Suction device, holding device, and conveyance method
A suction device is attached to a leading-end section of an articulated arm, attached by suction to a plate-shaped structural member having a curvature at least in a predetermined direction. The suction device includes a support part attached to the leading-end section of the articulated arm; a pair of suction mechanisms having a pair of suction surfaces and disposed apart from each other in an X direction with the attachment position of the support part to the leading-end section interposed between the pair of suction mechanisms; and a pair of first angle adjustment mechanisms capable of adjusting the angle of inclination, in the X direction, of each of the pair of suction surfaces of the pair of the suction mechanisms.
1. A suction device adapted to be attached to a leading-end section of an articulated drive mechanism and adapted to be attached by suction to a plate-shaped structural member having a curvature at least in a predetermined direction, the suction device comprising:
a support part configured to be attached to the leading-end section of the articulated drive mechanism;
a pair of suction mechanisms comprising a pair of suction surfaces and disposed apart from each other in a first direction with an attachment position of the support part interposed between the pair of suction mechanisms; and
a pair of first angle adjustment mechanisms configured to adjust an angle of inclination, with respect to the first direction, of each of the pair of suction surfaces of the pair of suction mechanisms,
wherein each of the pair of first angle adjustment mechanisms comprises:
a plate-shaped member having a bottom surface to which a corresponding one of the pair of suction mechanisms is attached,
a rocking member attached to an upper surface of the plate-shaped member,
a support shaft inserted into a through-hole of the rocking member,
a pair of first angle adjustment members attached to a bottom surface of the support part,
a pair of fixing pins inserted into female screws that are fastening holes of the pair of first angle adjustment members, and
a second angle adjustment member attached to the bottom surface of the support part and supporting the support shaft.
2. The suction device according to claim 1 , wherein each of the pair of suction surfaces is a rectangle having shorter sides in the first direction and longer sides in a second direction orthogonal to the first direction.
3. The suction device according to claim 2 , further comprising:
a plurality of pairs of suction mechanisms arranged in the second direction,
the plurality of pairs of suction mechanisms comprising first and second pairs of suction mechanisms adjacent to each other in the second direction, and
each of the first pair of suction mechanisms and the second pair of suction mechanisms comprising a pair of suction surfaces; and
a second angle adjustment mechanism disposed between the first pair of suction mechanisms and the second pair of suction mechanisms and configured to adjust
angles of inclination, with respect to the second direction, of the pair of suction surfaces of the first pair of suction mechanisms and
angles of inclination, with respect to the second direction, of the pair of suction surfaces of the second pair of suction mechanisms.
4. A holding device comprising:
the suction device according to claim 1 ; and
an articulated drive mechanism comprising a leading-end section to which the suction device is attached.
5. The suction device according to claim 1 , wherein the fixing pins are male screws including leading ends in direct contact with opposite surfaces of the rocking member in the first direction to set a rocking angle of the rocking member about the support shaft.
6. The suction device according to claim 1 , wherein, in each of the pair of first angle adjustment mechanisms, an attachment position of the plate-shaped member with respect to the rocking member is moveable in the first direction to adjust an arrangement distance between the pair of suction mechanisms in the first direction.
7. A method of conveying a plate-shaped structural member having a curvature in a predetermined direction with a holding device comprising an articulated drive mechanism and a suction device attached to a leading-end section of the articulated drive mechanism,
the suction device comprising:
a support part attached to the leading-end section of the articulated drive mechanism;
a pair of suction mechanisms comprising a pair of suction surfaces and disposed apart from each other in a first direction with an attachment position of the support part interposed between the pair of suction mechanisms; and
a pair of first angle adjustment mechanisms for adjusting an angle of inclination, with respect to the first direction, of each of the pair of suction surfaces of the pair of suction mechanisms;
the method comprising the steps of:
(a) with the pair of first angle adjustment mechanisms, adjusting the angles of inclination, with respect to the first direction, of the pair of suction surfaces in accordance with the curvature of the plate-shaped structural member in the predetermined direction;
(b) with the articulated drive mechanism, bringing the pair of suction surfaces into contact with the plate-shaped structural member with the predetermined direction coinciding with the first direction;
(c) with the pair of suction mechanisms, attaching the plate-shaped structural member to the pair of suction surfaces by suction with the pair of suction surfaces being in contact with the plate-shaped structural member in step (b); and
(d) with the articulated drive mechanism, conveying the plate-shaped structural member with the plate-shaped structural member attached by suction to the pair of suction surfaces in step (c),
wherein each of the pair of first angle adjustment mechanisms comprises:
a plate-shaped member having a bottom surface to which a corresponding one of the pair of suction mechanisms is attached,
a rocking member attached to an upper surface of the plate-shaped member,
a support shaft inserted into a through-hole of the rocking member,
a pair of first angle adjustment members attached to a bottom surface of the support part,
a pair of fixing pins inserted into female screws that are fastening holes of the pair of first angle adjustment members, and
a second angle adjustment member attached to the bottom surface of the support part and supporting the support shaft.
8. The method according to claim 7 , wherein, in step (a), the adjusting the angles of inclination includes adjusting an amount of fastening between the fixing pins and the fastening holes.
9. The method according to claim 7 , wherein
the fixing pins are male screws including leading ends in direct contact with opposite surfaces of the rocking member in the first direction to set a rocking angle of the rocking member about the support shaft, and
in step (a), the adjusting the angles of inclination includes adjusting an amount of fastening between the males screws and the female screws to adjust the rocking angle of the rocking member about the support shaft.