JP6028993B2 - Transport device - Google Patents

Description

  The present invention relates to a transport device, and more particularly, to a transport device suitable for sucking and transporting a transport object.

  FIG. 5 shows an example of a transfer device 1 for various transfer objects (workpieces) conventionally employed.

  The transport device 1 includes a suction head 2, a vacuum device 3 such as a vacuum pump, and a hose 4 that connects the two. Further, a switching valve 5 such as an automatic electromagnetic valve is disposed on the hose 4, and this switching valve 5 opens and closes the connection state between the suction head 2 and the vacuum device 3. A switching valve 15 is provided between the suction head 2 of the hose 4 and the switching valve 5 by branching a flow path communicating with the atmosphere side. This switching valve 15 opens and closes the connection state between the suction head 2 and the atmosphere side.

  In such a conveying apparatus 1, one switching valve 5 is opened, the other switching valve 15 is closed, and the inside of the hose 4 is evacuated by the vacuum apparatus 3, thereby generating a pressure difference inside and outside the suction head 2. Let

  Then, by positioning the suction head 2 in such a state on the workpiece W, the workpiece W is attracted to the suction pad 2, and then the suction pad 2 is moved to the transport position by an actuator (not shown). The workpiece W can be transferred to the transfer position.

  Next, at the transfer position, while the operation of the vacuum device 3 is continued, one switching valve 5 is closed to shut off the vacuum suction and suction, and the other switching valve 15 is opened to open the atmosphere side of the switching valve 15. Then, the air is returned to the hose 4 so as to flow backwards in the vacuum.

  Thereby, the pressure difference between the inside and outside of the suction pad 2 is eliminated, and the workpiece W can be released from the suction head 2 and discharged onto the transport position.

  As conventional techniques related to such a transport apparatus 1, techniques as shown in Patent Documents 1 and 2, for example, have been known so far.

Japanese Patent Laid-Open No. 11-035142 JP 2005-168440 A

  However, in the conventional transfer device 1, while the operation of the vacuum device 3 is continued, one of the switching valves 5 is closed to shut off the vacuum suction and suction, and the other switching valve 15 is opened to move inside the hose 4. When returning to the atmospheric pressure, the atmosphere flows backward in the hose 4 toward the suction head 2, so that, for example, the adhering matter adhered in the hose 4 peels off and flows backward to generate an opportunity to touch the workpiece W. There was a problem with hygiene.

  Then, this invention is made | formed in view of such a point, and it aims at providing the conveying apparatus which can convey a conveyance target object stably and hygienically.

In order to achieve the above-described object, a transport device according to the present invention is a transport device for transporting a predetermined transport target, and includes a suction device that detachably sucks the transport target, and the suction device Comprises a compressed air supply device for supplying compressed air to an adsorption head that adsorbs the object to be conveyed, and the adsorption head is supplied from the supply port through which the compressed air is supplied. and an internal vacuum passages of annular the decompression of the compressed air is carried out, the outside air due to decompression of the compressed air in the flow path to the internal vacuum passages are surrounding the from the intake port by the internal vacuum passages of the annular It said air inlet inhalation takes place, the air outlet exhaust is performed in the air sucked from the air and the inlet after decompression in the interior vacuum passages, mounting et at positions corresponding to the air inlet Characterized in that the adsorption of the object to be transported due to the inhalation of the outside air and a suction pad to be performed.

  According to such a configuration, the object to be conveyed can be stably adsorbed by using the reduced pressure of the compressed air, and unlike the case of evacuation using a vacuum pump, the compressor Since the space in the hose connecting the air supply port and the air supply port is maintained in a non-vacuum state, when the object to be transported is detached from the suction head, the air in the hose does not flow backward to the suction pad (intake port) side. Since it does not occur in principle, the sanitary condition of the object to be transported can be ensured.

  In addition, the transport device is provided with a hollow suction head for sucking the transport object in the suction device, and moves the suction head between the transport object receiving position and the transport position. An arm may be provided.

  According to such a configuration, the object to be conveyed can be stably adsorbed to the suction head using the reduced pressure of the compressed air, and the flexible object to be conveyed can be appropriately conveyed by the robot arm. .

  The suction pad may have a bellows structure that allows the suction surface of the transport object to be retracted in the outside air suction direction.

  And according to such a structure, since the flexibility of a suction pad can be improved and the adhesiveness of a soft conveyance target object and a suction surface can be improved, a conveyance target object is adsorbed more stably. be able to.

  According to the present invention, a conveyance object can be conveyed stably and hygienically.

Schematic configuration diagram showing an embodiment of a transport apparatus according to the present invention FIG. 1 is a schematic configuration diagram illustrating an example of a suction head in the conveyance device of FIG. 1. Schematic configuration diagram showing a first modification of the suction head Schematic configuration diagram showing a second modification of the suction head Schematic configuration diagram showing an example of a conventional transport device

  Hereinafter, an embodiment of a transfer device according to the present invention will be described with reference to FIGS. 1 to 4.

  As shown in FIG. 1, the transfer device 6 in the present embodiment is roughly configured by a suction device 7 that detachably sucks a workpiece W and a robot arm 8. As the workpiece W, for example, foods such as oden ingredients (for example, hampen, konjac) and other items that require management of hygiene can be suitably employed.

  As shown in FIG. 1, the suction device 7 includes a suction head 71 that sucks a workpiece W attached to the tip of the robot arm 8, a compressor 72 as a compressed air supply device, both 71, 72, and a hose 73 connecting the 72. An automatic opening / closing valve 74 is provided on the hose 73. The compressor 72 may be disposed on the robot arm 8 or may be disposed at a position other than on the robot arm 8.

  Further, the robot arm 8 is shown in FIG. 1 so as to move the suction head 71 between the receiving position (in other words, the suction position) P1 of the workpiece W and the transfer position (in other words, the separation position) P2. The operation is electrically controlled by energization control for the built-in drive source 81 (motor or the like). Note that the same number of drive sources 81 as the number of joints of the robot arm 8 may be provided. The energization control for the drive source 81 is performed by the control unit 9 of the transport device 6 shown in FIG. The control unit 9 may be configured by a ROM in which a program is stored, a CPU that executes the program in the ROM, a RAM that is used for temporarily storing processing results of the CPU, an I / O port, and the like. Further, the control by the control unit 9 may reflect, for example, the operation result (trigger) of another device such as the camera 10 that detects the workpiece W on the receiving position P1. Furthermore, as the specific modes of the receiving position P1 and the transport position P2, various modes may be selected according to the design concept. For example, as shown in FIG. 1, the receiving position P1 is changed to this position P1. The workpiece mounting surface of the first belt conveyor C1 that supplies the workpiece W from the upstream side (for example, a hopper side not shown) may be used as the workpiece mounting surface of the first belt conveyor C1, and the workpiece W conveyed by the conveying device 6 is used as the next process. It is good also as a workpiece | work mounting surface of the 2nd belt conveyor C2 for discharging. The transfer operation to the transfer position P2 may be performed as a sorting operation for sorting only a necessary quantity of good quality workpieces (for example, satisfying the shape and size standards). As the robot arm 8, various known robot arms such as an articulated robot arm may be used.

  Next, the suction head 71 will be described in more detail. As shown in FIG. 2, the suction head 71 includes a hollow suction force generating portion 711 formed of a metal such as stainless steel or aluminum, and a resin (for example, silicone rubber). And a cylindrical suction pad 712 made of a flexible material such as a thin metal.

  More specifically, as shown in FIG. 2, the suction force generator 711 has three ventilation ports 7111, 7112, 7113, an air supply port 7111, an air intake port 7112, and an exhaust port 7113. The vents 7111, 7112, and 7113 are in communication with each other via the internal space of the suction force generation unit 711.

  As shown in FIG. 2, the other end of the hose 73 opposite to the one end connected to the compressor 72 is connected to the air supply port 7111. In the air supply port 7111, compressed air is supplied from the compressor 72 through the hose 73. The supply of the compressed air is controlled by the control unit 9.

  Furthermore, as shown in FIG. 2, the suction force generation unit 711 has an internal decompression flow path 7114 disposed on the downstream side of the air supply port 7111 inside the suction force generation unit 711. The internal decompression flow path 7114 is composed of an inner peripheral surface of a substantially frustoconical cylindrical inner tube 7115 whose inner diameter is gradually reduced (squeezed) from the air supply port 7111 side toward the exhaust port 7113 side. The compressed air supplied from the air supply port 7111 flows into the flow path 7114. The internal decompression flow path 7114 circulates the inflowing compressed air to the exhaust port 7113 side while accelerating and depressurizing according to Bernoulli's law (in other words, the Venturi effect).

  Furthermore, as shown in FIG. 2, the aforementioned suction pad 712 is attached concentrically at a position corresponding to the air inlet 7112. In the intake port 7112, outside air is sucked in accordance with the decompression of the compressed air in the internal decompression flow path 7114. The air sucked in the intake port 7112 is exhausted from the exhaust port 7113 together with the decompressed air in the internal decompression flow path 7114. When the outside air is sucked in a state where the suction pad 712 is close to or in contact with the workpiece W, the suction airflow acts as a suction force on the workpiece W, and the workpiece W is sucked into the suction pad. It will be adsorbed by the adsorbing surface 7121 of 712.

  Further, as shown in FIG. 2, the peripheral wall portion of the suction pad 712 is formed in an expandable / contractible bellows structure 7122, and the suction surface 7121 is contracted in the intake direction of the outside air at the intake port 7112 by the bellows structure 7122. It is possible.

  Next, the operation of the transport apparatus 6 in the present embodiment configured as described above will be described.

  However, in the initial state, the robot arm 8 and the suction head 71 are located at the home position retracted from both the receiving position P1 and the transfer position P2, and supply of compressed air to the suction head 71 is performed. Make it not exist.

  And when it is detected by image recognition etc. by the camera 10 that the workpiece | work W was conveyed to the receiving position P1 from the initial state, it will be triggered by this by energization control with respect to the drive source 81 of the robot arm 8 by the control part 9 The robot arm 81 is operated, the suction head 71 is moved to the receiving position P1, and the suction surface 7121 is made to face the work W on the receiving position P1. In this case, the detection position of the workpiece W by the camera 10 may be reflected in the control of the movement amount of the robot arm 8.

  Next, the compressor 72 is driven by the energization control of a drive source (not shown) of the compressor 72 (motor or the like) of the compressor 72 by the control unit 9, the automatic open / close valve 74 is opened, and compression from the compressor 72 to the suction head 71 is performed. Air is supplied through the hose 73 and the air supply port 7111.

  Next, the compressed air sucked from the air supply port 7111 flows into the internal decompression channel 7114, and proceeds toward the exhaust port 7113 while being accelerated and decompressed in the internal decompression channel 7114.

  The pressure reduction in the internal decompression flow path 7114 causes a pressure difference between the inside and outside of the intake port 7112 communicated with the internal decompression flow path 7114, and as a result, the intake of outside air from the intake port 7112 is performed.

  Along with this, outside air is sucked into the suction port 7112 side also on the suction surface 7121 of the suction pad 712 attached to the position corresponding to the suction port 7112, and the suction force by this suction airflow is received at the receiving position P1. Acts on the workpiece W above.

  As a result, the workpiece W is stably adsorbed on the adsorption surface 7121 of the adsorption pad 712. At this time, since the suction surface 7121 can be retracted to the suction direction side by the bellows structure 7122, even when the workpiece W is soft, adhesion with the suction surface 7121 can be ensured.

  Next, the robot arm 81 is actuated by energization control of the drive source 81 of the robot arm 8 by the control unit 9, and the suction head 71 to which the workpiece W is sucked is moved to the transport position P2.

  Next, after the movement to the conveying device P2, the automatic opening / closing valve 74 is fully closed by the energization control of the automatic opening / closing valve 74 by the controller 9, whereby the compressed air is supplied from the compressor 72 to the suction head 71. Stopped.

  As a result, there is no pressure difference between the inside and outside of the intake port 7112, and the intake of outside air from the intake port 7112 is stopped.

  Along with this, also on the suction surface 7121 of the suction pad 712, the suction of outside air to the suction port 7112 side is stopped, and the suction force acting on the workpiece W is lost.

  As a result, the workpiece W that has been attracted to the suction surface 7121 of the suction pad 712 is released onto the transport position P2.

  At this time, the space in the hose 73 is not originally in a vacuum state, but is simply returned from the compressed air supply state to the non-supply state, so that the air in the hose 73 flows back to the intake port 7112 in principle. Does not occur.

  Therefore, the air in the hose 73 can be prevented from adversely affecting the sanitary condition of the workpiece W.

  In particular, in this embodiment, since the total length of the flow path from the intake port 7112 to the exhaust port 7113 is short, the inner peripheral surface is less likely to be contaminated, so that it is hygienic. Moreover, since the internal diameter of the said flow path is large, the backflow of air | atmosphere like the past does not occur, and it is excellent in hygiene. Moreover, since the internal diameter of a flow path is large, it will become easy to wash | clean. In particular, when handling foods that generate oil such as deep-fried chicken or cancer, there has been a disadvantage that the oil has adhered to the inner peripheral surface of the hose 4 in the past, but in this embodiment, The amount of oil attached can be suppressed to an extremely low level, easy to clean, and excellent in hygiene. Since the inner diameter of the opening in the suction surface 7121 of the suction pad 712 is large, it is possible to adsorb food W (for example, fried chicken, cancer repellent, etc.) that is difficult to clog and has irregularities on the surface.

  In addition, this invention is not limited to embodiment mentioned above, You may change variously as needed.

  For example, as shown in FIG. 3, the air supply port 7111 and the exhaust port 7113 may be arranged to face each other, and the air intake port 7112 may be arranged to be orthogonal to these.

  Further, as shown in FIG. 4, the internal decompression flow path 7114 may be formed as an annular flow path surrounding the flow path (pipe) from the intake port 7112.

  Furthermore, the flow path in front of the exhaust port 7113 may be configured to increase in diameter toward the exhaust port 7113 side.

  Further, as shown by a broken line in FIG. 4, when the outer peripheral portion of the suction pad 712 is covered in a cylindrical shape over the entire length, a fixed guide 75 is provided to prevent the suction pad 712 from shaking at the suction surface 7121 portion. Good. By this fixed guide 75, when the work W is partially sucked by the suction surface 7121, the suction pad 712 is prevented from unnaturally swinging or swinging like a pendulum, and the work W can be reliably sucked. it can.

  In addition, the adsorption | suction storage of each said embodiment can be utilized also for uses other than a conveying apparatus.

6 Conveyance Device 7 Adsorption Device 71 Adsorption Head 7111 Air Supply Port 7112 Air Intake Port 7113 Air Exhaust Port 7114 Internal Decompression Channel 712 Adsorption Pad 72 Compressor 8 Robot Arm

Claims (3)

A transport device for transporting a predetermined transport object,
A suction device for detachably sucking the transport object;
The adsorption device is:
A compressed air supply device that supplies compressed air to an adsorption head that adsorbs the conveyance object;
The suction head is
An air supply port through which the compressed air is supplied;
An annular internal decompression flow path for decompressing the compressed air supplied from the air supply port;
And the intake port The annular intake of outside air due to decompression of the compressed air in the internal vacuum passages are surrounding the flow path from the inlet port by an internal vacuum passages is performed,
An exhaust port for exhausting the air after decompression in the internal decompression flow path and the air sucked from the intake port;
And a suction pad that is attached to a position corresponding to the suction port and that sucks the transport target object when the outside air is sucked. The transport device is provided with a hollow suction head for suctioning the transport object in the suction device, and a robot arm that moves the suction head between the transport object reception position and the transport position. The transport apparatus according to claim 1, further comprising: The transport device according to claim 2, wherein the suction pad has a bellows structure that enables the suction surface of the transport target object to be retracted in the suction direction of the outside air.

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