JPS635233B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention has a relatively simple configuration and allows a predetermined amount of fluid to be
Utilizing a fluid feeding device that can supply fluids temporarily and this device, when the vacuum is released, high-pressure air is temporarily fed into the suction cup to rapidly remove negative pressure inside the suction cup. This invention relates to a vacuum suction type gripping device that enables quick removal of adhered objects.

Next, the details will be explained with reference to the illustrated embodiment. In FIGS. 1 and 2, reference numeral 1 denotes a flat square device main body, and an ejector pump A is constructed in the lower part thereof. That is, an ejector block 2 having an ejector hole 2a and a nozzle block 4 having a nozzle hole 4a corresponding to the ejector hole 2a are fitted in order from the right end into the hole drilled through the lower longitudinal direction. and this nozzle hole 4
An intake chamber 5 formed between the ejector hole 2a and the ejector hole 2a communicates with an intake port 6 provided on the lower surface of the main body 1 via a check valve 7.

A valve holding head 8 is screwed onto the left end of the through hole of the ejector pump A, and a pilot valve 9 of a slightly larger diameter is slidably fitted and held on this head.
The sealing member 9a at the tip closes the nozzle hole 4a by the return spring 10 provided on the back, and a gap 11 around the tip 9a is used to introduce compressed air through a through hole 12 drilled on the bottom surface of the main body. The gap 9' on the back side of the valve 9 is connected to the compressed air inlet 13 and the opening 15 to the atmosphere alternately by an electromagnetic switching valve 14 provided on the left side of the main body 1. It's summery. In the figure, the passage of the passage hole 16 communicating with the air gap 9' on the back of the pilot valve to the atmosphere opening 15 is closed by a valve body (not shown) pressed by the spring of the switching valve 14, and the passage to the opening 15 to the atmosphere is closed. It communicates with the side through hole 13'.

Reference numeral 17 denotes a piston chamber bored in the lower right side of the main body 1. The piston chamber 17 communicates with the suction port 6 through a through hole 17'. A pressure switch 20 attached to the back surface of the main body 1 is connected to this via a connecting rod 21. (Figure 2). A bellows or other suitable pressure sensor may be used in place of the piston 18.

Reference numeral B denotes a fluid supply device for releasing the vacuum, which is constructed on the upper part of the main body 1. That is, a long pipe 24 is connected to a hole 22 bored in the upper part of the main body via a connecting pipe 23.
A blocking plug 25 is screwed onto the outer end of the valve chamber 26.
is formed, and a fluid inlet 2 is formed at the left end of the valve chamber 26.
7 is provided, and the right end communicates with a fluid outlet 30 via a valve seat 28, a throttle valve 29, etc., and the fluid inlet 27 is connected to a switching valve 31 attached to the back of the main body 1 as shown in FIG. The air gap 11 communicates alternately with a high pressure side through hole 33 connected via a through hole 32 and an opening 34 to the atmosphere. Although not shown, the fluid inlet 27 communicates with the high pressure side through hole 33 by a valve body pressed by a spring of the switching valve 31.

A valve body 37 having a piston 36 is fitted into one end of the valve chamber 26 via a connecting rod 35, and a spring 38
is pressed against the valve seat 28 and the fluid delivery port 30
The piston 36 is provided with a check valve 39, and the valve chamber 26 divided by the piston 36 has a compartment a on the fluid inlet 27 side and a compartment a on the fluid outlet 30 side. Compartment b is in communication.
37' is a guide portion of the valve body 37, 40 is a silencer connected to the open end of the ejector hole 2a of pump A, and 41
is a stopper for the processed openings of the through holes 12, 32, etc.

FIG. 3 shows an example of the wiring diagram of this device, in which the solenoid 14a of the switching valve 14 is connected in series with the power source E together with the pressure switch 20 (normally closed) and the pump operation switching switch 42, and the switching valve 14 is connected in series to the power source E. The contact 42a is connected to the solenoid 31a of the vacuum release switching valve 31. 43 is a power switch.

To explain the operation of this device, the fluid delivery port 30 of the fluid delivery device B is connected to the conduit 4 to the suction port 6 on the bottom surface of the main body 1.
4, connect this to the suction cup C of the vacuum suction type gripping device via a conduit 45, and connect the inlet 13 on the bottom of the main body to a compressed air supply source such as a compressor, then compressed air will flow from the inlet 13. It flows into the gap 11 in front of the pilot valve 9 through the through hole 12, and also flows into the switching valve 14 and through hole 16 through the through hole 13'.
The air passes through the gap 9' on the back of the pilot valve 9, and the air before and after the valve 9 is balanced, and the valve 9 is pressed by the spring 10 so that its tip 9a enters the nozzle hole 4.
A is closed. Compressed air enters the compartment a from the gap 11 through the upper passage holes 32, 33, the switching valve 31, the passage hole 27, etc., and then enters the compartment b where the check valve 39 is opened. Since it is closed by the valve body 37, compressed air is filled into compartment b until compartment a and compartment b have approximately the same pressure.

In this state, when the power switch 43 is closed and the pump operating changeover switch 42 is switched to the closed contact 42b side to operate the solenoid 14a, the valve body of the changeover valve 14 closes the high pressure side passage 13', and the air gap on the back of the pilot valve is closed. 9' is opened to the atmosphere through the opening 15, the balance of air pressure before and after the valve 9 is broken, and the valve 9 is pushed by the internal pressure of the gap 11 and moves to the left against the spring 10 to open the nozzle hole 4a, and the pump starts. When activated, the pressure inside the suction cup C connected to the suction port 6 is reduced, so that the part D can be sucked and transported to a required location.

When the inside of the vacuum system reaches a predetermined negative pressure, the piston 18 moves to the left and the pressure switch 20 opens, so the solenoid 14a of the switching valve 14 stops operating, and the passage hole 16 closes to the high pressure side passage hole 13. ', the air pressure before and after the valve 9 is balanced again, the valve 9 moves to the right by the spring 10 and closes the nozzle hole 4a, and the ejector pump A stops, but the check valve 7 maintains a predetermined negative pressure in the system. held under pressure. When the degree of vacuum decreases due to air leakage, etc., the pressure switch 20 closes.
Pump A operates to increase the vacuum level in the system to a predetermined level again.

After conveying the adherend D, if the changeover switch 42 is switched to the open contact 42a side, the power to the solenoid 14a is cut off and the ejector pump A is stopped, and the solenoid 31a is activated to close the vacuum release changeover valve 31.
opens the through hole 27 to the atmosphere through the opening 34, so the pressure in the compartment a decreases and the check valve 37 closes, and the internal pressure in the compartment b causes the piston 36 to move to the left against the spring 38, and the right end Since the valve body 37 opens the outlet 30, the compressed air filled in the compartment b is strongly transmitted from the outlet 30 through the conduits 44 and 45 into the suction cup C. Therefore, for example, even if the conduit 45 is long and has a large resistance to the inflowing air, the negative pressure inside the suction cup C can be rapidly released and the adherend D can be instantly separated.
Conveying operations can be performed extremely accurately. The feed rate of compressed air can be adjusted by means of a throttle valve 29. The amount of compressed air to be fed is determined by the internal volume of compartment b. If necessary, an air reservoir tank or the like may be attached to compartment b.

Further, the fluid supply device B simply supplies compressed air to the nozzle hole 4a via an on-off valve without using a pilot valve 9, a check valve 7, a pressure switch 20, etc., and uses a suction cup connected to the intake chamber 5. It can also be used for the rapid removal of residual negative pressure in gripping devices designed to reduce the pressure inside C, and other conventional vacuum suction type gripping devices. Further, the present fluid feeding device can also be used, for example, to remove cutting waste by blowing it off during cutting.

As described above, the fluid feeding device of the present invention operates by simply switching the fluid inlet 27 alternately between the high pressure side and the low pressure side, and can temporarily feed a predetermined amount of fluid, and the structure is significantly simplified. In addition to being simple, the piston 36 simply moves the valve body 37 to open the fluid delivery port 3.
Since it is provided to open and close the zero, it has the advantage of short travel distance and less wear due to sliding.In addition, as mentioned above, the vacuum suction type gripping device using this device has the suction cup C when releasing the vacuum. By temporarily supplying high-pressure air into the suction cup C, the negative pressure inside the suction cup C can be rapidly released, allowing the adherend to be instantly detached. It has several features.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, with FIG. 1 being a longitudinal sectional front view, FIG. 2 being a plan view, and FIG. 3 being a wiring diagram. 1...Device main body, A...Ejector pump, 2...
...Ejector block, 3...Spacer, 4...Nozzle block, 5...Intake chamber, 6...Suction port, 7
...Check valve, 9...Pilot valve, 13...
Fluid inlet, 14...Switching valve for pump operation, 18
... Piston, 20 ... Pressure switch, B ... Fluid feeding device, 26 ... Valve chamber, 29 ... Throttle valve, 3
6... Piston, 37... Valve body, 39... Check valve, C... Suction cup, D... Adherent.

Claims (1)

[Claims] 1. Fluid inlet 27 at one end, fluid outlet 3 at the other end.
A valve body 37 having a piston 36 at one end is fitted into the valve chamber 26 having a diameter of 0.0, the valve body 37 having a piston 36 at one end is biased by a spring 38 to close the fluid delivery port 30, and the piston 36 is provided with a check valve 39 to prevent the reverse. Fluid inlet 2 of the valve chamber 26 partitioned by the piston 36 via the stop valve 39
By communicating the seventh side compartment a and the fluid outlet 30 side compartment b, and introducing high-pressure fluid from the fluid inlet 27, the fluid passes through the check valve 39 and fills the compartment b. By opening the fluid inlet 27 to the low pressure part, the check valve 39 is closed, the piston 36 moves against the spring 38 due to the internal pressure of the compartment b, and the fluid outlet 30 is opened by the valve body 37. The fluid filled in the compartment b is transferred to the outlet port 3.
A fluid feeding device configured to send fluid from zero. 2. The compartment b is extended in the longitudinal direction by an appropriate length, and the valve body 37 and the piston 36 are
2. A fluid feeding device according to claim 1, wherein the two are connected by a connecting rod 35 of an appropriate length. 3 Nozzle hole 4a and corresponding ejector hole 2
an ejector pump A with an intake chamber 5 between;
a gripping device having a suction cup C connected to the intake chamber 5; a valve body 37 having a piston 36 at one end fitted into the valve chamber 26 having a fluid inlet 27 at one end and a fluid outlet 30 at the other end; The fluid delivery port 30 is closed by a spring 38, and the piston 36 is provided with a check valve 39, and the fluid inlet port 27 side of the valve chamber 26 partitioned by the piston 36 is opened via the check valve 39. When a fluid supply device B is provided in which a compartment a and a compartment b on the side of a fluid delivery port 30 are connected, the fluid delivery port 30 is connected to the suction cup C, and compressed air is supplied to the nozzle hole 4a. The ejector pump A operates to create a negative pressure in the suction cup C through the suction chamber 5 and adsorb the adherend, while compressed air is introduced from the fluid inlet 27 of the fluid feeder B to the compartment a and vice versa. The compartment b is filled through the stop valve 39, and the nozzle hole 4 is filled.
When the supply of compressed air to a is cut off and the pump action is stopped, the fluid inlet 27 is opened to the atmosphere,
The check valve 39 closes, the piston 36 is moved against the spring 38 by the internal pressure of the compartment b, and the fluid delivery port 30 is opened by the valve body 37, and the compressed air filled in the compartment b is transferred to the suction cup C. A vacuum suction type gripping device configured to release the negative pressure inside the suction cup C.