JPH07214488A - Vacuum sucker device - Google Patents
Vacuum sucker deviceInfo
- Publication number
- JPH07214488A JPH07214488A JP1066594A JP1066594A JPH07214488A JP H07214488 A JPH07214488 A JP H07214488A JP 1066594 A JP1066594 A JP 1066594A JP 1066594 A JP1066594 A JP 1066594A JP H07214488 A JPH07214488 A JP H07214488A
- Authority
- JP
- Japan
- Prior art keywords
- suction cup
- support leg
- rod
- fitting frame
- vacuum
- 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
Landscapes
- Manipulator (AREA)
Abstract
(57)【要約】
【目的】移動ロボットの支持手段として利用する真空吸
盤装置において、吸着面に対しての吸盤の必要な追従性
を確保しながら、不要な運動、特に旋回方向の運動を規
制することにより、真空発生用ホースの切断や捩れ等の
不都合の発生を防止する。
【構成】吸盤３を支持脚１に球面摺り合わせ機構７を介
して全方向に運動自在に連結してなる真空吸盤装置にお
いて、吸盤の一側から支持脚１の側方に棒２５を突設す
ると共に、支持脚の横側に嵌合枠２６を突設し、嵌合枠
は前記棒を支持脚に対する進退方向に運動自在とするよ
うに遊びをもって嵌合する。
(57) [Abstract] [Purpose] In a vacuum sucker device used as a support means of a mobile robot, unnecessary movement, especially movement in the turning direction, is regulated while ensuring the necessary followability of the suction cup to the suction surface. This prevents inconveniences such as cutting and twisting of the vacuum generating hose. In a vacuum sucker device in which a suction cup 3 is movably connected in all directions via a spherical sliding mechanism 7 to a support leg 1, a rod 25 is projected from one side of the suction cup to the side of the support leg 1. At the same time, a fitting frame 26 is provided on the lateral side of the support leg, and the fitting frame fits with play so that the rod is movable in the advancing and retracting direction with respect to the support leg.
Description
【０００１】[0001]
【産業上の利用分野】本発明は移動ロボットの支持手段
等に利用する真空吸盤装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vacuum sucker device used for supporting means of a mobile robot.
【０００２】[0002]
【従来の技術】例えば球形ガスホルダーの超音波探傷に
用いる移動ロボットとして、真空吸盤装置を支持手段と
して利用したものがある。この移動ロボットは、例えば
相対運動可能に連結した外枠と内枠の夫々の支持脚に真
空吸盤を設けると共に、内枠または外枠のいずれかに、
探触子をＸ，Ｙ方向に移動可能な走査支持台を設けて構
成されている。かかる構成において、いずれかの枠の真
空吸盤のみを動作させ、吸着面に吸着して支持している
状態において他の枠を移動させる動作を交互に行うこと
により、ロボットは支持されながら球形ガスホルダー等
の吸着面に沿って移動を行うものである。2. Description of the Related Art For example, as a mobile robot used for ultrasonic flaw detection of a spherical gas holder, there is a mobile robot using a vacuum suction cup device as a supporting means. This mobile robot is provided with, for example, a vacuum suction cup on each of the supporting legs of the outer frame and the inner frame which are movably connected to each other, and the inner frame or the outer frame is
The scanning support base is provided so that the probe can move in the X and Y directions. In such a configuration, by operating only the vacuum suction cup of one of the frames, and alternately performing the operation of moving the other frame while being sucked and supported by the suction surface, the robot can support the spherical gas holder. And the like are moved along the suction surface.
【０００３】真空吸盤は、球面等の形状の吸着面に対す
る追従性を良くするために、枠に設けた支持脚に球面摺
り合わせ機構により連結しており、従って真空吸盤は、
旋回方向や傾斜方向等の全方向に運動自在である。The vacuum suction cup is connected to a support leg provided on the frame by a spherical sliding mechanism in order to improve followability to a suction surface having a spherical shape.
It is movable in all directions such as turning direction and tilting direction.
【０００４】[0004]
【発明が解決しようとする課題】真空吸盤には真空発生
用のホースが接続されているため、必要以上に、特に旋
回方向に必要以上に動くとホースの切断等の不都合が起
こる場合がある。本発明は、このような課題を解決する
ことを目的とするものである。Since a hose for generating a vacuum is connected to the vacuum suction cup, inconvenience such as cutting of the hose may occur if the hose is moved more than necessary, especially in the turning direction. The present invention aims to solve such problems.
【０００５】[0005]
【課題を解決するための手段】上述した課題を解決する
ために本発明では、吸盤を支持脚に球面摺り合わせ機構
を介して運動自在に連結してなる真空吸盤装置におい
て、吸盤の一側から支持脚の側方に棒を突設すると共
に、支持脚の横側に嵌合枠を突設し、嵌合枠は前記棒を
支持脚に対する進退方向に運動自在とするように遊びを
もって嵌合することを提案する。In order to solve the above-mentioned problems, according to the present invention, in a vacuum suction cup device in which a suction cup is movably connected to a support leg through a spherical sliding mechanism, from one side of the suction cup. A rod is projected on the side of the support leg, and a fitting frame is projected on the lateral side of the support leg. The fitting frame fits with play so that the rod can move in the advancing and retracting direction with respect to the support leg. Suggest to do.
【０００６】そして本発明は上記構成において、支持脚
は外側筒体と、この外側筒体に伸縮自在に嵌合し、先端
側に吸盤を連結する内側棒とから構成し、嵌合枠を外側
筒体または内側棒から突設する構成とすることを提案す
る。Further, according to the present invention, in the above structure, the support leg is composed of an outer cylindrical body and an inner rod which is telescopically fitted to the outer cylindrical body and which connects the suction cup to the tip side, and the fitting frame is outside. It is proposed that the structure be such that it projects from the cylindrical body or the inner rod.
【０００７】また、本発明は上記構成において、嵌合枠
を鋼線により形成することを提案する。Further, the present invention proposes that the fitting frame is made of a steel wire in the above structure.
【０００８】[0008]
【作用】吸盤は球面摺り合わせ機構により全方向に運動
自在であるが、棒と嵌合枠との嵌合により旋回方向には
運動が規制されるので、旋回により真空発生用のホース
に所定以上の引張力や曲げ力が加わって、切断等の不都
合が生じることを防止することができる。The suction cup is movable in all directions by the spherical sliding mechanism, but the movement of the suction cup is restricted in the turning direction by the fitting of the rod and the fitting frame. It is possible to prevent the inconvenience such as cutting from being caused by the pulling force and the bending force of.
【０００９】一方、吸盤は、棒が嵌合枠に沿って移動す
る方向には運動自在であるから、吸着面に対する必要な
追従性は確保することができる。On the other hand, since the suction cup is movable in the direction in which the rod moves along the fitting frame, it is possible to secure the necessary followability with respect to the suction surface.
【００１０】嵌合枠を鋼線により構成すれば、この嵌合
枠は弾性的に変形可能となるので、吸盤本体は、棒が嵌
合枠に沿って移動する方向とは直交する方向、即ち旋回
方向にも若干の運動が可能となるため、吸着面に対する
追従性がより向上する。If the fitting frame is made of steel wire, the fitting frame can be elastically deformed, so that the suction cup body has a direction perpendicular to the direction in which the rod moves along the fitting frame, that is, Since some movement is possible also in the turning direction, the followability to the suction surface is further improved.
【００１１】[0011]
【実施例】次に本発明の実施例を図について説明する。
図１、図２は本発明の真空吸盤装置を適用した移動ロボ
ットの脚部分の一例を示す夫々斜視図、縦断面図であ
る。符号１はロボットの支持枠２に設けた支持脚であ
り、この支持脚１の下側に吸盤３を連結する。支持脚１
は図２に示すように油圧または空気圧駆動の複動型シリ
ンダ装置として構成して伸縮自在としている。即ち、符
号４は支持枠２に固定したシリンダ、５はピストン、６
はピストン棒であり、このピストン棒６の端部に球面摺
り合わせ機構７を介して吸盤３を連結している。符号
８，９は夫々ピストン棒６の伸長、短縮側の作動流体出
入口、符号１０，１１は作動流体導管である。尚、図２
は、作動流体導管１１を経て作動流体出入口９からシリ
ンダ４内に作動流体を流入させてピストン５を上昇させ
ることにより、吸盤３を吸着面Ｓから離している状態を
示している。Embodiments of the present invention will now be described with reference to the drawings.
1 and 2 are a perspective view and a vertical sectional view, respectively, showing an example of a leg portion of a mobile robot to which the vacuum suction device of the present invention is applied. Reference numeral 1 is a support leg provided on a support frame 2 of the robot, and a suction cup 3 is connected to the lower side of the support leg 1. Support leg 1
As shown in FIG. 2, is configured as a hydraulically or pneumatically driven double-acting cylinder device, and is expandable and contractible. That is, reference numeral 4 is a cylinder fixed to the support frame 2, 5 is a piston, and 6 is a piston.
Is a piston rod, and the suction cup 3 is connected to the end of the piston rod 6 via a spherical sliding mechanism 7. Reference numerals 8 and 9 are working fluid inlets and outlets on the extension and contraction sides of the piston rod 6, and reference numerals 10 and 11 are working fluid conduits. Incidentally, FIG.
Shows a state in which the suction disc 3 is separated from the suction surface S by causing the working fluid to flow into the cylinder 4 from the working fluid inlet / outlet 9 via the working fluid conduit 11 and to raise the piston 5.
【００１２】吸盤３は、円形基板１２の図中下面の最も
外周に環状の吸着パッド１３を固定し、それよりも内側
に蛇腹状の吸盤本体１４を固定すると共に、最も内側に
環状のストッパパッド１５を固定して構成している。そ
して吸盤本体１４には円形基板１２の図中上面側に形成
した連通口１６を介して真空吸引用ホース１７に接続し
ている。一方、図１の構成では、円形基板１２の上面側
に空気圧駆動の真空発生器１８を設置し、この真空発生
器１８の真空発生口を吸盤本体１４内と連通させる構成
としている。The suction cup 3 has an annular suction pad 13 fixed to the outermost periphery of the lower surface of the circular substrate 12 in the drawing, a bellows-shaped suction cup body 14 fixed to the inner side thereof, and an annular stopper pad innermost. It is configured by fixing 15. The suction cup body 14 is connected to a vacuum suction hose 17 through a communication port 16 formed on the upper surface side of the circular substrate 12 in the figure. On the other hand, in the configuration of FIG. 1, the vacuum generator 18 driven by air pressure is installed on the upper surface side of the circular substrate 12, and the vacuum generating port of the vacuum generator 18 is communicated with the inside of the suction cup body 14.
【００１３】上記ピストン棒６の下端には、球面摺り合
わせ機構７の要素を成す球面凸部材１９を固定すると共
に、この球面突部材１９を包持し、球面摺り合わせ機構
７の他の要素を成す球面凹部材２０をねじ部２１の螺合
により円形基板１２の上面側に固定し、こうしてピスト
ン棒６と吸盤３とを球面摺り合わせ機構７を介して連結
している。またピストン棒６の端部には円板２２を固定
すると共に、この円板２２の下側には環状の緩衝パッド
２３を固定している。そしてシリンダ４の下端と円板２
２間には蛇腹２４を接続している。At the lower end of the piston rod 6, a spherical convex member 19 which is an element of the spherical sliding mechanism 7 is fixed, and the spherical projecting member 19 is enclosed and the other elements of the spherical sliding mechanism 7 are attached. The spherical concave member 20 formed is fixed to the upper surface side of the circular substrate 12 by screwing the screw portion 21, and thus the piston rod 6 and the suction cup 3 are connected via the spherical sliding mechanism 7. A disk 22 is fixed to the end of the piston rod 6, and an annular buffer pad 23 is fixed to the lower side of the disk 22. And the lower end of the cylinder 4 and the disc 2
A bellows 24 is connected between the two.
【００１４】円形基板１２の上面側には棒２５を突設す
ると共に、シリンダ４の下端には鋼線を曲げて形成した
嵌合枠２６を固定し、その枠状部２７を横方向に突出さ
せて棒２５に嵌合している。A rod 25 is projectingly provided on the upper surface side of the circular base plate 12, a fitting frame 26 formed by bending a steel wire is fixed to the lower end of the cylinder 4, and a frame-like portion 27 thereof is projected laterally. And is fitted to the rod 25.
【００１５】以上の構成において、棒２５は枠状部２７
に沿って移動可能であるので、円形基板１２、従って吸
盤３は棒２５のストローク分だけ球面摺り合わせ機構７
を支点として図中時計方向、反時計方向に揺動が可能で
ある。一方、このような方向と直交する方向には棒２５
は枠状部２７により移動が規制されるので、円形基板１
２、従って吸盤３は、球面摺り合わせ機構７を通る軸の
回りの回転、即ち旋回が阻止される。しかしながら、比
較的大きな力が加わる場合には、棒２５により枠状部２
７が若干変形するので、吸盤３は、上記回転の方向にも
若干は運動可能である。In the above structure, the rod 25 has the frame-shaped portion 27.
Since the circular substrate 12 and hence the suction cup 3 is movable along the stroke of the rod 25, the spherical substrate 12 is moved.
With the fulcrum as a fulcrum, it is possible to swing clockwise and counterclockwise in the figure. On the other hand, in the direction orthogonal to such a direction, the rod 25
Since the movement of the circular substrate 1 is restricted by the frame-shaped portion 27, the circular substrate 1
2. Therefore, the suction cup 3 is prevented from rotating around the axis passing through the spherical sliding mechanism 7, that is, turning. However, when a relatively large force is applied, the rod 25 causes the frame-shaped portion 2 to
Since 7 is slightly deformed, the suction cup 3 can also be slightly moved in the direction of rotation.
【００１６】以上の実施例においては、嵌合枠２６はシ
リンダ４の下端に固定しているので、棒２５は、ピスト
ン棒６が最も伸長した状態において枠状部２７から外れ
ない長さに構成する。他の例として、嵌合枠２６は、ピ
ストン棒６側に固定することもでき、この場合には棒２
５の長さは、ピストン棒６のストロークを考慮せずに設
計することができる。尚、この場合は前記蛇腹２４は取
り除くか、嵌合枠２６の移動に支障のない構成とする。In the above embodiment, since the fitting frame 26 is fixed to the lower end of the cylinder 4, the rod 25 has a length that does not come off the frame portion 27 when the piston rod 6 is most extended. To do. As another example, the fitting frame 26 may be fixed to the piston rod 6 side, and in this case, the rod 2
The length of 5 can be designed without considering the stroke of the piston rod 6. In this case, the bellows 24 is removed or the movement of the fitting frame 26 is not hindered.
【００１７】[0017]
【発明の効果】本発明は以上のとおりであるので、移動
ロボットの支持手段として利用する真空吸盤装置におい
て、吸着面に対しての吸盤の必要な追従性を確保しなが
ら、不要な運動、特に旋回方向の運動を規制することに
より、真空発生用ホースの切断や捩れ等の不都合の発生
を防止することができる。As described above, according to the present invention, in a vacuum sucker device used as a supporting means of a mobile robot, unnecessary movement, particularly, while ensuring a necessary followability of the sucker with respect to the suction surface, By restricting the movement in the turning direction, it is possible to prevent inconveniences such as cutting and twisting of the vacuum generating hose.
【図１】本発明の真空吸盤装置を適用した移動ロボット
の脚部分の一例を示す斜視図である。FIG. 1 is a perspective view showing an example of a leg portion of a mobile robot to which a vacuum suction device of the present invention is applied.
【図２】本発明の真空吸盤装置を適用した移動ロボット
の脚部分の一例を示す縦断面図である。FIG. 2 is a vertical cross-sectional view showing an example of leg portions of a mobile robot to which the vacuum suction device of the present invention is applied.
１ 支持脚 ２ 支持枠 ３ 真空吸盤 ４ シリンダ ５ ピストン ６ ピストン棒 ７ 球面摺り合わせ機構 ８，９ 作動流体出入口 １０，１１ 作動流体導管 １２ 円形基板 １３ 吸着パッド １４ 吸盤本体 １５ ストッパパッド １６ 連通口 １７ 真空吸引用ホース １８ 真空発生器 １９ 球面凸部材 ２０ 球面凹部材 ２１ ねじ部 ２２ 円板 ２３ 緩衝パッド ２４ 蛇腹 ２５ 棒 ２６ 嵌合枠 ２７ 枠状部 Ｓ 吸着面 1 Support Leg 2 Support Frame 3 Vacuum Sucker 4 Cylinder 5 Piston 6 Piston Rod 7 Spherical Sliding Mechanism 8,9 Working Fluid Port 10,11 Working Fluid Conduit 12 Circular Substrate 13 Adsorption Pad 14 Sucker Body 15 Stopper Pad 16 Communication Port 17 Vacuum Suction hose 18 Vacuum generator 19 Spherical convex member 20 Spherical concave member 21 Screw portion 22 Disc 23 Buffer pad 24 Bellows 25 Rod 26 Fitting frame 27 Frame portion S Suction surface
Claims (4)
して全方向に運動自在に連結してなる真空吸盤装置にお
いて、吸盤の一側から支持脚の側方に棒を突設すると共
に、支持脚の横側に嵌合枠を突設し、嵌合枠は前記棒を
支持脚に対する進退方向に運動自在とするように遊びを
もって嵌合する構成としたことを特徴とする真空吸盤装
置1. A vacuum suction device in which a suction cup is movably connected to a support leg in all directions via a spherical sliding mechanism, and a rod is provided so as to project from one side of the suction cup to the side of the support leg. A vacuum sucker device characterized in that a fitting frame is provided on the lateral side of the support leg, and the fitting frame is fitted with play so that the rod can move in the forward and backward directions with respect to the support leg.
縮自在に嵌合し、先端側に吸盤を連結する内側棒とから
構成し、嵌合枠を外側筒体から突設する構成とした請求
項１記載の真空吸盤装置2. The support leg is composed of an outer cylindrical body and an inner rod that is telescopically fitted to the outer cylindrical body and connects a suction cup to the tip end side, and a fitting frame is provided protruding from the outer cylindrical body. The vacuum suction cup device according to claim 1 having a structure.
縮自在に嵌合し、先端側に吸盤を連結する内側棒とから
構成し、嵌合枠を内側棒から突設する構成とした請求項
１記載の真空吸盤装置3. The support leg is composed of an outer cylindrical body and an inner rod that is telescopically fitted to the outer cylindrical body and that connects a suction cup to the tip end side, and a fitting frame projects from the inner rod. The vacuum sucker device according to claim 1.
とする請求項１、２または３記載の真空吸盤装置4. The vacuum suction cup device according to claim 1, 2 or 3, wherein the fitting frame is formed of a steel wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1066594A JPH07214488A (en) | 1994-02-01 | 1994-02-01 | Vacuum sucker device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1066594A JPH07214488A (en) | 1994-02-01 | 1994-02-01 | Vacuum sucker device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH07214488A true JPH07214488A (en) | 1995-08-15 |
Family
ID=11756544
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1066594A Pending JPH07214488A (en) | 1994-02-01 | 1994-02-01 | Vacuum sucker device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH07214488A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8267367B2 (en) | 2008-03-17 | 2012-09-18 | Korea Pneumatic System Co., Ltd. | Vacuum pad device |
| CN103204264A (en) * | 2013-05-09 | 2013-07-17 | 东莞市迈高自动化机械有限公司 | Vacuum suction nozzle component with reverse compensation function |
| KR101318045B1 (en) * | 2007-08-17 | 2013-10-14 | 현대자동차주식회사 | A transfer machine for panel movement |
| CN110056566A (en) * | 2019-04-21 | 2019-07-26 | 亚米拉自动化技术（苏州）有限公司 | A kind of vacuum chuck for compromise face absorption |
| CN110250984A (en) * | 2018-04-26 | 2019-09-20 | 厦门华蔚物联网科技有限公司 | A kind of slidingtype sucker with flexible sheath |
-
1994
- 1994-02-01 JP JP1066594A patent/JPH07214488A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101318045B1 (en) * | 2007-08-17 | 2013-10-14 | 현대자동차주식회사 | A transfer machine for panel movement |
| US8267367B2 (en) | 2008-03-17 | 2012-09-18 | Korea Pneumatic System Co., Ltd. | Vacuum pad device |
| CN103204264A (en) * | 2013-05-09 | 2013-07-17 | 东莞市迈高自动化机械有限公司 | Vacuum suction nozzle component with reverse compensation function |
| CN103204264B (en) * | 2013-05-09 | 2015-04-22 | 东莞市迈高自动化机械有限公司 | Vacuum suction nozzle component with reverse compensation function |
| CN110250984A (en) * | 2018-04-26 | 2019-09-20 | 厦门华蔚物联网科技有限公司 | A kind of slidingtype sucker with flexible sheath |
| CN110056566A (en) * | 2019-04-21 | 2019-07-26 | 亚米拉自动化技术（苏州）有限公司 | A kind of vacuum chuck for compromise face absorption |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| SU1479000A3 (en) | Holder for industrial use | |
| US5409347A (en) | Carrying and positioning robot | |
| JPH07214488A (en) | Vacuum sucker device | |
| JPS6125768A (en) | Work holding mechanism for surface polishing machine | |
| JP3933808B2 (en) | Work clamp | |
| JPH08310461A (en) | Adsorption device | |
| JPH0659742U (en) | Dust collector | |
| KR960015540A (en) | Magnetic head support mechanism | |
| FR2648404B1 (en) | AIR CUSHION PANTOGRAPH | |
| CN222592769U (en) | Universal floating sucker device | |
| CN209349992U (en) | Weld grinding device | |
| CN214951314U (en) | A spirit level positioning and installation mechanism | |
| KR20210064007A (en) | Demounting device | |
| JPH0413561B2 (en) | ||
| CN211361382U (en) | Perforating device is used in processing of flange butterfly valve | |
| CN212527799U (en) | Multi-degree-of-freedom pneumatic control joint, multi-degree-of-freedom pneumatic control device and mechanical arm | |
| CN111409098A (en) | Multi-degree-of-freedom pneumatic control joint, multi-degree-of-freedom pneumatic control device and mechanical arm | |
| JPS59220468A (en) | Vacuum adsorption walking machine | |
| CN209425251U (en) | A kind of universal floating constant force grinding device | |
| JP2023024233A (en) | Magnet cleaner | |
| JP3458227B2 (en) | Stage mechanism | |
| CN223203377U (en) | Sealed hydraulic cylinder | |
| CN113262924B (en) | Swing spray head device | |
| CN212002335U (en) | Concrete vibrator with vibration reduction pointed end for building template | |
| JPH0721515Y2 (en) | Wiring or piping structure for aerial work vehicles |