suction cup

Abstract

To provide a sucker that is easily changed over between positive pressure and negative pressure with a single drive source.SOLUTION: A sucker 1 comprises an injection port 16, an exhaust port 11 and a suction port 13 which are opened to the outside, and the suction port 13 is provided on a top surface of a plate-like member. The plate-like member internally comprises: a main flow passage guiding a gas injected from the injection port 16 to the exhaust port 11, a stop part 12 where the main flow passage 14 becomes thinner in part, and a brach flow passage 17 which branches off from in the flow passage guided from the stop part 12 to the exhaust port 11 in the main flow passage 14 to be connected to the suction port 13. A valve 20 which blocks the main flow passage 14 is provided at a downstream place closer to the exhaust port 11 than the branch point to the branch flow passage 17 in the main flow passage 14, and the valve 20 is closed when pressure with which the gas injected from the injection port 16 presses the valve 20 is equal to or larger than a predetermined value.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a suction cup. [Background technology]

[0002] Suction cups for use in robots and the like have been proposed. Non Patent Document 1 discloses a suction cup used in a wall-climbing robot. [Prior art documents] [Non-patent literature]

[0003] [Non-Patent Document 1] Masahiro Fujita, Suguru Ikeda, Toshiaki Fujimoto, Toshihiko Shimizu, Shuhei Ikemoto & Takeshi Miyamoto (2018) Development of universal vacuum gripper for wall-climbing robot, Advanced Robotics Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-mentioned conventional technology has a problem in that it is difficult to switch between positive pressure and negative pressure using a single drive source.

[0005] Therefore, the present invention provides a suction cup that can easily switch between positive pressure and negative pressure using a single drive source. [Means for solving the problem]

[0006] A suction cup according to one aspect of the present invention comprises a plate-like member having an inlet, an outlet, and a suction port that are open to the outside world, and the inside of the plate-like member is equipped with a main flow path that guides gas injected from the inlet to the outlet, a throttle section in which the main flow path becomes partially narrower, and a branch flow path that branches off from the flow path in the main flow path that leads from the throttle section to the outlet and is connected to the suction port, and a valve that closes the main flow path is provided in a downstream position in the main flow path that is closer to the outlet than the branch point to the branch flow path, and the valve is in an open state when the pressure exerted by the gas injected from the inlet on the valve is equal to or greater than a predetermined value. [Effects of the Invention]

[0007] A suction cup according to one aspect of the present invention can easily switch between positive pressure and negative pressure using a single drive source. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a cutaway cross-sectional view showing the structure of a suction cup according to an embodiment. [Figure 2A] FIG. 2A is a top view showing a conforming mechanism of a suction cup according to an embodiment. [Figure 2B] FIG. 2B is a top view showing the throttle portion and the nozzle of the suction cup according to the embodiment. [Figure 3] FIG. 3 is another cutaway cross-sectional view showing the structure of the suction cup in the embodiment. [Figure 4] FIG. 4 is a diagram showing the suction and release of air by the suction cup in the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] (Embodiment) In this embodiment, a suction cup that can easily switch between positive and negative pressure using a single drive source will be described. Note that each of the embodiments described below represents a specific example of the present invention. Therefore, the numerical values, shapes, materials, components, component arrangements, and connection forms shown in the following embodiments are merely examples and are not intended to limit the present invention. Therefore, among the components in the following embodiments, components that are not recited in the independent claims will be described as optional components.

[0010] Furthermore, each figure is a schematic diagram and is not necessarily an exact illustration. Therefore, for example, the scales of the figures do not necessarily match. Furthermore, in each figure, substantially the same components are given the same reference numerals, and redundant explanations are omitted or simplified.

[0011] Furthermore, in this specification, terms indicating the relationship between elements, such as parallel or perpendicular, terms indicating the shape of elements, such as rectangle or straight line, and numerical ranges are not expressions that only express a strict meaning, but are expressions that also include a substantially equivalent range, for example, a difference of about a few percent.

[0012] Furthermore, in this specification, the terms "upper" and "lower" do not refer to the upper direction (vertically upward) and lower direction (vertically downward) in absolute spatial recognition, but are used as terms defined by a relative positional relationship based on the stacking order in the stacked structure.

[0013] [composition] Figure 1 is a cutaway cross-sectional view showing the structure of a suction cup according to an embodiment. First, this suction cup structure, consisting of an upper platen 40 and a lower platen 50, is referred to as suction cup 1. Upper platen 40 has an injection port 16, a flow path 10, a conforming mechanism 30, and a suction port 13. Lower platen 50 has a flow path 14 (not shown) connected to upper platen 40, a throttle section 12, a valve 20, and an ejection port 11. Flow path 14 is a specific example of a main flow path.

[0014] The upper panel 40 is a square plate measuring 50 mm on each side. The upper panel 40 is made of resin, metal, silicone, or the like. The upper panel 40 is placed on the lower panel 50 in a direction perpendicular to the extension of the plate-like shape of the lower panel 50.

[0015] The lower panel 50 is a plate in the shape of a square, 50 mm square. The lower panel 50 is formed from resin, metal, silicone, or the like. The suction cup 1 may include only the lower panel 50 and not the upper panel 40. When the suction cup 1 does not include the upper panel 40, an injection port 16 is provided at the end of the flow path 14 of the lower panel 50. The lower panel 50 is a specific example of a plate-like member. Alternatively, the upper panel 40 and the lower panel 50 may be formed as a single component by integral molding.

[0016] The upper and lower plate portions 40 and 50 are made of silicone or the like, which allows for softness of the suction cup 1. Furthermore, the upper and lower plate portions 40 and 50 are made of silicone or the like, which reduces resistance when they come into contact with the human body.

[0017] The flow path 10 is a groove provided in the upper plate portion 40. An inlet 16 through which air is injected is provided at the end of the flow path 10. The flow path 10 is provided as a recess in the center of the side of the upper plate portion 40, and extends in a straight line toward the center of the upper plate portion 40. The flow path 10 is connected to the running-in mechanism 30 and also to the flow path 14.

[0018] The conforming mechanism 30 is a circular groove provided in the center of the upper plate portion 40. The circular groove is connected to the flow path 10, and air injected from the end of the flow path 10 flows into the circular groove that constitutes the conforming mechanism 30. A thin film made of silicone or the like is formed to cover the conforming mechanism 30, causing the thin film of the conforming mechanism 30 to expand and conform to the uneven shape of the contact area, allowing suction to be performed.

[0019] Suction port 13 is a circular through-hole provided in the center of upper plate 40. Suction port 13 is provided on the upper surface of upper plate 40. If suction cup 1 does not include upper plate 40, suction port 13 is provided on the upper surface of the plate-like member that is lower plate 50. Air outside suction cup 1 is sucked into suction cup 1 from suction port 13. Alternatively, air inside suction cup 1 is released to the outside from suction port 13. Suction port 13 may extend in a direction perpendicular to the extension direction of the plate-like shape of lower plate 50, forming a branch flow path 17 that connects to flow path 14.

[0020] The throttle section 12 is a flow path that is narrower than the flow path 14. The pressure of the air that has passed through the flow path 14 is increased in the throttle section 12. The throttle section 12 may be composed of a groove that connects to the flow path 14 and a vertical wall that surrounds the top and sides of the groove. Alternatively, the throttle section 12 may be realized as a passage formed by a wall and a ceiling provided on the top of the lower panel 50 in a direction perpendicular to the extension direction of the plate-like shape of the lower panel 50, without having a groove.

[0021] The valve 20 is made of an elastic material. The valve 20 may be made of, for example, silicone, rubber, or thin metal. The valve 20 may have a rectangular shape. The valve 20 is provided between the throttle portion 12 and the nozzle 11. The width of the valve 20 substantially matches the width of the nozzle 11 at the position where the valve 20 is provided.

[0022] Valve 20 is installed so as to generate a force that opposes the direction in which air flows from flow path 14 toward outlet 11. Valve 20 is provided in flow path 14 at a downstream location closer to outlet 11 than the branch point to branch flow path 17. Valve 20 opens when the pressure exerted by the gas injected from inlet 16 on valve 20 is equal to or greater than a predetermined value.

[0023] [structure] FIG. 2A is a top view showing the conforming mechanism 30 of the suction cup 1 according to the embodiment. As described above, the conforming mechanism 30 is a circular groove provided in the center of the upper plate 40. The suction cup 1 has the conforming mechanism 30, which is a circular groove provided in the upper plate 40 on the side opposite the flow path 14 as viewed from the suction port 13, and which is connected to the flow path 14. A thin film is provided on the upper part of the conforming mechanism 30 in a direction perpendicular to the extension direction of the plate-like shape of the lower plate 50 to conform to the irregularities of the contact area. Furthermore, folds may be provided on the upper part of the thin film to expand the suction area. The folds cover the outside of the suction port 13. The folds may be a circular or rectangular silicone membrane, and preferably have a circular or rectangular hole in the center for providing a suction port.

[0024] 2A, for example, the outer diameter of the suction port may be 12 mm, and the outer diameter of the groove of the conforming mechanism 30 may be 20 mm. Also, the width of the flow path 10 may be 2 mm, and the width of the groove of the conforming mechanism 30 may be 2 mm. Also, the width of the throttle portion 12 may be 4 mm.

[0025] The groove depth of the conforming mechanism 30 may be 1 mm.

[0026] 2B is a top view showing the throttle portion 12 and the nozzle 11 of the suction cup in the embodiment. As described above, the throttle portion 12 is a flow path that is narrower than the flow path 14. The throttle portion 12 is connected to the flow path 14 that is connected to the flow path 10. The connection point between the flow path 14 and the throttle portion 12 is narrower than the width of the flow path 14.

[0027] The throttle section 12 may have a groove that extends in the direction in which the flow path 14 extends, in a plan view, in the opposite direction to the flow path 14 as seen from the throttle section 12. The width of the groove may be the same as or narrower than the width of the flow path 14.

[0028] Furthermore, the throttle section 12 may have rectangular spaces 15 on both sides of the groove connected to the flow path 14, which connect to the flow path in the center of the throttle section 12. Furthermore, walls may be provided on the top and sides of the rectangular space 15.

[0029] The constricted portion 12 is connected to the outlet 11. The outlet 11 may be a fan-shaped groove with the point where it is connected to the constricted portion 12 as its apex. Alternatively, the outlet 11 may be a space formed by a wall and a ceiling that form a fan-shaped outline with the point where it is connected to the constricted portion 12 as its apex. The interior angle of the fan formed by the outlet 11 may be, for example, 60 degrees.

[0030] A valve 20 is provided at the connection point between the throttle portion 12 and the nozzle 11. The valve 20 may be installed inside the nozzle 11, near the connection point of the nozzle 11 with the throttle portion 12. The height of the valve 20 is the same as the depth of the nozzle 11, and the width of the valve 20 is the same as the width of the nozzle 11 at the position where the valve 20 is installed. Alternatively, the height of the valve 20 may be about 1 mm lower than the depth of the nozzle 11.

[0031] The valve 20 has a structure in which a partial cutout is formed in the space of the nozzle 11 by elastic deformation. The valve 20 may substantially completely block the space of the flow path formed by the nozzle 11 at the position where the valve 20 is installed. The shape of the valve 20 is not limited to the above. For example, the valve 20 may be columnar in shape with an opening provided in the center that opens to the left and right by air pressure.

[0032] The width of flow path 14 may be 2 mm, and the length of flow path 14 may be 10 mm. The size of the throttle opening of throttle section 12 may be 2 mm x 0.4 mm. The size of space 15 may be 3 mm x 12 mm. The width of the connection between space 15 and throttle section 12 may be 1 mm. The length from the connection between nozzle 11 and throttle section 12 to the outlet of nozzle 11 may be 19 mm. The length from the connection between nozzle 11 and throttle section 12 to valve 20 may be 5 mm.

[0033] 3 is another cutaway cross-sectional view showing the structure of the suction cup 1 in the embodiment. Air injected from the inlet 16 passes through the flow path 10 and flows into the flow path 14 (not shown) of the lower panel 50. A portion of the air injected from the inlet 16 also flows into the running-in mechanism 30. The running-in mechanism 30 is composed of a groove formed by the inner wall 31 and the outer wall 32 surrounding the groove, and a thin film covering the upper part of the groove.

[0034] The air that flows into the flow path 14 flows into the throttle section 12. When the pressure with which the gas injected from the inlet 16 pushes the valve 20 is equal to or less than a predetermined value, substantially all of the air that flows into the throttle section 12 flows into the space 15 and is released from the suction port 13.

[0035] Furthermore, when the pressure of the gas injected from the injection port 16 pushing the valve 20 is equal to or greater than a predetermined value, the outside air is sucked into the space 15 through the suction port 13 .

[0036] When the pressure of the gas injected from the inlet 16 pushing on the valve 20 is below a predetermined value, the valve 20 does not tilt from its installed position, and the opening in the space of the outlet 11 formed by the elastic deformation of the valve 20 becomes relatively narrower compared to when the valve 20 tilts further from its installed position.

[0037] When the pressure of the gas injected from the inlet 16 pushing on the valve 20 is equal to or greater than a predetermined value, the valve 20 tilts further from its installed position, and the gap in the flow path formed by the valve 20 and the outlet 11 becomes relatively wider compared to when the valve 20 is not tilted from its installed position.

[0038] For example, the thickness of the upper platen 40 may be 2 mm, and the thickness of the lower platen 50 may be 3 mm. In this case, the height of the valve 20 provided at the nozzle 11 of the lower platen 50 may be 2 mm. This allows the suction cup 1 to be thin.

[0039] [Suction and Discharge] 4A and 4B are diagrams showing the suction and release of air by the suction cup 1 in this embodiment. Fig. 4A shows the case where the suction cup 1 is sucking an object. First, compressed air at a pressure equal to or higher than a predetermined pressure is injected through the injection port 16. Then, the air that has flowed into the flow path 10 from the injection port 16 flows into the flow path 14 of the lower panel portion 50.

[0040] Next, the air that has flowed into flow path 14 flows into throttle section 12. The air that has flowed into throttle section 12 flows into outlet 11. At this time, valve 20 provided at outlet 11 is opened. In other words, the air that has flowed into throttle section 12 passes through valve 20. As a result, not only is the air that has been injected from injection port 16 ejected from outlet 11, but the flow rate increases at throttle section 12, and the air pressure decreases, generating negative pressure, so that air outside suction cup 1 is sucked into suction cup 1 through suction port 13.

[0041] Air sucked in through suction port 13 passes through space 15 and flows into throttled portion 12. Then, the air sucked in through suction port 13 is ejected to the outside of the suction cup through ejection port 11. This allows suction cup 1 to suck in an object when high-pressure compressed air is injected through injection port 16.

[0042] 4(b) shows the case where the suction cup 1 releases the target object. First, compressed air at a pressure equal to or lower than a predetermined pressure is injected through the injection port 16. Then, the air that has flowed into the flow path 10 from the injection port 16 flows into the flow path 14.

[0043] Next, the air that has flowed into the flow path 14 flows into the throttle portion 12. The air that has flowed into the throttle portion 12 flows into the outlet 11. At this time, since the valve 20 provided at the outlet 11 is not opened, the air that has flowed into the throttle portion 12 is substantially target In other words, the air that has flowed into the throttle portion 12 does not pass through the valve 20. As a result, the air that has been injected from the injection port 16 is ejected from the suction port 13.

[0044] The air that flows back from valve 20 passes through space 15 and flows into suction port 13. The air that flows into suction port 13 is then ejected directly from suction port 13 to the outside of the suction cup. This allows suction cup 1 to release the target object when low-pressure compressed air is injected through injection port 16.

[0045] [Effects, etc.] In one embodiment of the present disclosure, the suction cup 1 comprises a plate-like member having an inlet 16 open to the outside, an outlet 11, and a suction port 13, the suction port 13 being provided on the upper surface of the plate-like member, and the inside of the plate-like member is provided with a main flow path that guides gas injected from the inlet 16 to the outlet 11, a constriction section 12 where the flow path of the main flow path 14 becomes narrower in part, and a branch flow path 17 that branches off from the flow path in the main flow path 14 that leads from the constriction section 12 to the outlet 11 and is connected to the suction port 13, and a valve 20 that closes the main flow path 14 is provided downstream of the branching point of the branch flow path 17 and closer to the outlet 11, and the valve 20 is in an open state when the pressure of the gas injected from the inlet 16 pushing on the valve 20 is equal to or greater than a predetermined value.

[0046] As a result, the suction cup 1 can switch between positive and negative pressure at the suction port 13 by adjusting the opening and closing of the valve 20 by switching between high and low pressures of the air injected into the injection port 16. Therefore, the suction cup 1 can easily switch between positive and negative pressures using a single drive source.

[0047] Furthermore, for example, in the suction cup 1 according to one embodiment of the present disclosure, the valve 20 is made of an elastic body.

[0048] This allows the use of a valve formed by integral molding in the suction cup 1. Therefore, the suction cup 1 can easily switch between positive pressure and negative pressure using a single drive source.

[0049] The suction cup 1 in one embodiment of the present disclosure has, on a plate-like member, a circular groove connected to the flow path 14 and a thin film covering the opening, which is provided on the opposite side of the flow path 14 as viewed from the suction port 13.

[0050] As a result, the suction cup 1 in one embodiment of the present disclosure can minimize air leakage even if the surface of the object to be sucked by the suction cup 1 is uneven, allowing for more efficient suction than conventional methods.

[0051] The suction cup 1 in one embodiment of the present disclosure further includes pleats that cover the exterior of the suction port 13 .

[0052] As a result, the suction force of the suction cup 1 according to one embodiment of the present disclosure is improved because the contact area with the object is increased, and the suction cup 1 can more reliably suck in the object to be sucked.

[0053] In the suction cup 1 according to one embodiment of the present disclosure, the pleats are made of silicone.

[0054] This allows the suction cup 1 in one embodiment of the present disclosure to achieve softness.

[0055] In addition, this disclosure also includes forms obtained by applying various modifications to each embodiment that a person skilled in the art would think of, or forms realized by arbitrarily combining the components and functions of each embodiment within the scope that does not deviate from the intent of this disclosure. [Industrial Applicability]

[0056] The suction cup of the present disclosure can be applied to cases where a nursing care robot or the like assists a person in their daily activities. [Explanation of symbols]

[0057] 1 sucker 10, 14 Flow path 11 spout 12. Constriction section 13 Suction port 15 Space 20 valves 30 Break-in mechanism 31 Inner wall 32 Exterior Wall 40 Upper panel 50 Lower part

Claims

1. a plate-like member having an inlet, a jet port, and a suction port that are open to the outside, a main flow path inside the plate-shaped member that guides the gas injected from the injection port to the ejection port; a throttle portion formed midway through the main flow path and having a width narrower than that of the main flow path; a branch flow path that branches off from a flow path that leads from the throttle portion to the ejection port in the main flow path and is connected to the suction port, a valve for closing the main flow path is provided in a downstream position in the main flow path closer to the jet port than a branch point to the branch flow path; The valve is opened when the pressure of the gas injected from the injection port pushing the valve is equal to or greater than a predetermined value. Sucker.

2. The valve is made of an elastic material.

2. The suction cup of claim 1.

3. a thin film covering a circular groove and an opening connected to the main flow path, the circular groove and opening being provided on the plate-like member on the opposite side of the main flow path as viewed from the suction port; 3. The suction cup according to claim 1 or 2.

4. Further, a pleat covering the outside of the suction port is provided. The suction cup according to any one of claims 1 to 3.

5. The pleats are made of silicone.

5. The suction cup according to claim 4.

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