Suction hand and robot device

Abstract

To provide a suction hand which can hold various objects while inhibiting size increase.SOLUTION: A suction hand includes: an outer pipe; an inner pipe which is connected at one end to a vacuum generating machine and provided inside the outer pipe; annular elastic bodies each of which is attached in a state that an outer diameter closely contacts with an inner diameter of the outer pipe and an inner diameter closely contacts with an outer diameter of the inner pipe; a first suction pad fixed to the outer pipe; and a second suction pad which is fixed to the other end of the inner pipe, disposed at the inner side of the first suction pad, and may move forward or rearward through a suction opening of the first suction pad.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a suction hand and a robot device. Regarding. [Background technology]

[0002] A suction cup for suctioning and transporting articles is known, which is characterized in that the suction cup is configured by providing a small suction cup that opens around the lower end of the suction pipe and is fixed thereto, and a large suction cup that surrounds the small suction cup and opens concentrically with the small suction cup and is fixed thereto (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2003-225880 A Summary of the Invention [Problem to be solved by the invention]

[0004] The present disclosure provides a suction hand and a robot device that can hold a variety of objects while preventing the device from becoming too large. [Means for solving the problem]

[0005] One aspect of the present disclosure is a suction hand comprising an outer pipe, an inner pipe having one end connected to a vacuum generator and disposed inside the outer pipe, a ring-shaped elastomer whose outer diameter is closely fitted to the inner diameter of the outer pipe and whose inner diameter is closely fitted to the outer diameter of the inner pipe, a first suction pad fixed to the outer pipe, and a second suction pad fixed to the other end of the inner pipe, positioned inside the first suction pad, and capable of advancing and retracting through a suction opening of the first suction pad.

[0006] One aspect of the present disclosure provides a robot device including the above-mentioned suction hand and a support device that holds the suction hand so as to be movable in three directions perpendicular to each other. Effect of the Invention

[0007] According to the present disclosure, various objects can be held while preventing the object from becoming too large. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is an external perspective view of a robot device including a suction hand according to a first embodiment of the present disclosure; [Diagram 2] Enlarged perspective view of the suction hand [Diagram 3] Enlarged perspective view of the lower end of the inner pipe [Figure 4] An enlarged perspective view of the vicinity of the large suction pad from which the small suction pad protrudes [Diagram 5] FIG. 1 is a perspective view of a suction hand in which a small suction pad protrudes from a large suction pad; [Figure 6] An explanatory diagram showing the process in which a small suction pad housed in a large suction pad protrudes. [Figure 7] An explanatory diagram showing the process in which a small suction pad protruding from a large suction pad is accommodated in the large suction pad. [Figure 8] Front view of the suction hand with a large suction pad suctioning a large object [Figure 9] A front view of the suction hand with a small suction pad suctioning a small object. [Figure 10] Cross-sectional view of the main part of the suction hand with protrusions on the inside of the large suction pad [Figure 11] A cross-sectional view of a large suction pad in which the cap part of an object is clamped in the diametric direction by a pair of protrusions [Figure 12] A perspective view of a large suction pad with a metal member disposed inside, viewed from the suction opening side [Figure 13] A perspective view of an object that is attracted to the nozzle by using a notch [Figure 14] A front view of an object whose lateral movement is suppressed by the inner periphery of the large suction pad. [Figure 15] A front view of an object whose lateral shaking is suppressed by the protrusions provided on the inside of the large suction pad. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, the embodiments will be described in detail with reference to the drawings as appropriate. However, more detailed explanation than necessary may be omitted. For example, detailed explanation of already well-known matters or duplicate explanation of substantially the same configuration may be omitted. This is to avoid the following explanation becoming unnecessarily redundant and to facilitate understanding by those skilled in the art. Note that the attached drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

[0010] (How the embodiment of the present disclosure was achieved) In the suction cup for suction transport described in Patent Document 1, the small suction cup and the large suction cup complement each other's suction power to maintain suction power. However, the positional relationship between the small suction cup and the large suction cup is fixed, and it is not designed to hold and transport objects of various shapes and sizes. In addition, in the past, multiple suction pads were attached to the tip of the suction hand, and the suction pads were switched by switching the tip of the suction hand using a tool changer. In this case, the tip of the suction hand becomes large.

[0011] In the following embodiments, a suction hand and a robot device that can hold various objects while preventing the size from increasing will be described.

[0012] 1 is an external perspective view of a robot device 13 equipped with a suction hand 11 according to a first embodiment of the present disclosure. In the diagram with arrows indicating directions, the X-axis indicates the front-rear direction, the Y-axis indicates the left-right direction, and the Z-axis indicates the up-down direction. The X-axis and Y-axis are orthogonal to each other and are included in the horizontal plane. The Z-axis is included in the longitudinal plane.

[0013] The suction hand 11 can be suitably used in a robot device 13. In the robot device 13, an upstream transfer device 19 having an upstream transfer table 17 and a downstream transfer device 23 having a downstream transfer table 21 are arranged in parallel along the X direction between a pair of parallel base beams 15 extending in the X direction. At the downstream end of the upstream transfer device 19 and the upstream end of the downstream transfer device 23, the upstream transfer table 17 and the downstream transfer table 21 can be aligned in the Y direction as shown in Fig. 1. In the robot device 13, the position where the upstream transfer table 17 and the downstream transfer table 21 are aligned becomes a stage 25 for sorting.

[0014] The robot device 13 may be an automatic machine capable of picking and placing, such as a manipulator (arm robot). In this case, the manipulator has a base installed in a sorting area for luggage (e.g., object 27) or a production line. The manipulator may be composed of, for example, a rotating part attached to the top of the base and rotating horizontally, an upper arm attached to the rotating part and swinging in the front-back direction, a forearm attached to the upper arm and swinging in the up-down direction, and a wrist with three degrees of freedom attached to the forearm.

[0015] The upstream conveying device 19 conveys the object 27 delivered from the upstream device using the upstream transfer table 17, and positions and arranges it on the upstream stage. The downstream conveying device 23 positions and transfers the object 27 sorted by the suction hand 11 from the upstream stage to a package 29 arranged on the downstream transfer table 21 of the downstream stage. When the object 27 is transferred to the package 29 on the downstream stage, the downstream conveying device 23 moves the downstream transfer table 21 to the downstream end, and delivers the object 27 together with the package 29 to the downstream device.

[0016] A pair of columns 31 spaced apart in the X direction (front and back) are fixed to each of the left and right base beams 15 and stand up in the Z direction. The upper ends of the four columns 31 support the four corners of a rectangular base frame 33 that surrounds a horizontal plane. A Y-axis rail 35 extending in the Y direction is supported by the base frame 33. An X-axis rail 37 extending in the X direction is supported by the Y-axis rail 35. A Z-axis rail 39 extending in the Z direction is supported by the X-axis rail 37.

[0017] A moving body 41 is provided on the Z-axis rail 39 so as to be movable up and down (Z direction). The moving body 41 can also be called an actuator. The Z-axis rail 39 is translated along the X-axis rail 37 in the front-rear direction (X direction) perpendicular to the Z-axis rail 39. The X-axis rail 37 is translated along the Y-axis rail 35 in the left-right direction (Y direction) perpendicular to the X-axis rail 37 and the Z-axis rail 39. Therefore, the moving body 41 is movable up and down (Z direction), front-rear (X direction), and left-right (Y direction) relative to the stage 25.

[0018] The Z-axis rail 39 that moves the moving body 41, the X-axis rail 37 that moves the Z-axis rail 39 in a direction perpendicular to the Z-axis rail 39, and the Y-axis rail 35 that moves the X-axis rail 37 in a direction perpendicular to the X-axis rail 37 and the Z-axis rail 39 constitute an Cartesian robot 43. The robot device 13 according to the first embodiment is configured by providing the Cartesian robot 43 with a suction hand 11. That is, the Cartesian robot 43 holds the suction hand 11 so as to be movable in three directions perpendicular to each other. The Cartesian robot 43 also has a motor or the like that supplies a driving force for moving the rails of each axis.

[0019] The robot device 13 also includes a control device (not shown) that controls each of the components (eg, the suction hand 11 and the Cartesian robot 43) included in the robot device 13.

[0020] FIG. 2 is an enlarged perspective view of the suction hand 11. As shown in FIG.

[0021] A vacuum generator 45 is provided on the upper side of the movable body 41. An inner pipe 47 extending in the Z direction is fixed to the lower side of the movable body 41. The upper end (one end) of the inner pipe 47 is fixed to the movable body 41 by a mounting piece 49. The vacuum generator 45 is connected to the upper end of the inner pipe 47 by a connection tube 51 (see FIG. 6 ). In other words, the inner diameter side of the inner pipe 47 becomes a vacuum path communicating with the vacuum generator 45. The movable body 41 and the vacuum generator 45 are included in the robot device 13, and may be included in the suction hand 11 or the Cartesian robot 43.

[0022] FIG. 3 is an enlarged perspective view of the lower end of the inner pipe 47 and its vicinity.

[0023] The inner diameter of the O-ring 53 is fitted closely to the outer diameter of the inner pipe 47. One or more (e.g., a plurality) O-rings 53 are provided spaced apart in the axial direction of the inner pipe 47. The O-rings 53 can be arranged in multiple stages (e.g., three stages) at each of two locations spaced apart in the axial direction of the inner pipe 47, for example, for a total of six stages. Note that the locations and number of stages of the O-rings 53 are not limited to this.

[0024] An outer pipe 55 is fitted around the outside of the inner pipe 47. The inner diameter of the outer pipe 55 is in close contact with the outer diameter of the O-ring 53, and the outer pipe 55 is held coaxially with the inner pipe 47 via the O-ring 53. A large suction pad 57, which is an example of a first suction pad, is fixed to the lower end (end) of the outer pipe 55. The large suction pad 57 is a bellows type formed in a bellows shape. The inside of the large suction pad 57 serves as a suction chamber 59. The suction chamber 59 may include the inner diameter portion of the outer pipe 55. The suction chamber 59 of the large suction pad 57 serves as a suction opening 61 and opens at the lower end. The large suction pad 57 is capable of suctioning a large object (e.g., cardboard).

[0025] On the other hand, a small suction pad 63, which is also of a bellows type and is an example of a second suction pad, is fixed to the lower end (other end) of the inner pipe 47. The small suction pad 63 is arranged coaxially inside the large suction pad 57. The small suction pad 63 can advance and retreat through the suction opening 61 of the large suction pad 57 that suctions the object 27 (see FIG. 4). It is preferable that the outer diameter of the small suction pad 63 is smaller than the inner diameter of the outer pipe 55. The small suction pad 63 can suction, for example, a small object (for example). In addition, the small suction pad 63 may be formed of a material that is more flexible than the large suction pad 57. In this case, the small suction pad 63 can easily suction, for example, a bag-shaped object 27. On the other hand, the large suction pad 57 may be formed of a material that is harder than the small suction pad 63. The suction force is determined by the size (for example, diameter) of the suction pad.

[0026] In this manner, the suction hand 11 has a plurality of suction pads (suction cups) (at least the large suction pad 57 and the small suction pad 63). The suction pads do not have to be of the bellows type, and may be suction pads having various characteristics. Furthermore, the large suction pad 57 and the small suction pad 63 may be suction pads of different types.

[0027] FIG. 4 is an enlarged perspective view of the vicinity of the large suction pad from which the small suction pad 63 protrudes.

[0028] The O-ring 53 is made of an elastic material such as rubber or silicon rubber, and is in close contact with the inner pipe 47 and the outer pipe 55 by elastic deformation. In other words, the outer pipe 55 is restricted in its relative movement along the axis with respect to the inner pipe 47 by a predetermined force (also called a holding force) due to the frictional force between the O-ring 53 and the O-ring 53 and the inner pipe 47. This holding force is mainly determined by the elastic restoring force of the O-ring 53. Therefore, the inner pipe 47 and the outer pipe 55 can move relatively along the axis if a force larger than the holding force is applied in the opposite direction. The small suction pad 63 can move forward and backward from the suction opening 61 by the relative movement between the inner pipe 47 and the outer pipe 55. In other words, the relative positions of the large suction pad 57 and the small suction pad can be changed.

[0029] Referring again to FIG.

[0030] In the suction hand 11, an abutment plate 65, through which the outer pipe 55 passes, is fixed to the lower end of the Z-axis rail 39 along which the movable body 41 moves. The abutment plate 65, which is an example of a fixed plate, is, for example, an L-shaped metal fitting with a vertical piece and a horizontal piece bent at a right angle. The vertical piece of the abutment plate 65 is fixed to the Z-axis rail 39, and a through hole for passing the inner pipe 47 through is drilled in the horizontal piece.

[0031] A first stopper 67 that abuts against the upper surface of the abutment plate 65 is fixed to the base end of the outer pipe 55, which is sandwiched between the moving body 41 and the abutment plate 65. When the moving body 41 descends, the first stopper 67 abuts against the upper surface of the abutment plate 65 (see FIG. 5). Also, a second stopper 69 that abuts against the lower surface of the abutment plate 65 is fixed to the tip of the outer pipe 55, which is sandwiched between the abutment plate 65 and the large suction pad 57. When the moving body 41 ascends, the second stopper 69 abuts against the lower surface of the abutment plate 65 (see FIGS. 2 and 3).

[0032] FIG. 5 is a perspective view of the suction hand 11 in which the small suction pads 63 protrude from the large suction pads 57. FIG.

[0033] After the first stopper 67 comes into contact with the upper surface of the abutment plate 65, the movable body 41 can move in a direction approaching the abutment plate 65 further. After the second stopper 69 comes into contact with the lower surface of the abutment plate 65, the movable body 41 can move in a direction moving further away from the abutment plate 65. Therefore, when the movable body 41 of the suction hand 11 further descends after the first stopper 67 comes into contact with the abutment plate 65, the small suction pad 63 protrudes from the large suction pad 57 whose movement has stopped (see Figs. 4 and 5). Furthermore, when the movable body 41 of the suction hand 11 further ascends after the second stopper 69 comes into contact with the abutment plate 65, the small suction pad 63 is drawn into the suction chamber 59 of the large suction pad 57 whose movement has stopped (see Figs. 2 and 3). The small suction pad 63 may be drawn into the inner diameter portion of the outer pipe 55, which is a part of the suction chamber 59.

[0034] FIG. 6 is an explanatory diagram showing the process in which the small suction pad 63 housed in the large suction pad 57 protrudes.

[0035] The suction hand 11 is in a state where the movable body 41 is at the uppermost position and the small suction pad 63 is drawn into the suction chamber 59 of the large suction pad 57. When the movable body 41 descends from this state, the outer pipe 55 also descends together with the inner pipe 47, the second stopper 69 fixed to the lower end of the outer pipe 55 moves away from the abutment plate 65, and the first stopper 67 fixed to the upper end of the outer pipe 55 approaches the abutment plate 65. When the movable body 41 is further descended, the first stopper 67 comes into contact with the abutment plate 65. When the suction hand 11 reaches a position where the first stopper 67 comes into contact with the abutment plate 65, the small suction pad 63 has not yet been protruded. When the movable body 41 of the suction hand 11 further descends a distance D from the state in which the first stopper 67 is in contact with the abutment plate 65, only the inner pipe 47 descends the distance D relative to the stopped outer pipe 55, and the small suction pad 63 protrudes from the large suction pad 57. By adjusting the distance D, the relative position of the small suction pad 63 with respect to the large suction pad 57 can be adjusted, and the accommodation degree (accommodation length) and protrusion degree (protrusion length) of the small suction pad 63 with respect to the large suction pad 57 can be adjusted. In other words, the amount of unevenness of the small suction pad 63 with respect to the large suction pad 57 can be adjusted.

[0036] 7A to 7C are explanatory diagrams showing the process in which the small suction pads 63 protruding from the large suction pad 57 are accommodated in the large suction pad 57. FIG.

[0037] When the moving body 41 is raised with the small suction pad 63 protruding from the large suction pad 57, the outer pipe 55 also rises together with the inner pipe 47, the second stopper 69 fixed to the lower end of the outer pipe 55 approaches the abutment plate 65, and the first stopper 67 fixed to the upper end of the outer pipe 55 moves away from the abutment plate 65. During this period, the length by which the small suction pad 63 protrudes from the large suction pad 57 does not change. When the moving body 41 is further raised, the second stopper 69 comes into contact with the abutment plate 65. When the suction hand 11 reaches a position where the second stopper 69 contacts the abutment plate 65, the small suction pad 63 still remains protruding. When the movable body 41 of the suction hand 11 further rises by a distance D from the state in which the second stopper 69 is in contact with the abutment plate 65, only the inner pipe 47 rises by the distance D relative to the stopped outer pipe 55, and the small suction pad 63 is drawn into the suction chamber 59 of the large suction pad 57. By adjusting the distance D, the relative position of the small suction pad 63 with respect to the large suction pad 57 can be adjusted, and the accommodation degree (accommodation length) and protrusion degree (protrusion length) of the small suction pad 63 with respect to the large suction pad 57 can be adjusted. In other words, the amount of unevenness of the small suction pad 63 with respect to the large suction pad 57 can be adjusted.

[0038] The suction hand 11 may control the relative position of the small suction pad 63 with respect to the large suction pad 57, for example, by the control device controlling the movement (position) of the movable body 41 in the Z direction. For example, the suction hand 11 can adjust the amount of protrusion of the small suction pad 63 with respect to the large suction pad 57 depending on how far the first stopper 67 presses the abutment plate 65 downward by the control device controlling the position of the movable body 41. For example, the suction hand 11 can adjust the amount of recession of the small suction pad 63 with respect to the large suction pad 57 depending on how far the second stopper 69 presses the abutment plate 65 upward by the control device controlling the position of the movable body 41.

[0039] FIG. 8 is a front view of the suction hand 11 in which the large suction pad 57 has sucked a large target object 27. FIG.

[0040] The suction hand 11 is capable of suctioning objects 27 of different sizes using one vacuum path by using the pad switching method that uses the above-mentioned contact plate 65, first stopper 67, second stopper 69, etc. As shown in Fig. 8, for example, an object 27 that is relatively heavy and has a large suction area can be picked and placed using a large suction pad 57 with a large outer diameter. In this case, the small suction pad 63 is kept housed in the inner diameter portion of the outer pipe 55.

[0041] FIG. 9 is a front view of the suction hand 11 in which the small suction pad 63 has sucked a small object 27. FIG.

[0042] 9, the suction hand 11 can pick and place an object 27 that is relatively light in weight and has a small suction area by using a small suction pad 63 with a small outer diameter. In this case, the small suction pad 63 is used in a state where it protrudes from the suction opening 61 of the outer pipe 55.

[0043] FIG. 10 is a cross-sectional view of a main part of the suction hand 11 in which a protrusion 71 is provided on the inner side of the large suction pad 57. As shown in FIG.

[0044] The suction hand 11 may be provided with a flexible protrusion 71 on the inside of the large suction pad 57. The protrusion 71 protrudes inward of the large suction pad 57 to an extent that does not interfere with the outer diameter of the small suction pad 63. The small suction pads 63 can be accommodated concentrically in the suction chamber 59 of the large suction pad 57. The accommodated small suction pads 63 may be drawn into the inside of the outer pipe 55. By drawing the small suction pads 63 into the inside of the outer pipe 55, the suction hand 11 allows the target object 27 to be inserted to the innermost part of the large suction pad 57 without interfering with the small suction pad 63.

[0045] FIG. 11 is a cross-sectional view of the large suction pad 57 in which the cap portion 73 of the object 27 is clamped in the diameter direction by a pair of protrusions 71.

[0046] For example, a pair of protrusions 71 are provided facing each other at both ends of the diametrical direction of the suction chamber 59 of the large suction pad 57. As an example, the protrusions 71 can be silicon tubes with a high friction coefficient provided inside the large suction pad 57 in a direction along the axis of the large suction pad 57. That is, the pair of protrusions 71 face each other across the axis of the large suction pad 57. As shown in FIG. 10, the pair of protrusions 71 may be curved in a direction in which the central portions in the extension (up and down) direction approach each other. The pair of protrusions 71 can hold a round head (e.g., cap portion 73) of the object 27 having an outer diameter smaller than the inner diameter of the large suction pad 57 and larger than the outer diameter of the small suction pad 63 in the diametrical direction.

[0047] As shown in Fig. 10, the suction hand 11 is provided with a metal member 75 extending along the inner peripheral surface of the large suction pad 57 inside the large suction pad 57. A protrusion 71 is fixed to the inner surface of this metal member 75. As shown in Fig. 11, the metal member 75 may be cylindrical, for example. Therefore, the pair of protrusions 71 are disposed opposite each other across the axis of the cylindrically formed metal member 75. As a result, the pair of protrusions 71 are restricted by the metal member 75 from displacing apart, and the cap portion 73 of the target object 27 can be clamped (held) from the diameter direction by a strong elastic restoring force.

[0048] In addition, instead of the silicone tube being provided only on the inside of the metal member 75, the silicone tube may be provided on the outside of the metal member 75, and a part of the silicone tube may be pushed into a slit in the metal member 75, so that the part where the silicone tube is located on the inside of the metal member 75 becomes the protrusion 71.

[0049] The suction hand 11 may be provided with a reinforcing tube 77 made of a resin material or a metal material on the inside of the small suction pad 63. The reinforcing tube 77 is provided coaxially with the vacuum path 79 of the inner pipe 47 and at a position retreated from the suction opening of the small suction pad 63. The suction hand 11 can grip (also referred to as mechanical grip) the cap part 73 with a pair of protrusions 71. The cap part 73 mechanically gripped by the pair of protrusions 71 is pushed out from between the pair of protrusions 71 by the inner pipe 47 advancing. At this time, the reinforcing tube 77 can suppress the bellows type small suction pad 63 from being excessively crushed. In addition, the shape of the small suction pad 63 may be deformed when the small suction pad 63 is sucked, and if the amount of deformation is large, the sucked object 27 may fall. The reinforcing tube 77 can suppress the deformation of the small suction pad 63 and prevent the object 27 from falling. The reinforcing tube 77 is, for example, cylindrical. In this case, the reinforcing tube 77 can evenly push out the mechanically gripped object 27, and the object can be placed suitably. In addition, it is not necessary that either the protrusion 71 or the reinforcing tube 77 is provided and the other is not provided.

[0050] In addition, in the suction hand 11, the pair of protrusions 71 arranged facing each other is just an example, and other arrangements of the protrusions 71 are also possible. For example, three or more protrusions 71 may be arranged symmetrically or asymmetrically with respect to each other.

[0051] FIG. 12 is a perspective view of the large suction pad 57 with the metal member 75 disposed inside, as viewed from the suction opening side.

[0052] The metal member 75 has a notch 81 formed therein to avoid interference with an outer diameter side protrusion of the irregularly shaped object 27. The notch 81 is formed by cutting the circumference of the cylindrical metal member 75 on the suction opening side into a concave shape. For example, a pair of the notches 81 are located at both ends in the diameter direction of the cylinder. In other words, the cylindrical metal member 75 has two concavely curved pieces 83 opposed to each other by the pair of notches 81. The above-mentioned protrusion 71 is fixed to the opposing surfaces of the two concavely curved pieces 83.

[0053] In addition, in the suction hand 11, the pair of cutouts 81 arranged opposite to each other is just an example, and other arrangements of the cutouts 81 may be used. For example, three or more cutouts 81 may be arranged symmetrically or asymmetrically with respect to each other.

[0054] FIG. 13 is a perspective view of the object 27 that has been sucked by the notch 81 and avoids the nozzle 85. As shown in FIG.

[0055] The object 27 held by the pair of protrusions 71 inside the metal member 75 is not limited to the cylindrical cap portion 73, etc. For example, the object 27 may be an object with a nozzle 85 protruding radially outward from the cylindrical cap portion 73, a triple energy drink bottle, etc. The two concave curved pieces 83 with the protrusions 71 are separated in the circumferential direction by a pair of notches 81, so that the nozzle 85 can be placed in the notches 81 or parts of adjacent bottles can be placed on both sides to avoid interference with the irregularly shaped portion of the object 27.

[0056] Next, the manner in which the object 27 is gripped by the suction hand 11 will be described.

[0057] As described above, the suction hand 11 realizes three gripping patterns with one hand: gripping with only the small suction pad 63, gripping with only the large suction pad 57, and mechanical gripping.

[0058] When suction (holding) is performed using only the small suction pad 63, the lower end of the small suction pad 63 is located lower than the lower end of the large suction pad 57. When suction (holding) is performed using only the large suction pad 57, the lower end of the small suction pad 63 is located higher than the lower end of the large suction pad 57. When mechanically holding, the lower end of the small suction pad 63 is located higher than the lower end of the large suction pad 57. When mechanically holding, the suction hand 11 may hold the object 27 using only mechanical holding, or may hold the object 27 by supplementing the suction force of the small suction pad 63 with the force of the protrusions 71.

[0059] In the case of mechanical gripping, the small suction pad 63 is accommodated inside the large suction pad 57, and the extent to which the small suction pad 63 is retracted from the large suction pad 57, that is, the amount of recession of the small suction pad 63 from the large suction pad 57, may be adjusted. The closer the lower end of the small suction pad 63 is to the lower end of the large suction pad 57, the closer it is to the object 27 during mechanical gripping, and when the suction force of the small suction pad 63 is used supplementarily, the suction force of the small suction pad 63 becomes large. Note that, for example, when the object 27 is an irregularly shaped object such as a plastic bottle or a bag, there are objects 27 that can be gripped by only the small suction pad 63, but in consideration of lateral shaking during transportation of the object 27, mechanical gripping (or gripping in combination with the small suction pad 63) is preferable.

[0060] The control device of the robot device 13 may determine which of the three gripping forms is used to grip the object 27, and control the suction hand 11 to grip the object 27 in the determined gripping form. For example, the control device may recognize the object 27 reflected in a captured image based on a captured image captured by a camera. The camera may be provided in the robot device 13, for example, or installed in the vicinity of the robot device 13. The control device may store information indicating which of the three gripping forms is used to grip each object 27 or each type of object 27, for example, in a table or the like in advance. The control device may refer to this table and derive a gripping form corresponding to the object 27 or the type of object 27 obtained as a result of object recognition based on the captured image. The control device may control the position of the moving body 41 on the Z-axis rail 39 according to the derived gripping form, determine the positional relationship between the large suction pad 57 and the small suction pad 63, and adjust the position of the small suction pad 63 in the Z direction relative to the large suction pad 57. The adjustment of the position of the small suction pad 63 in the Z direction relative to the large suction pad 57 is possible by the above-mentioned operation of Fig. 6 or Fig. 7. Such object recognition by the control device and adjustment of the position of the small suction pad 63 relative to the large suction pad 57 may be performed during the period from the end of placing a given object 27 to the start of picking up the next object 27.

[0061] Next, the operation of the above-mentioned configuration will be described.

[0062] The suction hand 11 according to the first embodiment includes an outer pipe 55, an inner pipe 47, an O-ring 53 as an example of an annular elastic body, a large suction pad 57, and a small suction pad 63. The inner pipe 47 is provided inside the outer pipe, with one end fixed to, for example, the movable body 41 and connected to the vacuum generator 45. The O-ring 53 is attached with its outer diameter closely contacting the inner diameter of the outer pipe 55 and its inner diameter closely contacting the outer diameter of the inner pipe 47. The large suction pad 57 is fixed to the other end of the outer pipe 55. The small suction pad 63 is fixed to the other end of the inner pipe 47 and disposed inside the large suction pad 57, and is movable forward and backward through a suction opening 61 of the large suction pad 57.

[0063] In the suction hand 11 according to the first embodiment, one end of the inner pipe 47 is fixed to the movable body 41, and the inner pipe 47 moves together with the movable body 41 in a direction along the axis. The inner diameter of the O-ring 53 is attached in close contact with the outer diameter of the inner pipe 47. The inner diameter of the outer pipe 55 is in close contact with the outer diameter of the O-ring 53. The outer pipe 55 is held coaxially with the inner pipe 47 by being in close contact with the outer diameter of the O-ring 53 which is in close contact with the outer diameter of the inner pipe 47. Note that the outer pipe 55 and the inner pipe 47 do not have to be coaxial.

[0064] A large suction pad 57 is fixed to the other end of the outer pipe 55. The outer pipe 55 and the large suction pad 57 are fixed coaxially, and the inside of the outer pipe 55 communicates with the inside of the large suction pad 57 (also referred to as a suction chamber 59). Note that the outer pipe 55 and the large suction pad 57 do not have to be coaxial.

[0065] On the other hand, the small suction pad 63 is fixed to the other end of the inner pipe 47. The inner pipe 47 and the small suction pad 63 are fixed coaxially, and one end of the inner pipe 47 is connected to the vacuum generator 45. In other words, the vacuum path 79 is connected only to the inner pipe 47. The small suction pad 63 is arranged coaxially inside the large suction pad 57 (suction chamber 59). In other words, the inner pipe 47, the small suction pad 63, the O-ring 53, the outer pipe 55, and the large suction pad 57 are coaxial (concentric). Since a gap 87 (see FIG. 10) is formed between the inner pipe 47 and the outer pipe 55, the suction hand 11 is configured so that air does not leak from this gap 87 by attaching the O-ring 53. The inner pipe 47 and the small suction pad 63 do not have to be coaxial.

[0066] The small suction pad 63 can advance and retreat through the suction opening 61 of the large suction pad 57 as a result of the outer pipe 55 moving relatively to the inner pipe 47. In other words, if the small suction pad 63 housed in the suction chamber 59 of the large suction pad 57 moves relatively from the outer pipe 55 in the direction in which the inner pipe 47 protrudes, it advances out of the large suction pad 57 through the suction opening 61 of the suction chamber 59 in the large suction pad 57, and conversely, if the inner pipe 47 moves relatively in the direction in which it retreats toward the outer pipe 55, the small suction pad 63 that has advanced outward is drawn into the suction chamber 59 of the large suction pad 57.

[0067] In addition, relative movement means that, for example, in order for the small suction pad 63 to advance, the large suction pad 57 may stop and the small suction pad 63 may advance, or the small suction pad 63 may stop and the large suction pad 57 may retreat.

[0068] Since one end of the inner pipe 47 of the small suction pad 63 is connected to the vacuum generator 45, negative pressure acts on the suction chamber 59. Therefore, the object 27 sucked to the suction opening 61 of the small suction pad 63 can be picked and placed by controlling the movement of the movable body 41 and the negative pressure. This allows pick-and-placement of the object 27 with a small sucked surface by the small suction pad 63. When the object 27 moves to the place position, the suction hand 11 releases the negative pressure to place the object 27.

[0069] On the other hand, when negative pressure acts on the small suction pad 63 while it is accommodated in the suction chamber 59 of the large suction pad 57, it sucks in the air in the suction chamber 59 of the large suction pad 57. The large suction pad 57 is fixed to the outer pipe 55, and the gap 87 between the outer pipe 55 and the inner pipe 47 is airtight sealed by the O-ring 53. Therefore, the negative pressure acting on the suction chamber 59 of the large suction pad 57 does not suck in air from anywhere other than the suction opening of the large suction pad 57. Therefore, the object 27 sucked to the suction opening 61 of the large suction pad 57 can be picked and placed by controlling the movement of the movable body 41 and the negative pressure. This allows the large suction pad 57 to pick and place the object 27 (e.g., cardboard) with a large surface to be sucked.

[0070] The suction hand 11 is capable of suctioning a small object 27 by mounting a small suction pad 63 inside a large suction pad 57 and protruding the small suction pad 63, and can suction a large object 27 by inserting the small suction pad 63 inside and protruding the large suction pad 57 first. Using two suction pads, one large and one small, one suction hand 11 can pick and place objects from small to large. In other words, a variety of objects can be suction-held in a small space.

[0071] Furthermore, by providing the O-ring 53 between the inner pipe 47 and the outer pipe 55, the suction hand 11 can be made smaller because it does not need to have an independent vacuum path for each of the large suction pad 57 and the small suction pad 63. Even with only one vacuum path 79, the suction hand 11 can prevent the outer pipe 55 from falling off the inner pipe 47 due to the holding force of the O-ring 53.

[0072] This eliminates the need to use a tool changer to switch the hand tip to change the suction pad, and allows the hand tip to be made small and lightweight. The tip of the suction hand 11 can be made small, and the mass of the moving body 41 can also be reduced, shortening the takt time for sorting, etc. As a result, the suction hand 11 can easily and quickly sort small objects 27 to large objects 27 using a single vacuum path 79.

[0073] Furthermore, when the suction hand 11 suctions the target object 27 with the small suction pad 63, the inner pipe 47 is retracted to bring the target object 27 into contact with the suction opening 61 of the large suction pad 57. In this case, the target object 27 can be suction-held by contacting it with the suction opening 61 of the large suction pad 57, which has a larger diameter than the small suction pad 63 and is arranged concentrically outside the small suction pad 63.

[0074] Fig. 14 is a front view of the target object 27 whose lateral shaking is suppressed by the inner periphery 89 of the large suction pad 57. Fig. 14 illustrates an example in which the target object 27 is a bag-shaped article.

[0075] When the small suction pad 63 sucks the object 27, the object 27 is held by being brought into contact with the suction opening 61 of the large suction pad 57, so that the object 27 can be sucked and held by the outer suction openings 61 arranged concentrically, compared to when the object 27 is sucked and held only by the small suction pad 63 having a small diameter. In FIG. 14, the lower end of the small suction pad 63 is located lower than the lower end of the large suction pad 57, but the lower end of the small suction pad 63 is located closer to the lower end of the large suction pad 57 so that the object 27 can easily come into contact with the inner periphery 89 of the large suction pad 57. The robot device 13 can increase the horizontal movement speed to shorten the takt time. In this case, a large inertial force is likely to act on the sucked and held object 27. In the suction hand 11, the lateral shaking caused by the inertial force acting during high-speed horizontal (XY) movement is suppressed by using the inner periphery 89 of the large suction pad 57 as well. That is, the suction hand 11 can suppress lateral shaking of the object 27 by pressing the object 27, which is suctioned by the small suction pad 63, from the outside with a concentric inner periphery 89 centered on the small suction pad 63.

[0076] In addition, the suction hand 11 may be provided with a flexible protrusion 71 that protrudes from the inside of the large suction pad 57 to a degree that does not interfere with the outer diameter of the small suction pad 63, that is, so as not to interfere with the outer diameter of the small suction pad 63.

[0077] In this suction hand 11, flexible protrusions 71 that protrude to a degree that does not interfere with the outer diameter of the small suction pad 63 may be provided on the inside of the large suction pad 57. A pair of protrusions 71 are provided, for example, on both ends of the large suction pad 57 in the diameter direction of the suction chamber 59. As an example, the protrusions 71 may be silicon tubes provided on the inside of the large suction pad 57 in the direction along the axis of the large suction pad 57. The pair of protrusions 71 may be curved such that the central portions in the extension direction approach each other.

[0078] For example, the pair of protrusions 71 can pinch, in the diametric direction, a round head (e.g., cap portion 73) of the object 27 having an outer diameter smaller than the inner diameter of the large suction pad 57 and larger than the outer diameter of the small suction pad 63. When the cap portion 73, which is smaller than the inner diameter of the large suction pad 57 and larger than the outer diameter of the small suction pad 63, is pressed into the suction chamber 59 of the large suction pad 57, the silicone tube elastically deforms, and the cap portion 73 can be gripped by its elastic restoring force.

[0079] The suction hand 11 can hold an object 27 such as a plastic bottle, a soy sauce bottle, or a shampoo bottle by using the friction and elasticity of the silicon tube. When placing the gripped object 27, the small suction pad 63 is advanced and the cap portion 73 is pressed, so that the object can be pushed out from between the pair of protrusions 71. This allows the suction hand 11 to pick and place the object 27 not only by suction but also by gripping (mechanical gripping) the cap portion 73 with the pair of protrusions 71. In other words, the suction hand 11 can realize three gripping patterns with one hand: only the small suction pad 63, mechanical gripping, and only the large suction pad 57.

[0080] FIG. 15 is a front view of the target object 27 whose lateral shaking is suppressed by the projections 71 provided on the inner side of the large suction pad 57. FIG.

[0081] The suction hand 11 can stabilize the posture and suppress lateral shaking against the inertial force acting during high-speed horizontal (XY) movement by mechanically gripping the side surface of the cap part 73 with one or more protrusions 71. At this time, the suction hand 11 can suction the upper surface of the cap part 73 with the small suction pads 63, and the suction force of the small suction pads 63 can be used supplementarily.

[0082] Furthermore, the suction hand 11 may include a member (e.g., a metal member 75) on the inside of the large suction pad 57, which extends along the inner peripheral surface of the large suction pad 57 and has the protrusion 71 fixed to its inner surface. Note that the member to which the protrusion 71 is fixed may be a member other than metal as long as it has a certain degree of strength.

[0083] In this suction hand 11, a metal member 75 extending along the inner peripheral surface of the large suction pad 57 may be provided inside the large suction pad 57. The metal member 75 has higher rigidity than the large suction pad 57. When the cap portion 73 of the target object 27 is pressed into the large suction pad 57, the protrusion 71 made of a silicon tube or the like is pushed outward in the radial direction of the large suction pad 57. At this time, if the mating member to which the protrusion 71 is fixed is easily deformed, the protrusion 71 moves outward in the radial direction and is not sufficiently crushed (does not undergo elastic deformation). As a result, sufficient elastic restoring force cannot be obtained, and the gripping force of the cap portion 73 may be insufficient.

[0084] In contrast, in the suction hand 11, the protrusion 71 is fixed to the inside of the highly rigid metal member 75 arranged inside the large suction pad 57, so that even if the cap portion 73 of the target object 27 is pressed into the large suction pad 57, the protrusion 71 does not move radially outward. In other words, the metal member 75 can reinforce the protrusion 71. As a result, in the suction hand 11, the protrusion 71 is sufficiently crushed (elastically deformed) and a large elastic restoring force is obtained, so that it is possible to ensure a gripping force sufficient to grip the cap portion 73 of the target object 27, etc. Note that the part mechanically gripped by the protrusion 71 may be other than the cap portion 73 of the target object 27, and may be, for example, the main body of the target object 27 having an irregular shape.

[0085] Furthermore, the metal member 75 may be provided with a notch 81, for example, a notch 81 for avoiding interference with an outer diameter side protrusion of the irregularly shaped object 27.

[0086] In this suction hand 11, a notch 81 may be formed by cutting out the circumference on the suction opening side into a concave shape or the like in a cylindrical metal member 75. One or more concave curved pieces 83 are provided in the metal member 75 by one or more notches 81. The above-mentioned protrusion 71 is fixed to the opposing surfaces of each of the one or more concave curved pieces 83.

[0087] In the suction hand 11, one or more concave curved pieces 83 provided with the projections 71 are separated by the notches 81, so that it is possible to avoid interference by placing a nozzle 85 in the notches 81 or by placing parts of adjacent bottles on both sides. This allows the suction hand 11 to suppress interference even in cases where the object has an irregular shape other than a cylindrical shape, thereby increasing the variety of objects 27 that can be held.

[0088] The suction hand 11 may include a moving body 41 connected to the inner pipe 47, and a contact plate 65 fixed to an end of a rail along which the moving body 41 moves and through which the outer pipe 55 penetrates. The suction hand 11 may include a first stopper 67 fixed to, for example, a base end of the outer pipe 55 sandwiched between the moving body 41 and the contact plate 65 and in contact with the contact plate 65, and a second stopper 69 fixed to, for example, a tip end of the outer pipe 55 sandwiched between the contact plate 65 and the large suction pad 57 and in contact with the contact plate 65. The first stopper 67 may be fixed to a position other than the base end of the outer pipe 55 within the range sandwiched between the moving body 41 and the contact plate 65. The second stopper 69 may be fixed to a position other than the tip of the outer pipe 55 within the range sandwiched between the contact plate 65 and the large suction pad 57.

[0089] In this suction hand 11, an abutment plate 65 through which an outer pipe 55 passes may be fixed to the end of the rail along which the movable body 41 moves. The outer pipe 55 is restricted from moving relative to the inner pipe 47 in the direction along the axis by a predetermined holding force due to the frictional force between the outer pipe 55 and the O-ring 53 and the frictional force between the O-ring 53 and the inner pipe 47.

[0090] The outer pipe 55 may have a first stopper 67 fixed to a base end sandwiched between the movable body 41 and the abutment plate 65, the first stopper 67 abutting against the abutment plate 65. In addition, the outer pipe 55 may have a second stopper 69 fixed to a tip end sandwiched between the abutment plate 65 and the large suction pad 57, the second stopper 69 abutting against the abutment plate 65.

[0091] The movable body 41 can move up and down, for example, by sliding along a rail extending in the vertical direction. That is, the small suction pad 63 fixed to the other end (tip end) of the inner pipe 47, one end (base end) of which is fixed to the movable body 41, moves up and down. Here, the outer pipe 55 is held on the outside of the inner pipe 47 with a constant holding force.

[0092] When the inner pipe 47 rises together with the movable body 41, the outer pipe 55, having the small suction pad 63 protruding from the large suction pad 57 at the lower end, is held by the inner pipe 47 and rises through the through hole of the abutment plate 65. At this time, the second stopper 69 provided at the tip of the outer pipe 55 gradually approaches the lower surface of the abutment plate 65. When the second stopper 69 abuts against the lower surface of the abutment plate 65, the outer pipe 55 is restricted from moving further upward.

[0093] On the other hand, when the movable body 41 is lowered from the state where the second stopper 69 is in contact with the lower surface of the contact plate 65, the inner pipe 47 is lowered. At this time, the outer pipe 55 held on the outside of the inner pipe 47 with a predetermined holding force is lowered without changing its relative position with respect to the inner pipe 47. In other words, the small suction pad 63 is lowered while remaining pulled into the suction chamber 59 of the large suction pad 57. Due to this descent, the first stopper 67 fixed to one end (base end) of the outer pipe 55 gradually approaches the upper surface of the contact plate 65. When the first stopper 67 is in contact with the upper surface of the contact plate 65, the outer pipe 55 is restricted from moving further downward.

[0094] In this way, in the suction hand 11, the first stopper 67 and the second stopper 69 are provided on the outer pipe 55 held by the inner pipe 47 with a predetermined holding force, and these are brought into contact with the abutment plate 65, making it possible to move the inner pipe 47 and the outer pipe 55 relatively. Therefore, the suction hand 11 can lift and lower the large suction pad 57 and the small suction pad 63 with a simple mechanism, only by the reciprocating movement of the movable body 41, without using a motor or the like.

[0095] Even when the suction hand 11 mechanically raises and lowers the large suction pad 57 and the small suction pad 63, the suction hand 11 can reduce the waiting time for the mechanical raising and lowering by raising and lowering the large suction pad 57 and the small suction pad 63 during the period from the end of placing a given target object 27 to the start of picking up the next target object 27. Therefore, it is possible to prevent a decrease in the efficiency of picking and placing the target object 27.

[0096] In the suction hand 11, the movable body 41 may be movable in a direction approaching the abutment plate 65 after the first stopper 67 contacts the abutment plate 65, and may be movable in a direction moving further away from the abutment plate 65 after the second stopper 69 contacts the abutment plate 65.

[0097] In this suction hand 11, when the movable body 41 is further moved upward by a distance D with the second stopper 69 in contact with the lower surface of the contact plate 65, only the inner pipe 47 is moved upward by the distance D relative to the outer pipe 55 whose upward movement is restricted. As a result, in the suction hand 11, the small suction pad 63 fixed to the other end (tip) of the inner pipe 47 is drawn into the suction chamber 59 of the large suction pad 57 through the suction opening 61 of the large suction pad 57.

[0098] On the other hand, when the movable body 41 is further moved downward by the distance D with the first stopper 67 in contact with the upper surface of the contact plate 65, only the inner pipe 47 is moved downward by the distance D while the outer pipe 55 is restricted from descending. As a result, in the suction hand 11, the small suction pad 63 fixed to the other end (tip) of the inner pipe 47 advances outward through the suction opening 61 of the large suction pad 57.

[0099] In this way, in the suction hand 11, the first stopper 67 and the second stopper 69 are provided on the outer pipe 55 held by the inner pipe 47 with a predetermined holding force, and these are brought into contact with the abutment plate 65, making it possible to move the inner pipe 47 and the outer pipe 55 relative to each other. Therefore, the suction hand 11 can achieve the forward and backward movement of the small suction pad 63 relative to the large suction pad 57 only by the reciprocating movement of the movable body 41, with a simple mechanism without using a motor or the like.

[0100] Even when the suction hand 11 mechanically moves the small suction pad 63 forward and backward relative to the large suction pad 57, the suction hand 11 moves up and down during the period from the end of placing a given target object 27 to the start of picking up the next target object 27, thereby reducing the time spent waiting for the mechanical lifting and lowering. This makes it possible to prevent a decrease in the efficiency of picking and placing the target object 27.

[0101] Furthermore, the suction hand 11 can adjust the unevenness of the small suction pad 63 relative to the large suction pad 57 by moving the small suction pad 63 forward and backward relative to the large suction pad 57. This allows the suction hand 11 to easily hold the object 27 in accordance with the size and shape of the gripping portion of the object 27. Furthermore, the unevenness of the small suction pad 63 relative to the large suction pad 57 can be adjusted in accordance with the gripping form of the suction hand 11, allowing the object 27 to be gripped stably.

[0102] Although the suction hand 11 is configured to allow the inner pipe 47 and the outer pipe 55 to move relatively by providing the contact plate 65, the first stopper 67, and the second stopper 69, other configurations may be used to allow the inner pipe 47 and the outer pipe 55 to move relatively. For example, the suction hand 11 may be configured to allow the inner pipe 47 and the outer pipe 55 to move relatively by driving the outer pipe 55 with a motor without providing the first stopper 67 and the second stopper 69. In this case, the suction hand 11 can move the small suction pad 63 forward and backward with respect to the large suction pad 57 at any lifting position. In this way, instead of providing the stoppers (the first stopper 67 and the second stopper 69), a separate drive system such as a motor may be provided to allow the inner pipe 47 and the outer pipe 55 to move relatively.

[0103] In addition, in the suction hand 11, a plurality of O-rings 53 may be provided spaced apart from each other in the axial direction of the inner pipe 47.

[0104] In this suction hand 11, a plurality of O-rings 53 may be provided between the inner pipe 47 and the outer pipe 55, spaced apart in the axial direction of the inner pipe 47. The arrangement of the plurality of O-rings 53 can be varied, for example, by arranging the O-rings 53 in multiple stages (for example, three stages) at each of two locations spaced apart in the axial direction of the inner pipe 47, resulting in a total of six stages.

[0105] In this case, of the total six stages of O-rings 53, only the bottom stage O-ring 53 needs to maintain airtightness, because it is possible to maintain the vacuum in the vacuum path 79. The other five stages of O-rings 53 need only be capable of maintaining the coaxiality of the inner pipe 47 and the outer pipe 55 and capable of sliding while maintaining a predetermined holding force (elastic restoring force).

[0106] In this manner, with a configuration in which the O-rings 53 are provided in multiple stages, the suction hand 11 can reduce rattling between the inner pipe 47 and the outer pipe 55 caused by the inertial force acting during high-speed horizontal (XY) movement, thereby suppressing lateral shaking of the object 27. Also, the suction hand 11 can easily maintain an appropriate distance between the outer pipe 55 and the inner pipe 47, making it difficult for the pipes to come into contact with each other, allowing the suction hand 11 to move up and down smoothly in the Z direction. Also, when the object 27 is heavy, it is easy to make the suction hand 11 resistant to the weight.

[0107] In addition, the small suction pads 63 of the suction hand 11 may be formed from a material that is more flexible than the large suction pads 57 .

[0108] In this suction hand 11, the small suction pad 63 may be formed of a material that is more flexible than the large suction pad 57. The highly flexible small suction pad 63 allows the suction opening 61 to easily deform into any shape following the deformation of the target object 27, making it particularly easy to suction bags (including pouches, etc.). As an example, the suction hand 11 may be configured such that the small suction pad 63 is used for bags and the large suction pad 57 is used for other purposes. In this configuration, the target object 27 may be easily shaken by making the small suction pad 63 flexible. In contrast, the suction hand 11 makes the large suction pad 57 hard and supports holding the target object 27 on the outside, so that the large suction pad 57 can be effectively used to suppress lateral shaking.

[0109] The robot device 13 according to the first embodiment includes the suction hand 11 and an orthogonal robot 43 as an example of a support device. The orthogonal robot 43 holds the suction hand 11 so as to be movable in three mutually orthogonal directions (e.g., X-direction, Y-direction, and Z-direction). For example, the orthogonal robot 43 may include a Z-axis rail 39 for moving the moving body 41, an X-axis rail 37 for moving the Z-axis rail 39 in a direction orthogonal to the Z-axis rail 39, and a Y-axis rail 35 for moving the X-axis rail 37 in a direction orthogonal to the X-axis rail 37 and the Z-axis rail 39.

[0110] In the robot device 13 according to the first embodiment, the suction hand 11 is moved by an Cartesian robot 43. The Cartesian robot 43 includes a moving body 41 that is moved along a Z-axis rail 39. One end of an inner pipe 47 is fixed to the moving body 41. That is, the inner pipe 47 is held in a direction along the Z-axis rail 39 and moved along the Z-axis rail 39.

[0111] This Z-axis rail 39 is translated along the X-axis rail 37 in a direction perpendicular to the Z-axis rail 39. Furthermore, the X-axis rail 37 is translated along the Y-axis rail 35 in a direction perpendicular to the X-axis rail 37 and the Z-axis rail 39. Therefore, the small suction pad 63 and the large suction pad 57 provided on the other ends of the inner pipe 47 and the outer pipe 55 held by the movable body 41 are movable up and down (Z direction), back and forth (X direction), and left and right (Y direction). Note that the connection relationship of the rails of the three axes is not limited to the above-mentioned connection relationship as long as they are movable in the above three directions.

[0112] The suction hand 11 is equipped with a small suction pad 63 in a large suction pad 57, and the small object 27 is sucked by the small suction pad 63 and the large object 27 is sucked by the large suction pad 57, so that high-speed sorting can be performed with a small mass and a small tip.

[0113] This enables the robot device 13 to pick up the object 27 sent from the upstream conveying device 19 and use a single vacuum path 79 to sort small objects 27 to large objects 27 in a short takt time while transferring them to the downstream conveying device 23, enabling pick-and-place.

[0114] Therefore, the suction hand 11 according to the first embodiment can hold various targets 27 without increasing in size. Also, the robot device 13 according to the first embodiment can change the size of the suction pad at the tip of the suction hand 11, so that the mass of the moving body 41 can be made smaller than when a tool changer is provided, and the tact time for sorting, etc. can be shortened.

[0115] As a result, the present disclosure includes at least the following items. Note that in parentheses, examples of components corresponding to the above-described embodiment are given, but the present disclosure is not limited to these.

[0116] (Item 1) An outer pipe (outer pipe 55); an inner pipe (inner pipe 47) having one end connected to a vacuum generator (vacuum generator 45) and provided inside the outer pipe; an annular elastic body (O-ring 53) whose outer diameter is in close contact with the inner diameter of the outer pipe and whose inner diameter is in close contact with the outer diameter of the inner pipe; a first suction pad (large suction pad 57) fixed to the outer pipe; a second suction pad (small suction pad 63) fixed to the other end of the inner pipe, arranged inside the first suction pad, and movable through a suction opening (suction opening 61) of the first suction pad; Suction hand (suction hand 11).

[0117] As a result, the suction hand can hold a larger object with the first suction pad, and a smaller object with the second suction pad. In addition, since the second suction pad can advance and retreat from the suction opening of the large suction pad, the suction hand can suck and hold various objects in a small space. In addition, the suction hand can maintain airtightness between the inner pipe and the outer pipe by providing a ring-shaped elastic body between the inner pipe and the outer pipe, and does not need to have a vacuum path for each of the first suction pad and the second suction pad. In addition, the suction hand can prevent the outer pipe from falling off the inner pipe due to the holding force of the ring-shaped elastic body. In this way, the suction hand can hold various objects without increasing the size of the suction hand.

[0118] (Item 2) The first suction pad further includes a flexible protrusion (protrusion 71) protruding from the inside thereof so as not to interfere with the outer diameter of the second suction pad. Item 1. The suction hand according to item 1.

[0119] This allows the suction hand to pick and place an object not only by suction but also by gripping (mechanically gripping) a predetermined portion of the object using the protrusions.

[0120] (Item 3) Further provided on the inside of the first suction pad is a member (metal member 75) to which the protrusion is fixed along the inner peripheral surface of the first suction pad, Item 2. The suction hand according to item 2.

[0121] This allows the suction hand to reinforce the protrusion with the above-mentioned member, thereby increasing the gripping force with which the suction hand grips a predetermined portion of an object.

[0122] (Item 4) The member includes a notch (notch 81). Item 3. The suction hand according to item 3.

[0123] As a result, even when the suction hand is gripping an object having an irregular shape other than a cylindrical shape, interference between the above-mentioned components and the object can be suppressed, and the types of objects that can be held can be increased.

[0124] (Item 5) A moving body (moving body 41) connected to the inner pipe; a fixed plate (contact plate 65) that is fixed to an end of the rail (Z-axis rail 39) on which the movable body moves and through which the outer pipe passes; a first stopper (first stopper 67) fixed to the outer pipe sandwiched between the movable body and the fixed plate; and a second stopper (second stopper 69) fixed to the outer pipe sandwiched between the fixing plate and the first suction pad. 5. The suction hand according to any one of items 1 to 4.

[0125] This allows the suction hand to mechanically move the inner pipe and the outer pipe relative to each other using the fixed plate, and therefore the suction hand can achieve movement of the first suction pad and the second suction pad with a simple mechanism, just by moving the moving body, without using a motor or the like.

[0126] (Item 6) The moving body is The first stopper is movable in a direction from contacting the fixed plate to approaching the fixed plate further, The second stopper is movable in a direction from contacting the fixed plate to moving further away from the fixed plate. Item 6. The suction hand according to item 5.

[0127] This allows the suction hand to achieve the forward and backward movement of the second suction pad relative to the first suction pad with a simple mechanism without using a motor or the like.

[0128] (Item 7) The annular elastic body is provided in a plurality of portions spaced apart from each other in the axial direction of the inner pipe. 7. The suction hand according to any one of items 1 to 6.

[0129] This allows the suction hand to minimize rattling between the inner pipe and the outer pipe caused by inertial forces acting during high-speed horizontal movement, and suppresses lateral shaking of the object. In addition, the suction hand can easily maintain an appropriate distance between the outer pipe and the inner pipe, making it difficult for the pipes to come into contact with each other, allowing the suction hand to rise and fall smoothly. In addition, when the object is heavy, it is easy to make the suction hand resistant to the weight.

[0130] (Item 8) The second suction pad is formed of a material having higher flexibility than the first suction pad. 8. The suction hand according to any one of items 1 to 7.

[0131] This enables the suction hand to easily suck up an object such as a bag by using the second suction pad, and by supporting the holding of the object by using the first suction pad, it is possible to suppress lateral shaking of the object.

[0132] (Item 9) The suction hand according to any one of items 1 to 8, and a support device (orthogonal robot 43) that holds the suction hand so as to be movable in three mutually orthogonal directions. Robotic device.

[0133] This allows the robot device to hold the suction hand so that it can move in any direction in space, and therefore the robot device can use a small suction hand capable of holding various objects to pick and place objects in a short takt time.

[0134] Although various embodiments have been described above with reference to the drawings, it goes without saying that the present disclosure is not limited to such examples. It is clear that a person skilled in the art can come up with various modified or amended examples within the scope of the claims, and it is understood that these also naturally belong to the technical scope of the present disclosure. In addition, the components in the above embodiments may be arbitrarily combined within the scope of the invention. [Industrial Applicability]

[0135] The present disclosure is useful for suction hands, robot devices, and the like that can hold various objects while preventing an increase in size. [Explanation of symbols]

[0136] 11 Suction hand 13 Robotic Device 27 Object 35 Y-axis rail 37 X-axis rail 39 Z-axis rail 41 Mobile 43 Cartesian Robot 45 Vacuum Generator 47 Inner pipe 53 O-ring 55 Outer pipe 57 Large suction pad 61 Suction opening 63 Small suction pad 65 Contact plate 67 First stopper 69 Second Stopper 71 Protrusion 75 Metallic materials 81 Notch

Claims

1. The outer pipe and an inner pipe, one end of which is connected to a vacuum generator and which is disposed inside the outer pipe; an annular elastic body whose outer diameter is closely fitted to the inner diameter of the outer pipe and whose inner diameter is closely fitted to the outer diameter of the inner pipe; a first suction pad fixed to the outer pipe; a second suction pad fixed to the other end of the inner pipe, disposed inside the first suction pad, and movable through a suction opening of the first suction pad; Suction hand.

2. The first suction pad further includes a flexible protrusion protruding from an inner side thereof so as not to interfere with an outer diameter of the second suction pad. The suction hand according to claim 1 .

3. The first suction pad further includes a member on an inner surface thereof, the member being fixed to the inner surface of the first suction pad along an inner peripheral surface of the first suction pad. The suction hand according to claim 2 .

4. The member includes a notch. The suction hand according to claim 3 .

5. A moving body connected to the inner pipe; a fixed plate fixed to an end of a rail along which the movable body moves and through which the outer pipe passes; a first stopper fixed to the outer pipe sandwiched between the movable body and the fixed plate; a second stopper fixed to the outer pipe sandwiched between the fixing plate and the first suction pad, The suction hand according to claim 1 .

6. The moving body is The first stopper is movable in a direction from contacting the fixed plate to approaching the fixed plate further, The second stopper is movable in a direction from contacting the fixed plate to moving further away from the fixed plate. The suction hand according to claim 5 .

7. The annular elastic body is provided in a plurality of portions spaced apart from each other in the axial direction of the inner pipe. The suction hand according to claim 1 .

8. The second suction pad is formed of a material having higher flexibility than the first suction pad. The suction hand according to claim 1 .

9. The suction hand according to any one of claims 1 to 8, a support device that holds the suction hand so as to be movable in three directions perpendicular to each other, Robot device.

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