Mouthpiece device

Abstract

A nozzle device (1) is provided with a large-diameter tube (3), a large-diameter nozzle (5), a small-diameter tube (23), a small-diameter nozzle (7), and a support mechanism (27, 35) that supports the large-diameter and small-diameter tubes so that they can be moved relative to each other. The large-diameter and small-diameter nozzles are selectively projected with relative movement of the large-diameter and small-diameter tubes. The state changes between a first specific state, a second specific state, and a third specific state. In the first specific state, the outer peripheral surface of the small-diameter nozzle is in close contact with the rear end inner edge of the large-diameter nozzle, the gap between the large-diameter and small-diameter tubes is closed, and the flow passage cross-sectional area of the gas is set to the inner diameter cross-sectional area of the small-diameter tube. In the second specific state, the outer peripheral surface of the small-diameter nozzle is separated from the rear end inner edge of the large-diameter nozzle, the gap between the large-diameter and small-diameter tubes is opened, and the flow passage cross-sectional area is set to the inner diameter cross-sectional area of the large-diameter nozzle. In the third specific state, the outer peripheral surface of the small-diameter nozzle is close to the rear end inner edge of the large-diameter nozzle, and the flow passage cross-sectional area is set to a value within the range of the inner diameter cross-sectional area of the large-diameter nozzle and the inner diameter cross-sectional area of the small-diameter nozzle. Nozzles of different diameters can be selected, and the flow rate can be varied with nozzle selection.

Description

Technical Field

[0001] One aspect of the present invention relates to a suction nozzle device for vacuum adsorption of workpieces. Background Technology

[0002] To properly vacuum-adhere the workpiece, it is necessary to change the nozzle to one with a diameter appropriate to the size of the workpiece. Previously, there were structures that allowed multiple nozzles of different diameters to be mounted on a turntable, with the nozzles being switched by rotating the turntable.

[0003] However, this structure requires multiple suction nozzles arranged around the turntable, increasing the overall size of the device and making it difficult to insert the nozzles into narrow spaces to suction workpieces. Furthermore, the increased weight and inertia due to the turntable and its rotation mechanism hinder high-speed movement.

[0004] In addition, a scheme was proposed to make any one of the multiple nozzles with different diameters protrude (see Patent Document 1). In this structure, the flow channel is fixed to the inner diameter cross-sectional area of ​​the nozzle with the smallest diameter, so it is difficult to optimize the flow rate according to the weight of the workpiece.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2002-192492 Summary of the Invention

[0008] The problem the invention aims to solve

[0009] The desired device is a nozzle that can select nozzles of different diameters according to the workpiece, can be inserted into narrow places, is lightweight and achieves the above-mentioned features, and can also adjust the flow rate according to the nozzle selection.

[0010] means for solving problems

[0011] One aspect of this disclosure provides a suction nozzle device for vacuum adsorption of workpieces, comprising: a large-diameter tube; a large-diameter nozzle mounted on the front end of the large-diameter tube; a small-diameter tube coaxially inserted into the large-diameter tube, wherein the outer diameter of the small-diameter tube is shorter than the inner diameter of the large-diameter tube, thereby creating a gap between the small-diameter tube and the large-diameter tube; a small-diameter nozzle mounted on the front end of the small-diameter tube; and a support mechanism that supports the large-diameter tube and the small-diameter tube to allow for relative free movement. As the large-diameter pipe and the small-diameter pipe move relative to each other, the small-diameter nozzle changes between a protruding state and a pulled-in state relative to the large-diameter nozzle, and changes between a first specific state, a second specific state, and a third specific state. The first specific state is that the outer peripheral surface of the small-diameter nozzle is in close contact with the rear inner edge of the large-diameter nozzle, thereby closing the gap between the large-diameter pipe and the small-diameter pipe, and the flow channel cross-sectional area for gas flow is set to the inner diameter cross-sectional area of ​​the small-diameter pipe. The second specific state is that the outer peripheral surface of the small-diameter nozzle moves away from the rear inner edge of the large-diameter nozzle, and the gap between the large-diameter pipe and the small-diameter pipe is opened, and the flow channel cross-sectional area is set to the inner diameter cross-sectional area of ​​the large-diameter nozzle. The third specific state is that the outer peripheral surface of the small-diameter nozzle is close to the rear inner edge of the large-diameter nozzle, and the flow channel cross-sectional area is set to a value within the area range that is smaller than the inner diameter cross-sectional area of ​​the large-diameter nozzle and exceeds the inner diameter cross-sectional area of ​​the small-diameter nozzle.

[0012] Invention Effects

[0013] According to this solution, lightweight design can be achieved, and nozzles of different diameters can be selected according to the workpiece, allowing insertion into narrow spaces. Furthermore, the cross-sectional area of ​​the gas flow channel can be continuously varied as the large-diameter and small-diameter pipes move relative to each other. Attached Figure Description

[0014] Figure 1 This is a perspective view of the end effector of a suction nozzle device according to one embodiment.

[0015] Figure 2 yes Figure 1 A longitudinal sectional view of the suction nozzle device.

[0016] Figure 3 yes Figure 2 A 3D view of the workpiece entering the protective frame.

[0017] Figure 4 yes Figure 2 An enlarged view of the front part of the mouth.

[0018] Figure 5A It is shown Figure 1 A longitudinal sectional view of the first state of the suction nozzle device.

[0019] Figure 5B It is shown Figure 1 A longitudinal sectional view of the second state of the suction nozzle device.

[0020] Figure 5C It is shown Figure 1 A longitudinal sectional view of the third state of the suction nozzle device.

[0021] Figure 6A It is shown that... Figure 5A The longitudinal sectional view of the flow channel cross-sectional area corresponding to the first state.

[0022] Figure 6B It is shown that... Figure 5B The longitudinal sectional view of the flow channel cross-sectional area corresponding to the second state.

[0023] Figure 6C It is shown that... Figure 5C The longitudinal sectional view of the flow channel cross-sectional area corresponding to the third state.

[0024] Figure 6D It is shown Figure 1 A longitudinal sectional view of the flow channel cross-sectional area corresponding to the third state in a modified example of the suction nozzle device.

[0025] Explanation of reference numerals in the attached figures

[0026] 1—Suction nozzle device, 2—Entry guard frame, 3—Large diameter pipe, 5—Large diameter nozzle, 7—Small diameter nozzle, 8—Connecting block, 23—Small diameter pipe, 25—O-ring, 27—Ball plunger, 29—Gap space, 31—Airtight chamber, 32—Seal, 33—Connecting hole, 35—Linear bushing, 37—Back plate, 40—O-ring, 41—Movable plate, 43—Linear guide rail, 45—Connecting part, 46—Joint. Detailed Implementation

[0027] Hereinafter, the suction nozzle device for vacuum adsorption of workpieces according to this embodiment will be described with reference to the accompanying drawings. In the following description, structural elements having substantially the same function and structure will be labeled with the same reference numerals and will be described repeatedly only where necessary.

[0028] like Figure 1 As shown, the suction nozzle device 1 of this embodiment is assembled into an end effector (also referred to as a hand) for vacuum adsorption, and the end effector is mounted on the front end of the robotic arm. The suction nozzle device 1 has an elongated cylindrical tube (hereinafter referred to as a large-diameter tube) 3. A nozzle (hereinafter referred to as a large-diameter nozzle) 5 is fitted to the front end of the large-diameter tube 3. An elongated cylindrical tube (small-diameter tube) with a smaller diameter than the large-diameter tube 3, described later, is coaxially inserted into the large-diameter tube 3. A small-diameter nozzle 7 is fitted to the front end of the small-diameter tube. The large-diameter nozzle 5 and the small-diameter nozzle 7 are respectively molded from non-permeable and elastic resin raw materials, typically urethane or synthetic rubber.

[0029] The outer diameter of the smaller diameter pipe is shorter than the inner diameter of the larger diameter pipe 3, and a gap is provided between the larger diameter pipe 3 and the smaller diameter pipe. As will be described in detail later, the smaller diameter pipe is freely movable relative to the larger diameter pipe 3 along the central axis. With this movement, the smaller diameter nozzle 7 is pulled into the interior of the larger diameter pipe 3, changing between a state where the larger diameter nozzle 5 protrudes relative to the smaller diameter nozzle 7 and a state where the smaller diameter nozzle 7 protrudes relative to the larger diameter nozzle 5.

[0030] Furthermore, when the large-diameter nozzle 5 protrudes relative to the small-diameter nozzle 7, the small-diameter nozzle 7 moves away from the large-diameter nozzle 5, and the gap between the large-diameter pipe 3 and the small-diameter pipe is open. Therefore, the main variable determining the flow rate of gas (air), namely the flow channel cross-sectional area, is ensured to be the inner diameter cross-sectional area of ​​the large-diameter nozzle 5. On the other hand, when the small-diameter nozzle 7 protrudes relative to the large-diameter nozzle 5, the small-diameter nozzle 7 is in close contact with the large-diameter nozzle 5, and the gap between the large-diameter pipe 3 and the small-diameter pipe is closed. Therefore, the flow channel cross-sectional area is reduced to the inner diameter cross-sectional area of ​​the small-diameter nozzle 7. Moreover, when the small-diameter nozzle 7 approaches the large-diameter nozzle 5, the flow channel cross-sectional area continuously changes between the inner diameter cross-sectional areas of the large-diameter nozzle 5 and the inner diameter cross-sectional areas of the small-diameter nozzle 7, corresponding to the distance of the small-diameter nozzle 7 relative to the large-diameter nozzle 5.

[0031] Thus, in this embodiment, as the small-diameter pipe moves relative to the large-diameter pipe 3, the large-diameter nozzle 5 and the small-diameter nozzle 7 can be selected, and the cross-sectional area of ​​the flow channel can be continuously varied between the inner diameter cross-sectional area of ​​the large-diameter nozzle 5 and the inner diameter cross-sectional area of ​​the small-diameter nozzle 7. A detailed explanation follows.

[0032] A connecting block 8 is connected to the rear end of the large-diameter pipe 3. The connecting block 8 has a hollow structure, forming an airtight chamber (sealed chamber) inside. A vacuum generator 9 is connected to the connecting block 8 via a vacuum hose 11. The joint of the vacuum generator 9 is connected to the joint 17 opened on the hand base 15 via a vacuum hose 12. The joint 17 is connected to an external vacuum pump via a vacuum hose. Compressed air supplied from the external vacuum pump generates vacuum pressure inside the vacuum generator 9 and is exhausted from the exhaust pipe through the silencer 13. Using the vacuum pressure generated inside the vacuum generator 9, air is drawn into the airtight chamber inside the connecting block 8 and inside the large-diameter pipe 3. Thus, a vacuum state lower than atmospheric pressure is formed inside the airtight chamber inside the connecting block 8 and inside the large-diameter pipe 3, and the workpiece is adsorbed into the large-diameter nozzle 5 or the small-diameter nozzle 7.

[0033] An electric actuator 19, used to move the small-diameter tube relative to the large-diameter tube 3, is mounted on the suction nozzle device 1. A sensor box 21, for example, is mounted on the hand base 15 for apex detection of bulk workpieces while retaining their original state.

[0034] like Figure 2As shown, a connecting block 8 is connected to the rear end of the large-diameter pipe 3, and is sealed using an O-ring 25. A small-diameter pipe 23 is inserted into the large-diameter pipe 3, and is positioned by a ball plunger 27 in a coaxial manner with the large-diameter pipe 3. The outer diameter of the small-diameter pipe 23 is shorter than the inner diameter of the large-diameter pipe 3, forming a gap space 29 between the large-diameter pipe 3 and the small-diameter pipe. This gap space 29 communicates with the airtight chamber 31 inside the connecting block 8 through the rear opening of the large-diameter pipe 3. A connecting hole 33 is provided in the middle of the small-diameter pipe 23, and the internal space of the small-diameter pipe 23 communicates with the gap space 29 between the large-diameter pipe 3 and the small-diameter pipe through the connecting hole 33, and further communicates with the airtight chamber 31 through the gap space 29. A sealing element 32 is embedded in the small-diameter pipe 23. The internal space of the small-diameter pipe 23, together with the airtight chamber 31 and the gap space 29, is set to a vacuum state.

[0035] The small-diameter tube 23, at its rear end, is movably supported along the central axis by a linear bushing 35 mounted on the rear end opening of the connecting block 8. The linear bushing 35, together with the ball plunger 27, constitutes a support mechanism that allows the large-diameter tube 3 and the small-diameter tube 23 to move freely relative to each other. A back plate 37 is mounted at the rear end of the connecting block 8, separated by an O-ring 39. The small-diameter tube 23 is inserted into a through hole in the back plate 37, separated by an O-ring 40. The small-diameter tube 23 can move back and forth while maintaining the airtightness of the internal airtight chamber 31 of the connecting block 8, ensured by the O-ring 40.

[0036] The rear end of the small-diameter tube 23 protrudes from the hole in the back plate 37 and is fixed to the movable plate 41. The movable plate 41 is supported by a linear guide 43, allowing it to move freely back and forth along the central axis, and is connected to the working part of the electric actuator 19. When the movable plate 41 is moved back and forth by the electric actuator 19, the small-diameter tube 23 moves relative to the large-diameter tube 3. Although the embodiment of the small-diameter tube 23 moving relative to the large-diameter tube 3 is shown, it is also possible for the large-diameter tube 3 to move relative to the small-diameter tube 23, or for both the large-diameter tube 3 and the small-diameter tube 23 to move relative to each other.

[0037] The side wall opening of the connecting block 8 is into which a connecting part 45 is embedded. A vacuum hose 11 is connected to the connecting part 45 via a connector 46. Thus, the interior of the connecting block 8 is connected to the interior of the vacuum generator 9.

[0038] At the front end of the small-diameter pipe 23 and inside the small-diameter nozzle 7, an entry guard 2 is installed to prevent extremely small workpieces from entering the small-diameter nozzle 7 and the small-diameter pipe 23, without obstructing the flow of gas (air). Figure 3 As shown, the protective frame 2 is formed by multiple U-shaped wires 6 arranged in a ring-shaped base 4 at intervals.

[0039] like Figure 4As shown, a large-diameter nozzle 5 is embedded in the rear portion 51 of the large-diameter pipe 3 at its front end. The front end portion 53 of the large-diameter nozzle 5 has a truncated cone shape with a narrow front end, and a cylindrical hole 55 extends through its front and rear ends. The front end portion 53 of the large-diameter nozzle 5 is the main body of the nozzle. Hereinafter, when referring to the large-diameter nozzle 5 simply without distinguishing between the front end portion 53 and the rear portion 51, the front end portion 53 will be used. Furthermore, as an example of the structure for attaching the large-diameter nozzle 5 to the front end of the large-diameter pipe 3, a structure in which the rear portion 51 of the large-diameter nozzle 5 is embedded in the front end of the large-diameter pipe 3 is shown, but it is not limited to this structure. Any structure, such as directly attaching the rear end face of the front end portion 53 of the large-diameter nozzle 5 to the front end face of the large-diameter pipe 3, can be used.

[0040] At the front end of the small-diameter pipe 23, a small-diameter nozzle 7 is embedded in its rear portion 71. The front end portion 73 of the small-diameter nozzle 7 also has a truncated cone shape with a narrow front end, and a cylindrical hole 75 extends through it from front to back. The front end portion 73 of the small-diameter nozzle 7 is the main body of the nozzle. Hereinafter, when referring to the small-diameter nozzle 7 simply without distinguishing between the front end portion 73 and the rear portion 71, the front end portion 73 will be used. Furthermore, as for the structure of attaching the small-diameter nozzle 7 to the front end of the small-diameter pipe 23, it is not limited to the structure of embedding the rear portion 71 of the small-diameter nozzle 7 into the front end of the small-diameter pipe 23; any structure such as directly attaching the rear end face of the front end portion 73 of the small-diameter nozzle 7 to the front end face of the small-diameter pipe 23 can be used.

[0041] The diameter (inner diameter) ID1 of the small-diameter nozzle 7 is shorter than the diameter (inner diameter) ID2 of the large-diameter nozzle 5. The outer diameter OD12 of the rear end of the truncated cone-shaped front end portion 73 of the small-diameter nozzle 7 is longer than the inner diameter ID2 of the large-diameter nozzle 5, and both are circular. Therefore, the outer peripheral surface of the front end portion 73 of the small-diameter nozzle 7 can abut against the rear inner edge 57 of the front end portion 53 of the large-diameter nozzle 5. In addition, the large-diameter nozzle 5 and the small-diameter nozzle 7 are molded from non-permeable and elastic resin raw materials, so the outer peripheral surface of the front end portion 73 of the small-diameter nozzle 7 is in close contact with the rear inner edge 57 of the front end portion 53 of the large-diameter nozzle 5, which can seal the gap space 29 between the large-diameter tube 3 and the small-diameter tube 23.

[0042] When the outer peripheral surface of the front end portion 73 of the small-diameter nozzle 7 is in close contact with the rear inner edge 57 of the front end portion 53 of the large-diameter nozzle 5, that is, when the outer diameter of the front end portion 73 of the small-diameter nozzle 7 is the same as the inner diameter ID2 of the large-diameter nozzle 5, the length L1 of the small-diameter nozzle 7 from this position to the front end is longer than the length L2 of the front end portion 53 of the large-diameter nozzle 5. Therefore, when the small-diameter nozzle 7 moves forward to the boundary of the movable range where the outer peripheral surface of its front end portion 73 is in close contact with the rear inner edge 57 of the front end portion 53 of the large-diameter nozzle 5, the front end of the small-diameter nozzle 7 can protrude more than the large-diameter nozzle 5.

[0043] Figure 5AThis shows the large-diameter nozzle 5 protruding more than the small-diameter nozzle 7 (large-diameter configuration). Figure 5B This shows the small-diameter nozzle 7 protruding more than the large-diameter nozzle 5 (small-diameter state). Figure 5C This shows the state where the front end of the small diameter nozzle 7 partially overlaps with the large diameter nozzle 5 (medium diameter state). Figure 6A Show Figure 5A A magnified view of a portion of the image. Figure 6B Show Figure 5B A magnified view of a portion of the image. Figure 6C Show Figure 5C A magnified view of a portion of the image.

[0044] like Figure 5A , Figure 6A As shown, by pulling the small-diameter tube 23 back to near the boundary of its movable range, the large-diameter nozzle 5 can protrude more than the small-diameter nozzle 7. Because the outer diameter OD2 of the large-diameter nozzle 5 is larger than the outer diameter OD1 of the small-diameter nozzle 7, it is suitable for adsorbing relatively large workpieces. At this time, the front end portion 73 of the small-diameter nozzle 7 moves away from the rear inner edge 57 of the front end portion 53 of the large-diameter nozzle 5 by the maximum distance, and the gap space 29 between the large-diameter tube 3 and the small-diameter tube 23 is open, so the flow channel diameter of the suction nozzle device 1 is equal to the inner diameter of the large-diameter nozzle 5. The cross-sectional area of ​​the flow channel for gas flow at this time (flow channel cross-sectional area) is (ID2 / 2). 2 The value is obtained by multiplying by π. Therefore, the maximum value of the suction nozzle device 1, which represents the flow rate, is capable of adsorbing large and heavy workpieces.

[0045] like Figure 5B , Figure 6B As shown, when the small-diameter tube 23 is moved forward relative to the large-diameter tube 3 until the outer peripheral surface of the front end portion 73 of the small-diameter nozzle 7 is in close contact with the inner rear end portion 57 of the front end portion 53 of the large-diameter nozzle 5, the small-diameter nozzle 7 protrudes more than the large-diameter nozzle 5. Because the outer diameter OD1 of the small-diameter nozzle 7 is smaller than the outer diameter OD2 of the large-diameter nozzle 5, it is suitable for adsorbing relatively small workpieces. At this time, the gap space 29 between the large-diameter tube 3 and the small-diameter tube 23 is closed, so the flow channel diameter of the suction nozzle device 1 is the same as the inner diameter of the small-diameter nozzle 7. The flow channel cross-sectional area is (ID1 / 2). 2 The value is obtained by multiplying by π. This represents the minimum flow rate of the suction nozzle device 1, making it suitable for adsorbing small and light workpieces.

[0046] like Figure 5C , Figure 6C As shown, the small-diameter tube 23 is moved and stopped at the position where the outer peripheral surface of the front end portion 73 of the small-diameter nozzle 7 is at the maximum distance from the inner rear end edge 57 of the front end portion 53 of the large-diameter nozzle 5 away from the movable range. Figure 6A The position where the outer peripheral surface of the front end portion 73 of the small diameter nozzle 7 is in close contact with the inner rear end edge 57 of the front end portion 53 of the large diameter nozzle 5. Figure 6BAt any position between ), the front end portion 73 of the small diameter nozzle 7 partially overlaps with the front end portion 53 of the large diameter nozzle 5, and the gas becomes a circular region defined by the inner circumferential surface of the small diameter nozzle 7 and an annular region defined by the inner circumferential surface of the front end portion 53 of the large diameter nozzle 5 and the outer circumferential surface of the front end portion 73 of the small diameter nozzle 7.

[0047] Because the front end portion 73 of the small-diameter nozzle 7 is truncated cone-shaped, the distance GD between the outer circumferential surface of the front end portion 73 of the small-diameter nozzle 7 and the rear inner edge 57 of the front end portion 53 of the large-diameter nozzle 5 changes continuously with their positional relationship, i.e., the movement of the small-diameter pipe 23. As the small-diameter pipe 23 moves forward from its deepest position, the outer circumferential surface of the front end portion 73 of the small-diameter nozzle 7 gradually approaches the rear inner edge 57 of the front end portion 53 of the large-diameter nozzle 5, and this distance GD gradually shortens. Correspondingly, the flow channel cross-sectional area of ​​the large-diameter nozzle 5 is "(ID2 / 2)". 2 As the "×π" narrows, the flow rate also decreases. That is, the gap GD between the outer circumference of the front end portion 73 of the small diameter nozzle 7 and the inner rear end portion 57 of the front end portion 53 of the large diameter nozzle 5 changes continuously with the movement of the small diameter pipe 23, and the flow channel cross-sectional area changes accordingly at the maximum flow channel cross-sectional area "(ID2 / 2)". 2 "×π" and the minimum flow channel cross-sectional area "(ID1 / 2)" 2 The flow rate changes continuously between "×π". By moving the small-diameter pipe 23 and stopping it at the appropriate position, the flow rate can be adjusted according to the weight of the workpiece to optimize its attractive force.

[0048] In addition, it can also be like Figure 6D The front end of the small diameter nozzle 7 is aligned with the front end of the large diameter nozzle 5 to maximize the nozzle contact area relative to the workpiece.

[0049] According to this embodiment, by changing the relative position of the large-diameter pipe and the small-diameter pipe, the small-diameter nozzle subtly moves in and out relative to the large-diameter nozzle. This allows the contact area between the nozzle and the workpiece to be switched in two or even three stages. Furthermore, the flow channel cross-sectional area (flow rate) can be continuously adjusted between the maximum flow channel cross-sectional area corresponding to the diameter of the large-diameter nozzle and the minimum flow channel cross-sectional area corresponding to the diameter of the small-diameter nozzle, thereby enabling stable adsorption of the workpiece.

[0050] Furthermore, by introducing a simple structure that changes the relative positions of the large-diameter and small-diameter tubes, the suction nozzle device can be made smaller and lighter, thereby reducing weight and inertia, and enabling high-speed suction and transport compared to the past.

[0051] Furthermore, the selection between the large-diameter and small-diameter nozzles is achieved through the relative movement of the large-diameter and small-diameter pipes. Since there is no need for a nozzle changing mechanism or a moving mechanism directly attached to the nozzle as in the past, miniaturization of the nozzle area is possible. Additionally, because the large-diameter and small-diameter nozzles are mounted at the front ends of the large-diameter and small-diameter pipes, the nozzles can be inserted into narrow spaces.

[0052] The above description describes a suction nozzle device with a double-layered tube structure consisting of a tube and nozzles. However, it can also be a multi-layered tube structure exceeding this single-layered tube structure. That is, the suction nozzle device can also include multiple tubes of different diameters inserted sequentially, multiple nozzles of different diameters respectively mounted at the front ends of the multiple tubes, and a support mechanism that supports the multiple tubes so that they can move freely relative to each other. The basic structure of the support mechanism is the same as described above. In this multi-layered tube structure, as the multiple tubes move relative to each other, one of the nozzles selectively protrudes, and the flow channel cross-sectional area is set to the inner diameter cross-sectional area of ​​one of the protruding nozzles.

[0053] Several embodiments of the present invention have been described, but these embodiments are given by way of example and do not constitute a limitation on the scope of the invention. These embodiments can be implemented in a wide variety of other ways, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the scope of the invention as set forth in the claims and its equivalents.

Claims

1. A suction nozzle device for vacuum adsorption of workpieces, wherein, have: large diameter pipe, A large-diameter nozzle is fitted to the front end of the large-diameter pipe. A smaller diameter tube is coaxially inserted into the larger diameter tube, wherein the outer diameter of the smaller diameter tube is shorter than the inner diameter of the larger diameter tube, thereby creating a gap between the smaller diameter tube and the larger diameter tube. Small-diameter nozzle, fitted to the front end of the small-diameter tube, and The support mechanism supports the large-diameter pipe and the small-diameter pipe so that they can move freely relative to each other; As the large-diameter tube and the small-diameter tube move relative to each other, the small-diameter nozzle changes between a protruding state and a pulled-in state relative to the large-diameter nozzle, and changes between a first specific state, a second specific state, and a third specific state. The first specific state is characterized by the outer peripheral surface of the small-diameter nozzle being in close contact with the inner rear end of the large-diameter nozzle, thereby sealing the gap between the large-diameter pipe and the small-diameter pipe, and setting the cross-sectional area of ​​the flow channel for gas flow to be the inner diameter cross-sectional area of ​​the small-diameter pipe. The second specific state is that the outer peripheral surface of the small-diameter nozzle is separated from the inner rear end edge of the large-diameter nozzle, and the gap between the large-diameter tube and the small-diameter tube is open, and the flow channel cross-sectional area is set to the inner diameter cross-sectional area of ​​the large-diameter nozzle. The third specific state is a state in which the outer peripheral surface of the small-diameter nozzle is close to the inner rear end edge of the large-diameter nozzle, and the flow channel cross-sectional area is set to a value within the range of an area that is smaller than the inner diameter cross-sectional area of ​​the large-diameter nozzle and exceeds the inner diameter cross-sectional area of ​​the small-diameter nozzle.

2. The suction nozzle device according to claim 1, wherein, The small-diameter nozzle has a frustum-shaped cone with a front outer diameter shorter than the inner diameter of the large-diameter nozzle and a rear outer diameter longer than the inner diameter of the large-diameter nozzle.

3. The suction nozzle device according to claim 2, wherein, The length of the portion of the small-diameter nozzle that is the same as the inner diameter of the large-diameter nozzle, closer to the front end, is longer than the length of the large-diameter nozzle.

4. The suction nozzle device according to any one of claims 1 to 3, wherein, It also includes a connecting block, which connects to the rear portion of the large-diameter pipe to form an airtight chamber communicating with the interior of the large-diameter pipe. The small-diameter pipe has a connecting hole that allows its interior to communicate with the airtight chamber.

5. The suction nozzle device according to any one of claims 1 to 3, wherein, An entry guard is provided at the front end of the small-diameter pipe, inside the small-diameter nozzle, to prevent the workpiece from entering.

6. A suction nozzle device for vacuum adsorption of workpieces, wherein, have: large diameter pipe, A large-diameter nozzle is fitted to the front end of the large-diameter pipe. A smaller diameter pipe is inserted into the larger diameter pipe, wherein the outer diameter of the smaller diameter pipe is shorter than the inner diameter of the larger diameter pipe, thereby creating a gap between the two pipes. Small-diameter nozzle, fitted to the front end of the small-diameter tube, and The support mechanism supports the large-diameter pipe and the small-diameter pipe so that they can move freely relative to each other; As the large-diameter pipe and the small-diameter pipe move relative to each other, the cross-sectional area of ​​the flow channel for gas flow changes continuously between the inner diameter cross-sectional area of ​​the small-diameter nozzle and the inner diameter cross-sectional area of ​​the large-diameter nozzle.

7. A suction nozzle device for adsorbing workpieces, wherein, have: Multiple tubes of different diameters were inserted in sequence. Multiple nozzles of different diameters are respectively assembled at the front ends of the plurality of tubes, and The plurality of tubes are supported as a relatively movable support mechanism; The plurality of tubes are inserted sequentially with gaps between them. As the plurality of tubes move relative to each other, one of the plurality of nozzles selectively protrudes, and depending on the protruding nozzle, the state in which the gap is open and gas flows through the gap and inside the tube of the plurality of tubes equipped with the protruding nozzle is switched between a state in which the gap is closed and gas flows through the tube of the plurality of tubes equipped with the protruding nozzle.

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