).
A configuration in which the head (21c) of 1) is supported in contact is also possible. Since the guide member (24) is connected and fixed to the flat plate (34), the guide member (24) has a flange portion (24b) for inserting and holding a bolt (25) as the connection member. If a hole for inserting the connecting member (21) is provided, a macroscopic columnar member can be appropriately used. The L-shaped rib (3) is inserted into the insertion hole (34a) of the flat plate (34).
Although the positions of the insertion holes in 3) overlap, the insertion holes (34a) of the flat plate (34) are in contact with the body (21b) of the connecting member (21) and the end of the guide member (24). This is to enhance the resistance to friction and stress at the site.

The suction state in the vertical posture is as shown in FIG. A compression spring (26) is mounted on the connecting member (21) between the support plate (34) and the flat plate (14). This is because, as described above, the distance between the suction mat (10) and the frame (30) is adjusted so that the suction surface (12a) of the suction mat (10) is brought into close contact with the suction surface (Ma) of the panel (M). In addition to facilitating the suction and smooth suction, it also contributes to preventing the suction mat (10) from shifting in the axial direction (x) of the connecting member (21). As described above, since the suction mat (10) can rotate with respect to the frame (30), the influence of the weight of the panel (M) or the like is large.
If the restoring force of the compression spring (26) is exceeded, the suction mat (10) is inclined as in the prior art of FIG.
In order to avoid this, when the suction mat (10) in the vertical position sucks the panel (M) having the predetermined maximum allowable weight, the connecting member (21) is pressed by the suction mat (10). The restoring force of the compression spring (26) is set so that it does not substantially move in the axial direction (x).
Then, as shown in FIG. 8, even when the suction mat (10) is in the vertical position, the inclination of the connecting member (21) is prevented, whereby the displacement of the panel (M) is prevented, and the handling accuracy is improved. improves.

As described above, the control in the horizontal posture in which the horizontally mounted panel (M) is smoothly sucked with the surface to be sucked (Ma) upward, and the surface to be sucked (Ma) is vertically moved Even in this case, the control in the vertical posture in which the position is accurately and stably suction-held with no displacement is achieved. Therefore, it is possible to stably handle a soft and large-sized article such as a semi-cured mortar panel. Further, as components, widely distributed components such as nuts (22) and springs (26) can be used, and the structure is not complicated, so that there is an advantage that they can be manufactured at low cost. In addition, the axial direction (x)
The range in which the suction mat (10) moves to the frame (3)
0) and the flat plate (1) of the suction mat (10).
4) and the spring (2)
It is defined by the expansion / contraction limit of 6).

Finally, the balance between the control in the horizontal posture and the control in the vertical posture will be described. In order to maintain the posture of the suction mat (10) such that the connecting member (21) does not rotate and shift in the vertical position, the restoring force of the compression spring (26) needs to be set large. There is. On the other hand, if the restoring force is too large, the connecting member (21) will not rotate in the horizontal posture. Then, even if the suction mat (10) is pressed against the panel (M), the relative angle between the suction mat (10) and the frame (30) cannot be changed, and the suction surface (12a) of the suction mat (10) is moved to the panel. It may not be possible to follow the suction surface (Ma) of (M). The restoring force of the compression spring (26) is set in a range that satisfies both of these conditions.

[0022]

The adsorbing device of the present invention has the following effects due to the above configuration. According to the device described in claim 1, the connecting member that connects the suction mat to the frame,
Since the tubular member is inserted and supported by the long guide member, the trunk portion of the connecting member is supported at two points with respect to the guide member and the support plate of the frame in the horizontal posture. for that reason,
One-point support as in the prior art is prevented, and the rotation of the connecting member and its movement in the axial direction are performed smoothly. Further, the restoring force of the compression spring provided on the connecting member is set to such an extent that the connecting member does not substantially move in the axial direction with the pressing force from the suction mat that has absorbed the article having the predetermined maximum allowable weight. Therefore, in the vertical posture, the displacement of the suction mat is prevented.

[Brief description of the drawings]

FIG. 1 is a cross-sectional plan view of an adsorption device according to the present invention.

FIG. 2 is a front view of the same.

FIG. 3 is a side sectional view of the same.

FIG. 4 is a partial rear view of the same.

FIG. 5 is a partially enlarged view of FIG. 1 showing details of a connecting member;

FIG. 6 is a side view of the same.

FIG. 7 is a cross-sectional plan view showing a suction state in a horizontal posture.

FIG. 8 is a cross-sectional plan view showing a suction state in a vertical posture.

FIG. 9 is an explanatory plan sectional view showing a suction state in a vertical posture according to the related art.

[Explanation of symbols]

α Maximum amount of rotation of the connecting member with respect to the frame a Length of the cylindrical portion through which the connecting member is inserted b Clearance in the insertion hole 34a of the flat plate x Axial direction of the connecting member 20 M Suction target object Ma Adsorbed surface 10 Suction mat 11 Flat plate DESCRIPTION OF SYMBOLS 12 Adsorbent 12a Suction surface 13 Suction hole 14 Flat plate 14a Screw receiving part 15 Interval adjustment member 21 Connecting member 21a Tip part 21b Trunk part 21c Head 21d, 21d 'Support point 22, 27 Nut 22a, 23a, 24a, 34a Insertion hole 23 Collar 24 Guide member 24b Flange 25, 31 Bolt 26 Compression spring 30 Frame 32, 33 L-shaped rib 34 Support plate 41, 42, 43, 45, 46 Suction pipe 44 Robot hand 47 Connecting rod

Claims (1)

[Claims] 1. A frame (30) connected to a suction device.
A plurality of connecting members (21) and a porous adsorption mat (1).
0), wherein a columnar connecting member (21) having a smaller diameter than the insertion holes in the insertion holes (24a) (34a) provided in the guide member (24) and the frame (30) in this order. The suction mat (10) is coupled to the tip (21a) and a compression spring (26) is attached around the tip, so that the suction mat in a vertical posture in which an article having a predetermined maximum allowable weight is sucked. With the pressing force from (10), the connecting member (21)
A suction device wherein a restoring force of a compression spring (26) is set so as not to substantially move in the axial direction (x).