Adsorption pad and workpiece transfer device

Abstract

To provide an adsorption pad and a workpiece transfer device that do not require the supply of air or negative pressure.SOLUTION: An adsorption pad 20 includes: a pad part 21 which is formed in a bellows shape with both ends open, in which a first end 21a of the two ends is elastically deformed by being pressed against a workpiece W; a body part 22 to which the pad part 21 is attached such that a second end 21b of the two ends of the pad part 21 is closed; and an electromagnetic valve 23 which is attached to the body part 22 so as to be connected to air passages 25, 25a being the air passages 25, 25a provided inside the body part 22 and communicating with the interior of the pad part 21. When being in a closed state, the electromagnetic valve 23 blocks the passage of air between the interior and exterior of the pad part 21 through the air passages 25, 25a. When being in an open state, the electromagnetic valve allows the passage of air between the interior and exterior of the pad part 21 through the air passages 25, 25a.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a suction pad used in a work transfer device and a work transfer device.

Background Art

[0002] Conventionally, by using a work transfer device, automation of work transfer has been implemented. As a robot hand used for such automation of work transfer operations, for example, suction pads described in Patent Document 1 and Patent Document 2 are known.

[0003] The work transfer devices described in these patent documents adsorb and lift a work with a suction pad by supplying negative pressure through an air pipe after bringing the suction pad into contact with the work, and carry the work in the lifted state.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, when adsorbing a work using negative pressure, there is a problem that it is necessary to provide devices and equipment for generating a vacuum, such as a vacuum pump or an ejector, and attention must also be paid to the handling of the air pipes.

[0006] The present invention has been made in view of the above problems, and an object thereof is to provide a suction pad and a work transfer device that do not require the supply of air or negative pressure.

Means for Solving the Problems

[0007] A first means for solving the above problems is a suction pad used in a work transfer device that transfers the work while sucking the work. The suction pad is formed in a cylindrical shape with both ends open, and has a pad portion that elastically deforms when the first end side of the two ends is pressed against the work, and a body portion to which the pad portion is attached so that the second end side of the two ends of the pad portion is blocked, and a solenoid valve attached to the body portion so as to be connected to an air passage provided inside the body portion and communicating with the inside of the pad portion. The solenoid valve blocks the passage of air between the inside and the outside of the pad portion through the air passage when in a closed state, and permits the passage of air between the inside and the outside of the pad portion through the air passage when in an open state.

[0008] With the above configuration, the solenoid valve can switch the passage and blockage of air between the inside and the outside of the pad portion. As a result, even without supplying compressed air or negative pressure, by controlling the solenoid valve, it becomes possible to control the air pressure inside the pad portion and thus control the suction and release of the work.

[0009] A second means for solving the above problems is a work transfer device that transfers the work while adsorbing the work, including an adsorption pad that adsorbs the work, a transfer mechanism that moves the adsorption pad, and a control device that controls the adsorption of the work by the adsorption pad and the movement of the adsorption pad by the transfer mechanism. The adsorption pad is formed in a cylindrical shape with both ends open, and includes a pad portion that is elastically deformed when the first end side of the two ends is pressed against the work, a main body portion to which the pad portion is attached such that the second end side of the two ends of the pad portion is blocked, and a solenoid valve attached to the main body portion and connected to an air passage provided inside the main body portion and communicating with the inside of the pad portion. The solenoid valve blocks the passage of air between the inside and the outside of the pad portion through the air passage when in the closed state, and permits the passage of air between the inside and the outside of the pad portion through the air passage when in the open state. The solenoid valve is a normally closed solenoid valve that is in the closed state when de-energized and in the open state when energized. When the control device moves the adsorption pad by the transfer mechanism and presses the pad portion against the work, it controls the energization of the solenoid valve to be in the open state, and after pressing the pad portion against the work, cuts off the energization of the solenoid valve to be in the closed state, and moves the adsorption pad in that state to adsorb the work to the adsorption pad.

[0010] With the above configuration, the control device can switch the passage and blockage of air between the inside and the outside of the pad portion with the solenoid valve, and can move the adsorption pad by the transfer mechanism to press against and move away from the work. Thereby, without supplying compressed air or negative pressure, by controlling the solenoid valve and the transfer mechanism, the control device can control the air pressure inside the pad portion to control the adsorption and release of the work.

[0011] Also, when adsorbing the work, since it only needs to be energized to be in the open state, power consumption can be suppressed.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

MODE FOR CARRYING OUT THE INVENTION

[0013] Hereinafter, embodiments embodying the "suction pad" and "work transfer device" according to the present disclosure will be described with reference to the drawings. In the following embodiments and modifications, parts that are identical or equivalent to each other are denoted by the same reference numerals in the drawings, and the description of the parts with the same reference numerals is incorporated herein. Further, in the description of the embodiments and modifications, not only the combinations of the explicitly shown configurations, but also the embodiments and modifications can be combined with each other as long as there is no problem in the combination.

[0014] FIG. 1 shows a rectangular robot 10 as a work transfer device. The rectangular robot 10 is a take-out device that takes out molded products and runners from a mold. Note that the rectangular robot 10 may be a device that sequentially conveys the work W from a supply location and aligns and stacks it at a predetermined position, for example, a device that performs palletizing or depalletizing. The rectangular robot 10 is also called a gantry robot or a gantry loader.

[0015] As shown in FIG. 1, the rectangular robot 10 includes a suction pad 20 that sucks the work W, and a transfer mechanism 30 that moves or rotates the suction pad 20. Further, as shown in FIGS. 1 and 2, the rectangular robot 10 includes a control device 100 that controls the operations of the suction pad 20 and the transfer mechanism 30, an information terminal 110 capable of inputting and outputting various information, and the like.

[0016] As shown in FIG. 1, the transfer mechanism 30 includes a slide drive unit 40 that slides the suction pad 20 and a rotation drive unit 50 that rotates the suction pad 20, and the arm portion of the orthogonal robot 10 is configured by the transfer mechanism 30.

[0017] The slide drive unit 40 has an X-axis guide rail 41 supported by a pedestal 11 erected on the installation surface and a traveling body 42 that travels along the X-axis guide rail 41. The X-axis guide rail 41 is formed to extend straight along a predetermined direction so as to be parallel to the installation surface. Hereinafter, the direction in which the X-axis guide rail 41 extends is referred to as the X-axis direction. The traveling body 42 is fixedly arranged so as to be movable along the X-axis guide rail 41. The traveling body 42 is drivingly connected to the output shaft of an X-axis servo motor built in a drive unit 43 provided side by side with the X-axis guide rail 41 via a toothed belt or the like. That is, the traveling body 42 is configured to reciprocate in the X-axis direction along the X-axis guide rail 41 based on the driving force of the X-axis servo motor.

[0018] The traveling body 42 has a Y-axis guide rail 44 extending in the Y-axis direction and a vertical movement mechanism 45 that travels along the Y-axis guide rail 44. The Y-axis direction is a direction orthogonal to the X-axis direction and parallel to the installation surface. The vertical movement mechanism 45 is fixedly arranged so as to be movable along the Y-axis guide rail 44. The vertical movement mechanism 45 is drivingly connected to the output shaft of a Y-axis servo motor built in the drive unit 43 via a toothed belt or the like. That is, the vertical movement mechanism 45 is configured to reciprocate in the Y-axis direction along the Y-axis guide rail 44 based on the driving force of the Y-axis servo motor.

[0019] The vertical movement mechanism 45 includes a Z-axis guide rail 47 extending along the Z-axis direction, and a connecting mechanism 48 traveling along the Z-axis guide rail 47. The Z-axis direction is a direction orthogonal to the X-axis direction and the Y-axis direction, and is a vertical direction with respect to the installation surface. The connecting mechanism 48 is fixedly mounted so as to be movable along the Z-axis guide rail 47. The connecting mechanism 48 is drivingly connected to the output shaft of a Z-axis servo motor 49 provided side by side with the Z-axis guide rail 47 via a toothed belt or the like. That is, the connecting mechanism 48 is configured to reciprocate in the Z-axis direction along the Z-axis guide rail 47 based on the driving force of the Z-axis servo motor 49.

[0020] A rotary drive unit 50 is fixed to the tip of the connecting mechanism 48. As shown in FIG. 3, a chuck base 51 formed by assembling a plurality of frames is attached to the tip of the rotary drive unit 50. A plurality of suction pads 20 are attached to the chuck base 51. The rotary drive unit 50 can rotate the chuck base 51 together with the suction pads 20 attached to the chuck base 51. In the present embodiment, the rotary drive unit 50 can rotate the chuck base 51 in a direction having the X-axis direction as the axis.

[0021] As described above, the transfer mechanism 30 is configured such that the suction pad 20 can linearly move in two directions (X-axis direction and Y-axis direction) orthogonal to each other in the horizontal direction and in the vertical direction (Z-axis direction). Thereby, the orthogonal robot 10 can move the suction pad 20 fixed to the transfer mechanism 30 to a desired position, and can suck and transfer the workpiece W by the suction pad 20. In the present embodiment, a workpiece W (shown by a broken line in FIG. 3), which is a flat molded product, is assumed.

[0022] Next, the suction pad 20 will be described. As shown in FIG. 4, the suction pad 20 includes an elastically deformable rubber pad portion 21, a main body portion 22 to which the pad portion 21 is attached, a solenoid valve 23 attached to the main body portion 22, and a pneumatic sensor 24 attached to the main body portion 22. FIG. 4 is a cross-sectional view of the suction pad 20.

[0023] The pad portion 21 is made of rubber or the like and is formed in a cylindrical shape with both ends open. In the present embodiment, the pad portion 21 is formed in a multi-stage bellows shape (bellows type), and the first end 21a of the two ends is elastically deformed by being pressed against the work W. As shown in FIG. 4, the first end 21a of the pad portion 21 expands outward so that the contact surface with the work W becomes large during suction. A cylindrical attachment portion 22a provided on the main body portion 22 is fitted into the second end 21b of the pad portion 21 without a gap. Thereby, the pad portion 21 is attached to the main body portion 22. A flange 22b is provided on the outer periphery of the attachment portion 22a, and this flange 22b engages with a groove portion 21c provided on the inner periphery of the second end 21b of the pad portion 21. Thereby, the pad portion 21 is prevented from coming off.

[0024] The main body portion 22 is made of metal or the like, and an air passage 25 is provided inside thereof. An opening 26 provided at one end of the air passage 25 opens inside the pad portion 21 attached to the main body portion 22. That is, the air passage 25 communicates with the inside of the pad portion 21 attached to the main body portion 22. The air passage 25 is formed straight toward the side opposite to the pad portion 21 (along the vertical direction in FIG. 4) so as to pass through the inside of the attachment portion 22a from the opening 26.

[0025] This air passage 25 branches in the middle and is divided into left and right in FIG. 4. In the air passage 25, one of the branched air passages 25a (the left side in FIG. 4) is connected to the solenoid valve 23, and the other (the right side in FIG. 4) air passage 25b is connected to the pneumatic pressure sensor 24. The air passage 25b corresponds to a branch passage. The air passages 25, 25a, and 25b have the same diameter from the inside of the pad portion 21 (that is, the opening 26) to the solenoid valve 23 or the pneumatic pressure sensor 24.

[0026] The solenoid valve 23 is a normally closed solenoid valve 23 that is in a closed state when de-energized and in an open state when energized. This solenoid valve 23 is connected to the control device 100, and the energization and de-energization are switched by the control device 100. That is, it is on-off controlled by the control device 100. When the solenoid valve 23 is in the open state, it permits the passage of air between the inside and the outside of the pad portion 21 through the air passages 25, 25a, and when it is in the closed state, it blocks the passage of air between the inside and the outside of the pad portion 21.

[0027] The pneumatic pressure sensor 24 measures the pneumatic pressure in the air passage 25b and outputs the measurement result to the control device 100. This pneumatic pressure sensor 24 is provided in at least one of the suction pads 20 of the suction pad 20 attached to the chuck base 51. In the present embodiment, it is provided in one suction pad 20.

[0028] When the solenoid valve 23 is in the open state, the above-described pad portion 21 is pressed against the workpiece W and elastically deformed to allow the air inside the pad portion 21 to flow out to the outside through the solenoid valve 23. Then, when the solenoid valve 23 is closed and the pad portion 21 is moved away from the workpiece W as it is, the inside of the pad portion 21 becomes negative pressure and adsorbs the workpiece W.

[0029] Also, when the solenoid valve 23 is in the open state while the pad portion 21 is adsorbing the workpiece W, air flows in from the outside of the pad portion 21 through the air passages 25, 25a, and due to its elastic force, it returns to its original shape, the negative pressure (or vacuum) is eliminated, and the workpiece W is separated.

[0030] Here, a supplementary explanation will be given about the air passages 25, 25a, 25b. The diameters of the air passages 25, 25a, 25b are desirably formed to be the minimum diameter among the diameters that can allow the air inside the pad portion 21 to flow out to the outside during the period from when the pad portion 21 is pressed against the workpiece W until the elastic deformation of the pad portion 21 is completed.

[0031] More specifically, unlike the suction pad 20 to which an air pipe is connected and negative pressure is supplied, the suction pad 20 generates negative pressure and maintains the suction state by deforming the pad portion 21 to allow the internal air to flow out and blocking the air passages 25, 25a, 25b. For this reason, if the volume of the air passages 25, 25a, 25b is large, the negative pressure will be correspondingly reduced. On the other hand, if the diameter of the air passages 25, 25a, 25b is too small, the air inside the pad portion 21 cannot flow out through the air passages 25, 25a, 25b. Instead, the internal pressure (positive pressure) of the pad portion 21 increases, and air may leak between the pad portion 21 and the work W, resulting in the inability to properly adsorb the work W. Therefore, air passages 25, 25a, 25b are provided to ensure an air flow rate that is at least the minimum or close to it required for the air to flow out from the inside of the pad portion 21 to the outside during suction.

[0032] Next, the control configuration of the orthogonal robot 10 will be described with reference to FIG. 2. The control device 100 of the orthogonal robot 10 is an electronic control device equipped with a well-known microcomputer composed of a CPU, ROM, RAM, flash memory, etc. In the present embodiment, as shown in FIG. 1, it is provided along with the X-axis guide rail 41. The control device 100 is configured to be able to control the operations of the slide drive unit 40 and the rotation drive unit 50. Further, the control device 100 is configured to be able to control the operation of the suction pad 20.

[0033] This control device 100 is connected to various sensors including the pneumatic sensor 24 (others are not shown) and the information terminal 110, etc., and is configured to be able to acquire various information. Further, the control device 100 has various functions and executes various functions based on the acquired various information. These functions are realized by executing a program stored in a storage device (storage memory) provided in the control device 100. Note that the various functions may be realized by an electronic circuit which is hardware, or at least a part of them may be realized by software, that is, a process executed on a computer.

[0034] The information terminal 110 is a device for generating a program related to the operation of the orthogonal robot 10 and for performing inputs and operations for starting and starting / stopping the orthogonal robot 10. The information terminal 110 is connected to the control device 100 of the orthogonal robot 10 by wire or wirelessly. The information terminal 110 is provided with a liquid crystal monitor, a touch panel, etc., and is configured to be able to execute various inputs and operations while viewing the monitor.

[0035] Next, the conveyance process of the workpiece W will be described with reference to FIG. 5. The conveyance process is executed by the control device 100 according to an instruction from the information terminal 110 or the like.

[0036] When starting to execute the conveyance process, the control device 100 moves the suction pad 20 to a position facing the workpiece W to be conveyed (step S101). For example, when the orthogonal robot 10 is a take-out machine that takes out the workpiece W, which is a molded product, from the mold, the suction pad 20 is inserted inside the open mold, and the suction pad 20 is moved by the conveyance mechanism 30 so as to face the workpiece W.

[0037] Next, the control device 100 performs energization control on the solenoid valve 23 to open it (step S102). When the solenoid valve 23 is in the open state, the conveyance mechanism 30 moves the suction pad 20 toward the workpiece W and presses the pad portion 21 against the workpiece W (step S103). When the suction pad 20 is pressed against the workpiece W while the solenoid valve 23 is in the open state, the pad portion 21 is elastically deformed, and the air inside the pad portion 21 flows out to the outside through the air passages 25, 25a and the solenoid valve 23.

[0038] After pressing the workpiece W, the control device 100 cuts off the energization to the solenoid valve 23 so as to be in the closed state (step S104), and in that state, moves the suction pad 20 away from the workpiece W (step S105). When the solenoid valve 23 is in the closed state and the suction pad 20 is moved away from the workpiece W, the inside of the pad portion 21 becomes negative pressure and sucks the workpiece W.

[0039] Next, the control device 100 determines whether or not the workpiece W has been adsorbed based on the air pressure measured by the air pressure sensor 24 (step S106). If this determination result is negative, the control device 100 performs error processing assuming that adsorption was not possible (step S107) and ends the transfer process. Note that the error processing is, for example, processing for notifying an error message or the like.

[0040] If the determination result in step S106 is affirmative (when adsorbed), the control device 100 moves the suction pad 20 to a predetermined discharge position in a state where the workpiece W is adsorbed by the transfer mechanism 30 (step S108). At this time, the control device 100 turns off the power supply to the solenoid valve 23 and maintains the solenoid valve 23 in a closed state.

[0041] After moving to the predetermined discharge position, the control device 100 performs energization control on the solenoid valve 23 so as to be in an open state (step S109). When the solenoid valve 23 is opened, air flows into the inside of the pad portion 21 from the outside of the pad portion 21 through the solenoid valve 23 and the air passages 25, 25a. When the air flows in, the pad portion 21 returns to its original shape by its elastic force, the negative pressure is eliminated, and the workpiece W separates. Thereby, the transfer process ends.

[0042] Note that during the process of step S108, that is, while the workpiece W is being transported to the discharge position, if it is determined that the workpiece W has separated due to air pressure (that is, adsorption has been released), the subsequent processing may be interrupted and error processing may be performed. Also, after the processing of step S109, that is, when releasing the adsorption of the workpiece W, the control device 100 may determine whether or not the adsorption of the workpiece W has been normally released based on the air pressure measured by the air pressure sensor 24. If this determination result is affirmative, the transfer process ends, and if it is negative (that is, if it remains adsorbed), error processing may be executed.

[0043] According to the suction pad 20 of the above embodiment, the following effects are obtained.

[0044] According to the above-described suction pad 20, the electromagnetic valve 23 can switch the passage and blockage of air between the inside and outside of the pad portion 21. Thereby, even without connecting an air pipe and supplying air or negative pressure, by controlling the electromagnetic valve 23, it is possible to control the air pressure inside the pad portion 21 and control the suction and release of the suction of the work W.

[0045] When the electromagnetic valve 23 is in the open state, the pad portion 21 is elastically deformed by being pressed against the work W, and the air inside the pad portion 21 flows out to the outside through the electromagnetic valve 23. Then, when the electromagnetic valve 23 is closed and the pad portion 21 is moved away from the work W as it is, the inside of the pad portion 21 becomes a negative pressure and sucks the work W. Thereby, when the pad portion 21 is pressed against the work W, the air inside can smoothly flow out to the outside, and the pad portion 21 can be smoothly elastically deformed. Further, after the air inside has flowed out, by closing the electromagnetic valve 23 and moving away from the work W as it is, the inside of the pad portion 21 can be made into a negative pressure to suck the work W. Note that by keeping the electromagnetic valve 23 closed, the negative pressure can be maintained and the suction force of the pad portion 21 can be maintained. As described above, the work W can be sucked even without an external device for supplying air or negative pressure.

[0046] When the electromagnetic valve 23 is opened while the pad portion 21 is sucking the work W, air flows in from the outside of the pad portion 21 through the air passages 25, 25a, returns to its original shape, the negative pressure is eliminated, and the work W is separated. In this way, when the electromagnetic valve 23 is opened while the work W is being sucked, the work W can be smoothly separated by using the restoring force based on the elastic force of the pad portion 21. Thereby, the work W can be smoothly separated without using a vacuum breaker or the like.

[0047] The solenoid valve 23 is a normally-closed solenoid valve 23 that is in a closed state when de-energized and in an open state when energized. As a result, it is only necessary to energize when pressing the pad portion 21 against the workpiece W and when separating the workpiece W (when releasing the adsorption), and no power is consumed when the workpiece W is adsorbed. Therefore, power consumption can be suppressed.

[0048] When the orthogonal robot 10 is adopted as a take-out device for taking out the workpiece W, which is a molded product, from the mold, if the workpiece W is left remaining inside the mold, the mold may be damaged. Therefore, it is necessary to be able to surely determine whether or not the workpiece W is adsorbed. Thus, a pneumatic pressure sensor 24 is connected to the air passage 25b, which is a branch passage, and the control device 100 determines whether or not the workpiece W is normally adsorbed based on the measurement result of the pneumatic pressure sensor 24. As a result, it is possible to determine whether or not the workpiece W is normally adsorbed.

[0049] Unlike the adsorption pad to which an air pipe is connected and air or negative pressure is supplied, the adsorption pad 20 of the present embodiment maintains negative pressure by deforming the pad portion 21 and closing the air passages 25, 25a, and 25b with the solenoid valve 23. For this reason, if the volume of the air passages 25, 25a, and 25b in the main body portion 22 is large, the negative pressure will decrease accordingly. Therefore, the diameters of the air passages 25, 25a, and 25b from the inside of the pad portion 21 to the solenoid valve 23 are made the same diameter so that air does not accumulate. That is, if the diameters of the air passages 25, 25a, and 25b in the middle of the main body portion 22 are increased, air will accumulate there uselessly, but since such a configuration is not adopted, air does not accumulate. Therefore, the negative pressure can be increased.

[0050] In addition, if the diameters of the air passages 25, 25a, and 25b are too small, the air inside the pad portion 21 cannot flow out sufficiently through the air passages 25, 25a, and 25b, and instead, the internal pressure may increase (become positive pressure). In this case, air may leak from between the pad portion 21 and the work W, and it may not be possible to properly adsorb the work W. Therefore, the air passages 25, 25a, and 25b of the present embodiment are formed with the minimum diameter among the diameters that can allow the air inside the pad portion 21 to flow out to the outside between when the pad portion 21 is pressed against the work W and when the elastic deformation of the pad portion 21 is completed. Thereby, reliable adsorption can be achieved.

[0051] The pad portion 21 is formed in a multi-stage bellows shape. Thereby, even if the diameter of the first end 21a (opening portion) of the pad portion 21 is not increased, the internal volume of the pad portion 21 can be increased to increase the negative pressure. Further, by forming it in a bellows shape, when the main body portion 22 moves away from the work W, the pad portion 21 extends, so that the internal negative pressure can be increased and the adsorption force can be improved.

[0052] (Modification example) A part of the configuration of the suction pad 20 in the above embodiment may be changed. Hereinafter, a modification example in which a part of the configuration is changed will be described.

[0053] · In the above embodiment, the rotational drive unit 50 may not be provided. That is, it may not be necessary to perform attitude control such as rotation of the suction pad 20. On the other hand, when the rotational drive unit 50 is provided, the direction and number of the rotation axes of the suction pad 20 may be arbitrarily changed. Further, the slide axes (X-axis guide rail 41, Y-axis guide rail 44, Z-axis guide rail 47) for sliding movement may be one or more axes, and the number and direction thereof may be arbitrarily changed. Also, the slide axes do not have to be orthogonal.

[0054] · In the above embodiment, the diameters of the air passages 25, 25a, and 25b may be arbitrarily changed as long as the air inside the pad portion 21 can flow out to the outside during the period from when the pad portion 21 is pressed against the work W until the elastic deformation of the pad portion 21 is completed. Also, the diameters of the air passages 25, 25a, and 25b do not have to be the same and may expand in the middle.

[0055] · In the above embodiment, the shape of the pad portion 21 may be arbitrarily changed and does not have to be a bellows shape. For example, it may be a trumpet shape (a shape in which the opening portion expands). Also, the number of stages of the bellows shape may be arbitrarily changed. Also, the material of the pad portion 21 may be arbitrarily changed as long as it can be elastically deformed.

[0056] · In the above embodiment, the solenoid valve 23 does not have to be a normally closed solenoid valve 23 and may be a normally open solenoid valve 23 that closes when energized. · In the above embodiment, the work transfer device is not limited to the orthogonal robot 10 and may be an articulated robot.

[0057] · In the above embodiment, even if the solenoid valve 23 is in a closed state, if the work W can be adsorbed by pressing the adsorption pad 20 against the work W, the work W may be adsorbed with the solenoid valve 23 kept closed. Thereby, power consumption can be further suppressed.

[0058] · In the above embodiment, the pneumatic sensor 24 may not be provided. In that case, the adsorption of the work W may be determined by a sensor different from the pneumatic sensor 24, for example, an optical sensor or a weight sensor.

Explanation of Reference Numerals

[0059] 10... orthogonal robot, 20... adsorption pad, 21... pad portion, 22... main body portion, 23... solenoid valve, 24... pneumatic sensor, 25, 25a, 25b... air passages, 30... transfer mechanism, 40... slide drive unit, 50... rotation drive unit, 100... control device, W... work.

Claims

1. An adsorption pad used in a work transfer device for transferring a work while adsorbing the work, a pad portion formed in a cylindrical shape with both ends open, and elastically deformed when the first end side of the two ends is pressed against the work; a main body portion to which the pad portion is attached such that the second end side of both ends of the pad portion is blocked; a solenoid valve attached to the main body portion so as to be connected to an air passage provided inside the main body portion and communicating with the inside of the pad portion; The solenoid valve blocks the passage of air between the inside and the outside of the pad portion through the air passage when in the closed state, and permits the passage of air between the inside and the outside of the pad portion through the air passage when in the open state. Adsorption pad.

2. When the solenoid valve is in the open state, the pad portion is elastically deformed by being pressed against the work, and the air inside the pad portion flows out to the outside through the solenoid valve. Then, when the solenoid valve is closed and moved away from the work as it is, the inside of the pad portion becomes negative pressure and adsorbs the work. The adsorption pad according to claim 1.

3. When the solenoid valve is in the open state while the pad portion is adsorbing the work, air flows in from the outside of the pad portion through the air passage, returns to its original shape, the negative pressure is eliminated, and the work is separated. The adsorption pad according to claim 1.

4. The solenoid valve is a normally closed solenoid valve that is in the closed state when de-energized and in the open state when energized. The adsorption pad according to any one of claims 1 to 3.

5. The air passage branches in the middle, and the branch passage is connected to a pneumatic pressure sensor for measuring pneumatic pressure. The adsorption pad according to any one of claims 1 to 3.

6. The air passage has the same diameter from the inside of the pad portion to the solenoid valve. The adsorption pad according to any one of claims 1 to 3.

7. In a work transfer device for transferring a work while adsorbing the work, an adsorption pad for adsorbing the work; a transfer mechanism for moving the adsorption pad; a control device for controlling the adsorption of the work by the adsorption pad and the movement of the adsorption pad by the transfer mechanism; and The adsorption pad is A pad portion formed in a cylindrical shape with both ends open, and elastically deformed when the first end side of the two ends is pressed against the workpiece. A main body portion to which the pad portion is attached so that the second end side of both ends of the pad portion is blocked. A solenoid valve attached to the main body portion so as to be connected to an air passage provided inside the main body portion and communicating with the inside of the pad portion. When the solenoid valve is in the closed state, it blocks the passage of air between the inside and the outside of the pad portion through the air passage, and when it is in the open state, it permits the passage of air between the inside and the outside of the pad portion through the air passage. The solenoid valve is a normally closed solenoid valve that is in the closed state when de-energized and in the open state when energized. The control device When the suction pad is moved by the transport mechanism and the pad portion is pressed against the workpiece, energization control is performed on the solenoid valve so that it is in the open state. After the pad portion is pressed against the workpiece, the energization of the solenoid valve is cut off so that it is in the closed state, and the workpiece is adsorbed to the suction pad by moving the suction pad in that state. A workpiece transfer device.

8. The control device performs energization control on the solenoid valve so that it is in the open state when separating the workpiece from the pad portion in a state where the workpiece is adsorbed to the suction pad. The workpiece transfer device according to Claim 7.

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