Sucker type clamp

Abstract

The present invention is a chuck-type jig (10) provided with a cylindrical chuck (14) for sucking workpieces (54, 56, 58), and a jig body (12) to which the chuck (14) is attached and which generates a negative pressure in the chuck (14) by discharging a compressed fluid along the chuck inner peripheral surface (46a) of the chuck (14). The suction cup (14) has at least one cutout portion (50) on a jig surface (48) facing the workpieces (54, 56, 58), the cutout portion (50) cutting the suction cup (14).

Description

TECHNICAL FIELD

[0001] The present application relates to a chuck-type gripper that holds a workpiece by negative pressure adsorption. BACKGROUND

[0002] For example, in the gripping and conveying of sheet-like workpieces such as paper sheets, cloth, plastic sheets, and resin films, which are thin and soft, a chuck-type gripper that adsorbs by negative pressure is used.

[0003] Such workpieces are sometimes provided in multiple pieces in a superimposed manner. In this case, when the uppermost workpiece among the superimposed workpieces is gripped by the chuck-type gripper, the multiple workpieces are sometimes taken out.

[0004] As an example of such an easily attachable workpiece, a glass paper cup in which a glass paper is shaped into a cup shape can be cited. Japanese Patent Application Publication No. 2004-217252 discloses a technique in which, when the bottom surface of a glass paper cup is gripped by a chuck-type gripper, the peripheral edge portion of the glass paper cup is adsorbed by another adsorption head, and the glass paper cup that is the object is peeled from the glass paper cups below, and is taken out one by one.

[0005] However, the conventional chuck-type gripper requires a mechanism for peeling the workpiece in addition to the mechanism for adsorbing the workpiece, and there is a problem in that the device structure becomes complicated. SUMMARY

[0006] An object of the present application is to solve the above-described technical problem.

[0007] One aspect of the disclosure is a chuck-type gripper that adsorbs a workpiece by negative pressure, including: a cylindrical chuck that adsorbs the workpiece; and a gripper body to which the chuck is attached, in which negative pressure is generated in the chuck by ejecting a compressed fluid along the inner circumferential surface of the chuck, and the chuck has at least one notch portion that notches the chuck in a gripper surface that faces the workpiece.

[0008] The chuck-type gripper of the above aspect can grip sheet-like workpieces that are superimposed one by one by a simple device structure. BRIEF DESCRIPTION OF DRAWINGS

[0009] Figure 1A is a sectional view of the chuck-type gripper according to the first embodiment, Figure 1B is a sectional view along the IB-IB line of Figure 1A .

[0010] Figure 2A is a side view of the chuck-type gripper of Figure 1A , Figure 2B is a perspective view of the chuck-type gripper of Figure 1A from the top end side.

[0011] Figure 3 yes Figure 1A An exploded perspective view of the suction cup clamp.

[0012] Figure 4 It is by Figure 1A A diagram illustrating the action of a suction cup clamp holding a sheet-like workpiece.

[0013] Figure 5A It is by Figure 1A A diagram illustrating the action of a suction cup clamp holding a cellophane cup (cup-shaped workpiece). Figure 5B It is along Figure 5A A cross-sectional view of the VB-VB line.

[0014] Figure 6A It is by Figure 1A A diagram illustrating the action of a suction cup clamp holding a spherical workpiece placed on a tray. Figure 6B yes Figure 6A A three-dimensional view of a suction cup clamp and a spherical workpiece.

[0015] Figure 7A It is along Figure 6B A cross-sectional view of line VIIA-VIIA. Figure 7B Through Figure 1A A three-dimensional view of a glass cup and a spherical workpiece configured with a suction cup clamp.

[0016] Figure 8A This is a perspective view of the suction cup involved in a variation of the first embodiment, Example 1. Figure 8B This is a perspective view of the suction cup involved in Variation 2 of the first embodiment.

[0017] Figure 9A This is a perspective view of the suction cup involved in Variation 3 of the first embodiment. Figure 9B It is along Figure 9A A cross-sectional view of the IXB-IXB line.

[0018] Figure 10A This is a perspective view of the suction cup involved in Variation 4 of the first embodiment. Figure 10B This is a perspective view of the suction cup involved in Variation 5 of the first embodiment.

[0019] Figure 11A This is a perspective view of the suction cup involved in Variation 6 of the first embodiment. Figure 11B This is a perspective view of the suction cup involved in variation 7 of the first embodiment.

[0020] Figure 12A This is a side view of the suction cup involved in Variation 8 of the first embodiment. Figure 12B This is a side view of the suction cup involved in Variation 9 of the first embodiment. Figure 12CThis is a side view of the suction cup involved in a variation of the first embodiment, Example 10.

[0021] Figure 13A This is a perspective view of the suction cup involved in variation 11 of the first embodiment. Figure 13B It was installed Figure 13A A cross-sectional view of a suction cup clamp holding a spherical workpiece.

[0022] Figure 14A This is a cross-sectional view of the suction cup clamp according to the second embodiment. Figure 14B yes Figure 14A An exploded perspective view of the suction cup clamp.

[0023] Figure 15A This is a perspective view of the suction cup clamp according to the third embodiment. Figure 15B yes Figure 15A A cross-sectional view of the suction cup clamp.

[0024] Figure 16A This is an explanatory diagram of the frame and the process of mounting the frame onto the suction cup. Figure 16B This is an explanatory diagram of the clamp and the process of installing the clamp onto the fixture body. Detailed Implementation

[0025] (First Implementation)

[0026] Figure 1A and Figure 1B The suction cup clamp 10 shown in this embodiment is a so-called vortex-type suction cup clamp, which grips the workpiece by generating negative pressure through a jet (swirling flow) of compressed air (compressed fluid). Alternatively, the suction cup clamp 10 can also be a Bernoulli suction cup clamp that generates negative pressure by radially ejecting compressed air. The suction cup clamp 10 is mounted on the top of a robot arm installed on an automated production line in a factory for gripping and transporting workpieces.

[0027] like Figure 1A and Figure 1B As shown, the suction cup clamp 10 includes a clamp body 12 and a suction cup 14. The clamp body 12 is a component that generates negative pressure by producing a predetermined jet from the supplied compressed air. More specifically, the clamp body 12 has a housing 16 and a flow path component 18.

[0028] The housing 16 has a cylindrical shape and is located at the base end of the flow path component 18. The housing 16 has a supply port 20, a receiving recess 22, and a first fixing hole 24. Figure 1B ), and the second fixing hole 26 ( Figure 1A The supply port 20 is located at the center of the base end side of the housing 16 and extends axially along the clamp body 12. The supply port 20 is open on the base end side for connecting to a compressed air piping.

[0029] The receiving recess 22 is a concave portion located on the top side of the supply port 20 and communicating with the supply port 20. The receiving recess 22 is a circular hole with an inner diameter larger than that of the supply port 20, opening towards the top side of the housing 16. The first fixing hole 24 is an axially extending hole that opens at one end to the base end of the housing 16 and at the other end to the receiving recess 22. The first fixing hole 24 receives a fastening component 28 (e.g., a screw). The second fixing hole 26 is a threaded hole that opens at one end to the base end of the housing 16 and at the other end inside the housing 16. The second fixing hole 26 is used for fastening the robot arm to the suction cup gripper 10.

[0030] The flow path component 18 is a generally cylindrical component with internal flow paths. The flow path component 18 is housed in a receiving recess 22 of the housing 16. (Example) Figure 1B As shown, the flow path component 18 is fixed to the housing 16 by a fastening component 28. The flow path component 18 has an axial flow path 30, a branch flow path 32, a flange 34, a nozzle recess 36, and a nozzle 38. The axial flow path 30 is located at the center of the flow path component 18 and extends axially. The base end of the axial flow path 30 communicates with the supply port 20, and the top end of the axial flow path 30 communicates with the branch flow path 32. The branch flow path 32 extends radially along the flow path component 18, penetrating the flow path component 18 radially. The branch flow path 32 communicates with an annular flow path 40 formed in a manner that surrounds the outer periphery of the flow path component 18.

[0031] The annular flow path 40 is a flow path formed in the expanded diameter portion of the receiving recess 22. The inner circumferential surface of the expanded diameter portion is separated from the outer circumferential surface of the flow path component 18, forming the annular flow path 40 in the gap between them. The annular flow path 40 extends in a ring shape, surrounding the outer circumference of the flow path component 18. The nozzle 38 communicates with the annular flow path 40 and the nozzle recess 36, drawing in compressed air from the annular flow path 40 and ejecting it into the nozzle recess 36. The nozzle 38 faces the circumferential opening of the nozzle recess 36, generating an airflow (swirling flow) that swirls along the inner circumferential surface 36a of the nozzle recess 36.

[0032] The inner diameter of the nozzle recess 36 gradually increases from the base end side towards the tip end side. The nozzle recess 36 has an inner circumferential surface 36a that is inclined at a predetermined angle relative to the axial direction. The opening of the nozzle 38 opens at the inner circumferential surface 36a of the recess. The flange 34 is located at the tip of the flow path component 18 and extends radially outward in a circular plate shape. The outer diameter of the flange 34 is larger than the outer diameter of the housing 16, and it protrudes radially outward more than the housing 16.

[0033] The clamp body 12 has a plurality of washers 42 at a designated location where the housing 16 abuts against the flow path component 18. These washers 42 prevent leakage of compressed air passing through the gap between the housing 16 and the flow path component 18.

[0034] like Figure 3As shown, the suction cup 14 is a cylindrical component that can be detachably mounted to the clamp body 12. The suction cup 14 is made of a flexible material, for example, integrally formed using elastically deformable rubber, elastomers, or elastically deformable resins. Figure 2A and Figure 2B As shown, the suction cup 14 has an engaging portion 44, a skirt 46, a clamping surface 48, and a cutout portion 50.

[0035] The engaging part 44 is the portion that engages with the flange 34 of the clamp body 12. For example... Figure 1A As shown, the engaging portion 44 has a flange receiving groove 52 on its inner circumferential side. The flange receiving groove 52 is a groove extending circumferentially to receive the flange 34. The engaging portion 44 is installed in a manner that covers the outer circumference of the flange 34.

[0036] like Figure 2A and Figure 2B As shown, skirt 46 is located at the top end of engaging portion 44. Skirt 46 is formed into a conical cylindrical shape that tapers towards the top end. Figure 1A As shown, the skirt 46 has a suction cup inner circumferential surface 46a on its inner circumferential side. The suction cup inner circumferential surface 46a is inclined at a predetermined angle relative to the axial direction and is formed into a tapered shape such that its inner diameter gradually increases as it moves toward the top side. The suction cup inner circumferential surface 46a is smoothly connected to the recessed inner circumferential surface 36a without any steps.

[0037] The clamping surface 48 is the end face formed at the top of the suction cup 14, and is the portion opposite to the workpiece. The clamping surface 48 is composed of a plane perpendicular to the axial direction of the suction cup clamp 10. For example... Figure 2A and Figure 2B As shown, the cutout portion 50 is formed by making a cut near the tip of the suction cup 14. The cutout portion 50 is formed by cutting the suction cup 14 from the clamping surface 48 toward the axial base end side (adsorption direction). When viewed from the side, the cutout portion 50 has a shape that cuts an elongated oval in half along its minor axis. The cutout portion 50 has a pair of arcuate portions 50a on both sides in the width direction, and a long side portion 50b located between the arcuate portions 50a.

[0038] like Figure 2A As shown, the cutout 50, when viewed from the side, is formed such that its width W (circumferential dimension) is greater than its depth D (axial dimension, in the adsorption direction). For example, the width W of the cutout 50 has the following characteristics: Figure 4 The size of the cutout 50 is sufficiently large relative to the thickness of the flexible sheet-like workpiece 54 (e.g., more than 5 times). When the sheet-like workpiece 54 is adsorbed, the cutout 50 allows the workpiece 54 to bend and enter the cutout 50 simultaneously. Figure 2B As shown, the suction cup 14 of this embodiment has two cutouts 50 arranged 180° apart in the circumferential direction.

[0039] The suction cup clamp 10 of this embodiment is configured as described above. The function of the suction cup clamp 10 will be explained below.

[0040] Compressed air is supplied to the suction cup clamp 10 through the inlet port. The compressed air reaches the nozzle 38 via the axial flow path 30, the branch flow path 32, and the annular flow path 40. The nozzle 38 generates a high-speed swirling flow along the inner circumferential surface 36a of the recess and the inner circumferential surface 46a of the suction cup by ejecting the compressed air (compressed fluid) with a large impact force. The air ejected from the nozzle 38 is discharged from the clamping surface 48 and the cutout 50 of the suction cup 14. At this time, by Bernoulli's principle, a negative pressure lower than atmospheric pressure is generated in the nozzle recess 36 and the center of the suction cup 14.

[0041] like Figure 4 As shown, the suction cup clamp 10 is used to hold multiple overlapping, soft, sheet-like workpieces 54. The suction cup clamp 10 is positioned such that the clamping surface 48 faces the upper surface of the sheet-like workpieces 54 while air is being ejected from the nozzle 38. As a result, the sheet-like workpieces 54 are attracted to the suction cup 14 by the negative pressure at the center of the suction cup 14. At this time, the sheet-like workpieces 54 are lifted by the negative pressure and enter the cutout portion 50. This deformation only occurs on the uppermost sheet-like workpiece 54.

[0042] The sheet-like workpiece 54 deforms along the shape of the cut portion 50, causing the sheet-like workpieces 54 around the periphery of the suction cup clamp 10 to move inward. This allows air to enter between the uppermost sheet-like workpiece 54 and the second-layer sheet-like workpiece 54, resulting in a gentler fit. Then, when the suction cup clamp 10 is lifted, only the first-layer sheet-like workpiece 54 is peeled off from the overlapping sheet-like workpieces 54, allowing only the uppermost sheet-like workpiece 54 to be removed. As described above, the suction cup clamp 10 can hold the flexible sheet-like workpieces 54 one by one.

[0043] like Figure 5A As shown, the suction cup clamp 10 is also suitable for holding and transporting cellophane cups 56 (cup-shaped workpieces). Cellophane cups 56 are formed by stamping multiple overlapping pieces of cellophane, but due to the burrs generated at the edges, multiple cellophane cups 56 are joined together, making it difficult to remove them one by one.

[0044] like Figure 5BAs shown, when the suction cup clamp 10 of this embodiment is brought close to the bottom surface 56a of the cellophane cup 56, the uppermost cellophane cup 56 is attracted by the suction cup 14 due to the negative pressure of the suction cup 14. At this time, the bottom surface 56a of the cellophane cup 56 deforms in a manner that enters the cut portion 50. The bottom surface 56a of the cellophane cup 56 is deformed into a saddle shape through a pair of cut portions 50. Through this deformation of the bottom surface 56a, as shown in the figure, the side wall 56b of the cellophane cup 56 is greatly deformed, the rough edges of the cellophane cup 56 are removed, and the adhesion between the uppermost cellophane cup 56 and the cellophane cups 56 below the second layer is released. As a result, the suction cup clamp 10 can hold the cellophane cups 56 one by one.

[0045] In this embodiment, the suction cup clamp 10 is formed such that the width W of the cut portion 50 is greater than its depth D. Because of the large width W, the bottom surface 56a of the cellophane cup 56 can be deformed to allow it to enter, thus increasing the deformation of the side wall 56b of the cellophane cup 56. Furthermore, the cut portion 50 has a depth D smaller than the width W, allowing the portion of the airflow expelled from the suction cup clamp 10 to be positioned closer to the workpiece. This suction cup clamp 10 can suppress the decrease in attractive force and generate a higher attractive force.

[0046] like Figure 6A As shown, the suction cup clamp 10 can also be used to hold spherical workpieces 58. The spherical workpiece 58 illustrated is, for example, a chocolate dessert placed on a tray 59. The suction cup clamp 10 adsorbs and holds the spherical workpiece 58 onto the suction cup 14. Figure 6B As shown, a portion of the air released from the nozzle 38 flows out through the cutout 50 from the gap between the spherical workpiece 58 and the suction cup 14. Figure 7A As shown, outside the cutout portion 50, the suction cup 14 contacts the spherical workpiece 58, preventing the spherical workpiece 58 from rotating.

[0047] If a suction cup 14 without the notch 50 (comparative example) is used, the air released from the nozzle 38 flows out through the gap between the suction cup 14 and the spherical workpiece 58, passing over the entire circumference of the spherical workpiece 58. Therefore, there is a problem that the spherical workpiece 58 will rotate even though it is not in contact with the suction cup 14. The suction cup 14 of the comparative example cannot, for example, be used for aligning and configuring a decorated spherical workpiece 58.

[0048] In this regard, such as Figure 6B As shown, the air ejected from the suction cup clamp 10 of this embodiment is discharged from the cutout portion 50. Therefore, when the spherical workpiece 58 contacts the suction cup 14 on the clamping surface 48 where the cutout portion 50 is not formed, rotation of the spherical workpiece 58 is prevented. Thus, the suction cup clamp 10 can transport the spherical workpiece 58 without rotation.

[0049] The above description shows that the suction cup clamp 10 is capable of positioning the cellophane cup 56 and the spherical workpiece 58 onto the cellophane cup 56. Therefore, as Figure 7B As shown, the suction cup clamp 10 can perform the placement of the glass paper cup 56 and the placement of the spherical workpiece 58 onto the glass paper cup 56 without changing the suction cup 14.

[0050] The suction cup clamp 10 in this embodiment is not limited to the example described above. Hereinafter, a modified example of the suction cup 14 having a cutout portion 50 will be described.

[0051] (Variation Example 1)

[0052] Figure 8A The suction cup 14 shown in this modified example has three cutouts 60 on the skirt 46. The three cutouts 60 are arranged at equal intervals along the circumference. Furthermore, in the suction cup 14 of this modified example, for... Figure 1A The suction cup 14 has the same structure, is given the same symbol, and its detailed description is omitted.

[0053] The cutout 60 is a semi-circular portion viewed from the side, its width W being formed to be greater than its depth D, providing a width W for the sheet-like workpiece 54 or the cellophane cup 56 to enter. The suction cup 14 in this modified example... Figure 1A The suction cup 14 also functions similarly, deforming the top sheet workpiece 54 or cellophane cup 56 and peeling it off from the second layer. Thus, the suction cup 14 of this modified example can hold and transport the sheet workpiece 54 or cellophane cup 56 one sheet at a time.

[0054] (Variation Example 2)

[0055] Figure 8B The suction cup 14 shown in this modified example has four semi-circular cutouts 60 on the skirt 46. The four cutouts 60 are arranged at equal intervals along the circumference. Furthermore, in the suction cup 14 of this modified example, for... Figure 1A The suction cup 14 has the same structure and is given the same symbol, and its detailed description is omitted.

[0056] In this variant, the suction cup 14 can interact with... Figure 1A The suction cup 14 also functions to hold and move sheet-like workpieces 54 or cellophane cups 56 one by one.

[0057] (Variation Example 3)

[0058] Figure 9A and Figure 9B The suction cup 14 shown in this modified example has a cylindrical skirt 46C. Furthermore, in the suction cup 14 of this modified example, for... Figure 1A The suction cup 14 has the same structure and is given the same symbol, and its detailed description is omitted.

[0059] In the suction cup 14 of this modified example, the swirling flow ejected from the nozzle 38 flows along the inner circumferential surface 46a of the cylindrical skirt 46C, thereby generating negative pressure. The suction force is reduced somewhat compared to the conical skirt 46, but the suction cup 14 of this modified example is still able to hold and transport sheet-shaped workpieces 54 or cellophane cups 56 one by one.

[0060] Furthermore, the shape of skirt 46C is not limited to cylindrical; it can also be corrugated.

[0061] (Variation Example 4)

[0062] Figure 10A The suction cup 14 of this modified example shown has an elongated oval skirt 46D when viewed axially. The skirt 46D is formed in a tapered shape, with its inner diameter increasing towards the apex. The skirt 46D has two cutouts 60 formed by semi-circular slits. The two cutouts 60 are arranged along the minor axis. Other structures in the suction cup 14 of this modified example are similar to... Figure 1A Similarly, the suction cup 14 is omitted from its detailed description.

[0063] In this variant, the suction cup 14 can interact with... Figure 1A The suction cup 14 also functions to hold and move sheet-like workpieces 54 or cellophane cups 56 one by one.

[0064] (Variation Example 5)

[0065] Figure 10B The suction cup 14 of this modified example shown has an elliptical skirt 46E when viewed axially. The skirt 46E is formed in a tapered shape, with its inner diameter increasing towards the apex. The skirt 46E has two semi-circular cutouts 60. The two cutouts 60 are arranged along the minor axis. Other structures in the suction cup 14 of this modified example are similar to... Figure 1A Similarly, the suction cup 14 is omitted from its detailed description.

[0066] In this variant, the suction cup 14 can interact with... Figure 1A The suction cup 14 also functions to hold and move sheet-like workpieces 54 or cellophane cups 56 one by one.

[0067] (Variation Example 6)

[0068] Figure 11A The suction cup 14 of this modified example shown has a triangular skirt 46F when viewed axially. The skirt 46F is tapered, widening towards the apex (increasing in inner diameter). The skirt 46F has two semi-circular cutouts 60. The two cutouts 60 are circumferentially spaced 180° apart. Other structures in the suction cup 14 of this modified example are similar to... Figure 1A Similarly, the suction cup 14 is omitted from its detailed description.

[0069] In this variant, the suction cup 14 can interact with... Figure 1A The suction cup 14 also functions to hold and move sheet-like workpieces 54 or cellophane cups 56 one by one.

[0070] (Variation Example 7)

[0071] Figure 11B The suction cup 14 of this modified example shown has a polygonal skirt 46G when viewed axially. The skirt 46G is tapered, widening (increasing in inner diameter) towards the top. The skirt 46G has two semi-circular cutouts 60. The two cutouts 60 are arranged 180° apart circumferentially. Other structures in the suction cup 14 of this modified example are similar to... Figure 1A Similarly, the suction cup 14 is omitted in its detailed description.

[0072] In this variant, the suction cup 14 can interact with... Figure 1A The suction cup 14 also functions to hold and move sheet-like workpieces 54 or cellophane cups 56 one by one.

[0073] (Variation Example 8)

[0074] Figure 12A The suction cup 14 of this modified example shown has an arc-shaped cutout 62 when viewed from the side. The arc-shaped cutout 62 has a larger diameter than the semi-circular cutout 60. Figure 8A The large radius of curvature and the width W are larger than the cutout 60. The suction cup 14 in this modified example can... Figure 1A The suction cup 14 also functions to hold and move sheet-like workpieces 54 or cellophane cups 56 one by one.

[0075] (Variation Example 9)

[0076] Figure 12B The suction cup 14 shown in this modified example has a triangular cutout 64 when viewed from the side. The width W of the cutout 64 is formed to be greater than the depth D.

[0077] Furthermore, the suction cup 14 in this modified example and Figure 1A The suction cup 14 also functions in the same way, enabling it to hold and move soft sheet-like workpieces 54 or cellophane cups 56 one by one.

[0078] (Variation Example 10)

[0079] Figure 12C The suction cup 14 of this modified example shown has a polygonal cutout 66 when viewed from the side. The width W of the cutout 66 is formed to be greater than the depth D. The suction cup 14 of this modified example and Figure 1AThe suction cup 14 also functions similarly, enabling the gripping and transport of soft sheet-like workpieces 54 or cellophane cups 56 one by one. Moreover, by forming a second slit G in the slit 66, even when the sheet-like workpiece 54 is attached to the slit 66, the jet air can be discharged from the slit G.

[0080] (Variation Example 11)

[0081] Figure 13A and Figure 13B The suction cup 14 shown in this modified example has an inwardly projecting protrusion 68 on the skirt 46. The protrusion 68 is hemispherical. Multiple such protrusions 68 are provided at predetermined intervals along the circumference. The protrusions 68 are positioned at locations where they can abut against the spherical workpiece 58. Other structural features of the suction cup 14 in this modified example are similar to... Figure 1A The suction cup 14 has the same structure, so its description is omitted.

[0082] like Figure 13B As shown, in this modified example, when the suction cup 14 adsorbs the spherical workpiece 58, the protrusion 68 abuts against the spherical workpiece 58. Therefore, the suction cup 14 can suppress the rotation and vibration of the spherical workpiece 58, and can hold and transport the spherical workpiece 58 in a stable state.

[0083] (Second Implementation)

[0084] like Figure 14A As shown, the suction cup clamp 10A according to the second embodiment includes a suction cup assembly 70 that connects the suction cup 14A and the flow path component 18A into one unit. Furthermore, in the structure of the suction cup clamp 10A, for use with… Figure 1A The parts of the suction cup clamp 10 that are structurally identical are given the same symbols and their detailed descriptions are omitted.

[0085] The suction cup assembly 70 has a flow path component 18A and a suction cup 14A. The flow path component 18A does not have a flange 34. The top end of the flow path component 18A is integrally connected to the suction cup 14A. The other structures of the flow path component 18A are similar to those of the suction cup 14A. Figure 1A The same applies to the flow path component 18. On the other hand, the suction cup 14A does not have the engaging portion 44, and the skirt 46 is integrally joined with the flow path component 18A. The inner peripheral surface 36a of the recess and the inner peripheral surface 46a of the suction cup are connected as a single unit to form a conical surface. Figure 14B As shown, the suction cup assembly 70 can be attached to and detached from the housing 16 of the suction cup clamp 10A.

[0086] The suction cup clamp 10A of this embodiment can be used with Figure 1A The suction cup clamp 10 also functions similarly, holding and transferring soft, sheet-like workpieces 54 or cellophane cups 56 one by one. Furthermore, the suction cup clamp 10A and... Figure 1ACompared to the suction cup clamp 10, the construction is further simplified by reducing the number of parts.

[0087] (Third Implementation)

[0088] Figure 15A and Figure 15B The suction cup clamp 10B of this embodiment, in addition to the clamp body 12B and suction cup 14, also includes an anti-detachment mechanism 75 having a frame member 72, a clamp 74, and a clamp mounting groove 76. Furthermore, in the structure of the suction cup clamp 10B, for... Figure 1A The suction cup clamp 10 has the same structure and is given the same symbol, and its detailed description is omitted.

[0089] The fixture body 12B has a housing 16B and a flow path component 18. The housing 16B generally has the same characteristics as... Figure 1A The shell 16 has the same structure, but as Figure 15B As shown, it differs from the housing 16 in that it has a clip mounting groove 76 at a designated location on its outer peripheral surface. Figure 16B As shown, the clip mounting groove 76 is a groove extending circumferentially throughout the housing 16B, and its width (axial dimension) is formed to be slightly larger than the thickness of the clip 74. Figure 15B As shown, the clip mounting slot 76 accommodates the clip 74.

[0090] like Figure 16A As shown, the frame component 72 is a circular annular component. The frame component 72 has a through hole 72a in its central portion, through which the housing 16B can be inserted. Figure 15B As shown, the frame member 72 has an L-shaped cross-section. The frame member 72 has a peripheral wall portion 72b covering the outer periphery of the engaging portion 44 of the suction cup 14, and a base end wall 72c abutting against the base end of the engaging portion 44. Figure 16A As shown, the frame component 72 is mounted from the base end of the engaging portion 44 of the suction cup 14, covering the engaging portion 44. The frame component 72 is formed of a hard material that is not easily deformed, such as metal or resin. Figure 15B As shown, the peripheral wall portion 72b of the frame member 72 covers the engaging portion 44 from the outer peripheral side. The peripheral wall portion 72b prevents the diameter of the engaging portion 44 from expanding and prevents the engaging portion 44 from disengaging from the flange 34. That is, the frame member 72 has the function of preventing the suction cup 14 from falling off.

[0091] like Figure 15A As shown, the clip 74 is installed in the clip mounting slot 76 of the clamp body 12B. Figure 16BAs shown, the clip 74 is a C-shaped plate-like component with a central portion 74a and a pair of arc-shaped portions 74b. The central portion 74a is disposed between the pair of arc-shaped portions 74b. Hinges 78 are formed at one end and the other end of the central portion 74a. The radial thickness of the hinge 78 is thinner than that of the central portion 74a and the arc-shaped portions 74b, making it easy to elastically deform. The pair of arc-shaped portions 74b can elastically deform around the hinge 78.

[0092] The arc-shaped portion 74b is a plate-like portion formed in an arc shape, and has an inner diameter portion 79 on its inner circumferential side that can be mounted in the clip mounting slot 76. The inner diameter of the inner diameter portion 79 is smaller than the diameter of the outer circumferential surface of the clamp body 12B, and is formed to be approximately the same diameter as the diameter of the clip mounting slot 76. A portion of the inner diameter portion 79 is received in the clip mounting slot 76, thereby connecting the clip 74 to the clamp body 12B.

[0093] Suction cup clamp 10B Figure 16A and Figure 16B Assembled as shown. First, the process of mounting the suction cup 14 onto the fixture body 12B is performed. This process involves elastically deforming the engaging portion 44 of the suction cup 14 while simultaneously adjusting the flange receiving groove 52 ( Figure 15B It is engaged with the flange 34.

[0094] Next, as Figure 16A As shown, the process of mounting the frame member 72 onto the engaging portion 44 from the base end side is performed. Then, as... Figure 16B As shown, the process of inserting the clamp 74 into the clamp mounting slot 76 of the clamp body 12B is performed. Through the above process, the process is completed. Figure 15A 10B suction cup clamp.

[0095] The above-mentioned suction cup clamp 10B, such as Figure 15A and Figure 15B As shown, the clamp 74 abuts against the base end of the frame member 72, preventing the frame member 72 from detaching. The frame member 72 prevents the engaging portion 44 from detaching from the flange 34 by covering the outer periphery of the engaging portion 44 of the suction cup 14. Therefore, the suction cup clamp 10B of this embodiment ensures that the suction cup 14 does not detach as long as the clamp 74 is not removed, reliably preventing the suction cup 14 from detaching.

[0096] Regarding the above disclosure, the following notes are further disclosed.

[0097] (Postscript 1)

[0098] One viewpoint is a suction cup clamp that uses negative pressure to adsorb a workpiece, comprising: a cylindrical suction cup for adsorbing the workpiece; and a clamp body for mounting the suction cup, wherein a negative pressure is generated within the suction cup by spraying compressed fluid along the inner circumferential surface of the suction cup, and the suction cup has at least one cutout on the clamping surface facing the workpiece.

[0099] The aforementioned suction cup clamp, by having a slit, allows a soft, sheet-like workpiece (the uppermost layer) to be deformed by entering the slit. Therefore, the suction cup clamp can hold only the uppermost workpiece, and can easily hold and transport overlapping soft, sheet-like workpieces one by one with a simple construction.

[0100] (Postscript 2)

[0101] As described in Appendix 1, the circumferential dimension of the cut portion may be larger than the dimension in the suction direction. This suction cup clamp allows sheet-shaped or cup-shaped workpieces to easily enter the cut portion, further increasing the amount of deformation.

[0102] (Note 3)

[0103] As described in Appendix 1 or 2, the suction cup clamp may also have a pair of slits arranged 180° circumferentially. When this suction cup clamp holds a soft sheet-like workpiece, a saddle-shaped deformation is generated on the workpiece, extending along the arrangement direction of the two slits. As a result, the suction cup clamp separates overlapping sheet-like workpieces, making it easier to hold sheet-like workpieces one by one.

[0104] (Note 4)

[0105] As described in any of Appendices 1 to 3, when the workpiece is gripped by a suction cup clamp, at least a portion of the compressed fluid may be discharged through the cutout. Because this suction cup clamp ensures the air discharge portion, it can prevent workpiece rotation when holding plate-shaped or spherical workpieces.

[0106] (Note 5)

[0107] As described in any of Appendices 1 to 4, the suction cup may have a protrusion that extends from the inner circumferential surface of the suction cup and contacts the workpiece at a position where it can contact the workpiece. When holding a spherical workpiece, this suction cup clamp generates friction on the spherical workpiece by contacting it through the protrusion, thereby preventing the spherical workpiece from rotating.

[0108] (Note 6)

[0109] As described in any of Appendices 1 to 5, the suction cup clamp may have a nozzle on the inner wall of the suction cup that opens in the direction of generating the swirling flow of the compressed fluid. This suction cup clamp can efficiently generate negative pressure and produce high suction force. Furthermore, the aforementioned suction cup clamp can also be a so-called Bernoulli suction cup clamp with nozzles that radially eject compressed fluid. Because the Bernoulli suction cup clamp does not generate a swirling force, it can prevent the workpiece from rotating when holding it.

[0110] (Note 7)

[0111] The suction cup clamp described in any of Appendices 1 to 6 may also have three or more circumferentially spaced slits. This suction cup clamp can peel the top sheet-like workpiece from the second layer of sheet-like workpieces by deforming the top sheet-like workpiece, and can hold and transport the sheet-like workpieces one by one.

[0112] (Postscript 8)

[0113] As described in any of Appendix 1 to 7, the suction cup may be formed as a cone with an inner diameter that increases as it approaches the clamp surface. This suction cup clamp can generate a higher suction force.

[0114] (Note 9)

[0115] As described in any of the appendices 1 to 8, the suction cup of the suction cup, when viewed from the axial direction, may be circular, elliptical, oblong, triangular, or polygonal. This suction cup clamp is also capable of holding and transporting sheet-like workpieces one by one.

[0116] (Postscript 10)

[0117] As described in any of the appendices 1 to 9, the cutout portion of the suction cup clamp, when viewed from the side, may be circular, oblong, triangular, or polygonal. This suction cup clamp is also capable of holding and transporting sheet-like workpieces one by one.

[0118] (Postscript 11)

[0119] As described in any of Appendix 1 to 10, the suction cup of the suction cup may also be formed of a flexible material. This suction cup clamp allows for easy attachment and removal of the suction cup.

[0120] (Postscript 12)

[0121] As described in any of Notes 1 to 11, the suction cup of the suction cup may be mounted so as to be detachable from the main body of the clamp. This suction cup clamp makes it easy to keep the suction cup in contact with the workpiece clean.

[0122] (Postscript 13)

[0123] The suction cup clamp described in any of Appendices 1 to 12 may also include an anti-detachment mechanism that prevents the suction cup from detaching from the clamp body. This suction cup clamp prevents foreign matter from entering the product by suppressing suction cup detachment.

[0124] (Postscript 14)

[0125] As described in any of Appendix 1 to 13, the suction cup may be integrally formed with the fixture body. This suction cup fixture can reduce the number of parts.

[0126] Furthermore, the present invention is not limited to the above disclosure, and various structures can be adopted without departing from the spirit of the present invention.

Claims

1. A suction cup clamp (10, 10A, 10B), wherein the suction cup clamp adsorbs workpieces (54, 56, 58) by negative pressure, characterized in that, have: A cylindrical suction cup (14, 14A) for adsorbing the workpiece; and The clamp body (12, 12B) is used to mount the suction cup. By spraying compressed fluid along the inner circumferential surface (46a) of the suction cup, a negative pressure is generated inside the suction cup. The suction cup has at least one cutout (50, 60, 62, 64, 66) on the clamping surface (48) facing the workpiece, which cuts the suction cup.

2. The suction cup clamp as described in claim 1, characterized in that, The circumferential dimension of the cut is greater than the dimension in the adsorption direction.

3. The suction cup clamp as described in claim 1, characterized in that, A pair of cuts are provided circumferentially at a distance of 180°.

4. The suction cup clamp as described in claim 1, characterized in that, When the workpiece is adsorbed, at least a portion of the compressed fluid is discharged through the cut portion.

5. The suction cup clamp as described in claim 1, characterized in that, The suction cup has a protrusion (68) that protrudes from the inner circumferential surface of the suction cup and contacts the workpiece at a position where it can contact the workpiece.

6. The suction cup clamp as described in claim 1, characterized in that, The clamp body has a nozzle (38) on the inner wall of the suction cup that opens in the direction of generating a swirling flow of the compressed fluid.

7. The suction cup clamp as described in claim 1, characterized in that, The cut portions are provided at three or more equal intervals along the circumference.

8. The suction cup clamp as described in claim 1, characterized in that, The suction cup is formed as a cone with an inner diameter that increases as it approaches the clamp surface.

9. The suction cup clamp as described in claim 1, characterized in that, Viewed from the axial direction, the suction cup is circular, elliptical, oblong, triangular, or polygonal.

10. The suction cup clamp as described in any one of claims 1 to 9, characterized in that, When viewed from the side, the cut is circular, oblong, triangular, or polygonal.

11. The suction cup clamp as described in any one of claims 1 to 9, characterized in that, The suction cup is formed of a flexible material.

12. The suction cup clamp as described in any one of claims 1 to 9, characterized in that, The suction cup is mounted so as to be able to be loaded and unloaded relative to the clamp body.

13. The suction cup clamp as described in any one of claims 1 to 9, characterized in that, It has an anti-detachment mechanism (75) that prevents the suction cup from detaching from the clamp body.

14. The suction cup clamp as described in any one of claims 1 to 9, characterized in that, The suction cup is integrally formed with the main body of the clamp.

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