Suction pad and article-holding device

Abstract

To provide a suction pad and an article-holding device capable of improving suction properties over articles.SOLUTION: A suction pad (1) comprises: a vacuum part (2) including one end (2a) to be connected to a pad attachment (102); a suction part (3) comprising a first suction part (3a), which is connected to the other end (2b) of the vacuum part (2) and increases in diameter outward from the vacuum part (2), and a second suction part (3b), which is folded back from the first suction part (3a) toward the pad attachment (102) side and increases in diameter outward from the first suction part (3a); and a shape maintenance part (4) for maintaining a shape of the second suction part (3b) when an article is not suction-held.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a suction pad and an article holding device. [Background technology]

[0002] In recent years, picking devices (transfer devices) have been used in factories, warehouses, etc., for example, to efficiently select and sort a large number of different items according to their shipping destinations. Such picking devices are equipped with suction pads for suctioning an item (object to be attracted), and are configured to transfer the item to a desired position while the item is attracted by the suction pad.

[0003] With regard to this type of suction pad, Patent Document 1 discloses a suction pad in which a contact portion that comes into contact with an article is provided with elastic petal-shaped portions separated by a plurality of recesses. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-89936 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, the above-mentioned conventional suction pads have room for improvement in terms of their ability to adsorb articles.

[0006] An object of the present disclosure is to provide a suction pad and an article holding device that can improve the suction performance for an article. [Means for solving the problem]

[0007] In order to solve the above problems, an suction pad according to one embodiment of the present disclosure is an suction pad that is attached to a pad mounting portion provided with a suction port of an article holding device that holds an article, and includes: a bellows-shaped suction portion having one end connected to the pad mounting portion; an suction portion connected to the other end of the suction portion opposite the one end and adsorbing to an article, the suction portion having a first suction portion connected to the other end of the suction portion and expanding in diameter as it moves away from the suction portion, and a second suction portion folded back from the first suction portion toward the pad mounting portion and expanding in diameter as it moves away from the first suction portion; and a shape retaining portion connected to the second suction portion side of the suction portion and arranged around the suction portion, which retains the shape of the second suction portion when the article is not being adsorbed.

[0008] Moreover, an item holding device according to one embodiment of the present disclosure is an item holding device having a pad mounting portion provided with a suction port, and is equipped with a suction pad comprising: a bellows-shaped suction portion having one end connected to the pad mounting portion; an suction portion connected to the other end of the suction portion opposite the one end and adapted to adsorb to an item, the suction portion having a first suction portion connected to the other end of the suction portion and expanding in diameter as it moves away from the suction portion, and a second suction portion folded back from the first suction portion toward the pad mounting portion and expanding in diameter as it moves away from the first suction portion; and a shape retaining portion connected to the second suction portion side of the suction portion and arranged around the suction portion, for retaining the shape of the second suction portion when the item is not being adsorbed. Effect of the Invention

[0009] According to one aspect of the present disclosure, a suction pad and an article holding device capable of improving suction performance for an article can be provided. [Brief description of the drawings]

[0010] [Figure 1] 1 is a perspective view showing an example of a configuration of a main part of a suction pad according to a first embodiment of the present disclosure and an article holding device using the same; [Diagram 2] FIG. 4 is a cut-away end view illustrating an example of a main configuration of the suction pad. [Diagram 3]11A and 11B are cross-sectional end views illustrating an example of the operation of the suction pad. [Figure 4] 11 is a cut end view illustrating another example of the operation of the suction pad. FIG. [Diagram 5] 11 is a cutaway end view illustrating a configuration example and an operation example of a main part of a suction pad and a pad attachment part according to a second embodiment of the present disclosure. FIG. [Figure 6] 6 is a cut-away end view illustrating a configuration example and an operation example of a main part of a modified example of the pad attachment portion shown in FIG. 5. [Figure 7] 11 is a cut-away end view illustrating an example of a main configuration of the suction pad according to Modifications 1 and 2. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] [Embodiment 1] A first embodiment of the present disclosure will be described below with reference to Figs. 1 to 4. In the following description, a suction pad and an article holding device according to the present disclosure will be described by way of example in which the suction pad and the article holding device are applied to a transfer device (picking device) such as a five-axis robot that transfers an article to a desired position. However, the following description is an example of the suction pad and the article holding device according to the present disclosure, and the technical scope of the present disclosure is not limited to the illustrated example.

[0012] (Configuration of the article holding device) First, a configuration example of the suction pad 1 of the present embodiment 1 will be described with reference to Fig. 1 and Fig. 2. Fig. 1 is a perspective view showing a configuration example of the main parts of the suction pad 1 according to the embodiment 1 of the present disclosure and an article holding device 100 using the same. Fig. 2 is a cut end view explaining the configuration example of the main parts of the suction pad 1.

[0013] As shown in Fig. 1, the article holding device 100 of the first embodiment includes a base 101 and a pad attachment portion 102. In addition, the article holding device 100 includes a plurality of, for example, three suction pads 1 as shown in Fig. 1. Each of the three suction pads 1 of the present disclosure is attached to the base 101 via the pad attachment portion 102. In addition, each of the three pad attachment portions 102 includes a suction port 102a for sucking air and a cylindrical attachment member 102b. In addition, the article holding device 100 includes a vacuum pump (not shown) and is configured to suck air from the suction port 102a.

[0014] The suction pad 1 is attached to the attachment member 102b by fitting a suction portion of the suction pad 1, which will be described later, into the outer peripheral surface of the attachment member 102b protruding from the surface of the pad attachment portion 102 opposite the base portion 101. In the article holding device 100, a vacuum is drawn from the suction port 102a corresponding to the suction pad 1 pressed against the article, whereby the suction pad 1 elastically deforms to suck and hold the article.

[0015] The base 101 constitutes the base of the picking head of the picking device. The base 101 has a hole 103a through which a tilt shaft provided in a tilt mechanism (not shown) is inserted, and a support part 103 for rotatably supporting the tilt shaft in the hole 103a is provided on the opposite side to the pad attachment part 102.

[0016] A rotation mechanism (not shown) having a rotation axis for rotating the picking head is connected to the base 101 via the tilt axis. The article holding device 100 includes the five-axis robot (five axes: XYZ direction axes + picking head rotation axis + picking head tilt axis), and is configured to appropriately pick up an article with at least one suction pad 1 by appropriately changing the positions of the three suction pads 1 with the five-axis robot, and further to hold and transfer the article.

[0017] (Adsorption pad configuration) 2, the suction pad 1 of the present embodiment 1 includes a suction section 2, a suction section 3, and a shape-retaining section 4. When the suction pad 1 is not suctioning an article (when the article is not being suctioned), the shape-retaining section 4 (described later) of the suction pad 1 is configured not to come into contact with the pad attachment section 102. In other words, in the suction pad 1, the shape-retaining section 4 is in a floating state with respect to the pad attachment section 102 when the article is not being suctioned.

[0018] (Configuration of suction part) The suction unit 2 is made of an elastically deformable resin material such as silicone resin. The suction unit 2 is formed, for example, in a bellows-shaped tube, and one ring-shaped end 2a is connected to the pad attachment unit 102. Specifically, as described above, in the suction unit 2, one end 2a is fitted from the outside to the outer circumferential surface of the attachment member 102b, whereby the suction unit 2 is connected to the pad attachment unit 102, and the suction pad 1 is attached to the pad attachment unit 102.

[0019] In the suction part 2, an opening 2c that is circular in plan view seen from the pad attachment part 102 side is formed at the other end 2b of the ring shape, which is opposite to the pad attachment part 102. The opening 2c serves as an air suction port for the suction pad 1.

[0020] (Configuration of the suction part) The suction part 3 is made of an elastically deformable resin material such as silicone resin, and is configured to be connected to the other end 2b of the suction part 2 opposite to the one end 2a. Specifically, as shown in Fig. 2, the suction part 3 has a first suction part 3a that is connected to the other end 2b of the suction part 2 and expands in diameter as it moves away from the suction part 2, and a second suction part 3b that is folded back from the first suction part 3a toward the pad attachment part 102 and expands in diameter as it moves away from the first suction part 3a.

[0021] In other words, the suction portion 3 is composed of a first suction portion 3a and a second suction portion 3b, and has a folded portion 3c that is folded back toward the pad attachment portion 102 at the lower end position of the suction pad 1, for example.

[0022] In the suction portion 3, both the first suction portion 3a and the second suction portion 3b are made of an elastically deformable material. The folded-back portion 3c is configured in a ring shape when an article is not being suctioned. On the other hand, when an article is being suctioned, the folded-back portion 3c is appropriately deformable from the ring shape in response to the elastic deformation of the first suction portion 3a and / or the elastic deformation of the second suction portion 3b (for example, see FIG. 4 below).

[0023] In the suction section 3, an opening 3d is formed at the end of the folded portion opposite to the pad attachment section 102. This opening 3d is sequentially connected to the opening 2c of the suction section 2 and the suction port 102a of the pad attachment section 102, so that an article can be sucked when the article is sucked.

[0024] (Configuration of shape retention part) The shape-retaining part 4 is made of, for example, the same material as the suction part 3. The shape-retaining part 4 is disposed around the suction part 2 and is configured to retain the shape of the second suction part 3b when the article is not being suctioned. The shape-retaining part 4 may be configured to have higher rigidity than the suction part 3.

[0025] Specifically, the shape-retaining portion 4 is made of, for example, the same elastically deformable resin material as the adsorption portion 3, such as silicone resin, and is formed integrally with the adsorption portion 3. As shown in FIG. 2, one end 4a of the shape-retaining portion 4 is connected to the second adsorption portion 3b side of the adsorption portion 3. The shape-retaining portion 4 is provided so that its diameter decreases with increasing distance from the second adsorption portion 3b. The other end 4b of the shape-retaining portion 4 is formed in a ring shape configured to have a predetermined thickness in order to impart higher rigidity to the shape-retaining portion 4 than the adsorption portion 3.

[0026] Moreover, in the shape-retaining part 4, the other end 4b, which is the tip part thereof, is disposed away from the pad attachment part 102 when an article is not being adsorbed. As a result, as described above, the shape-retaining part 4 is in a floating state without contacting the pad attachment part 102 when an article is not being adsorbed, and furthermore, the adsorption part 3 can more easily elastically deform in response to the article when the article is adsorbed.

[0027] In the above description, the shape-retaining part 4 is made of the same material as the adhesive part 3. However, the shape-retaining part 4 of the present disclosure is not limited in any way as long as it can retain the shape of the second adhesive part 3b when the article is not being adsorbed, and the shape-retaining part 4 may be made of a material different from that of the adhesive part 3. Specifically, the shape-retaining part 4 may be made of a member such as a metal material.

[0028] However, it is preferable to configure the shape-retaining part 4 to have a higher rigidity than the suction part 3, since the shape-retaining part 4 can reliably retain the shape of the suction part 3 in the initial shape exemplified in Fig. 2 when the suction part 3 is not suctioning an article. In other words, after the suction part 3 elastically deforms to suction an article, it releases the suction state of the article. In this case, the shape-retaining part 4 is preferable in that it can reliably restore the shape of the second suction part 3b, and therefore the shape of the suction part 3, to the shape before suction (initial shape) due to its higher rigidity than the suction part 3.

[0029] (Example of suction pad operation) Next, an operation example of the picking head equipped with the suction pad 1 of the present embodiment 1 will be specifically described with reference to Fig. 3 and Fig. 4. Fig. 3 is a cut end view illustrating an operation example of the suction pad 1. Fig. 4 is a cut end view illustrating another operation example of the suction pad 1.

[0030] As shown in Fig. 3, in the suction pad 1, the suction portion 3 suctions the rectangular parallelepiped object B1 such that the opening 3d of the suction portion 3 includes the upper surface of the rectangular parallelepiped object B1. In this case, in the suction portion 3, the first suction portion 3a and the second suction portion 3b elastically deform along the left and right side surfaces of the object B1 so as to come into close contact with the respective side surfaces. In the suction pad 1, the suction portion 3 suctions the object B1 by vacuuming through the opening 3d as shown by the arrow F1 in Fig. 3, and is able to pull the object B1 upward.

[0031] As shown in Fig. 4, in the suction pad 1, the suction part 3 suctions the rectangular parallelepiped object B2 so that the opening 3d of the suction part 3 includes the upper surface and the left side surface of the rectangular parallelepiped object B2. In this case, in the suction part 3, the first suction part 3a and the second suction part 3b elastically deform so as to adhere to the upper surface and the left side surface of the object B2 along the upper surface and the left side surface of the object B2. In the suction pad 1, the suction part 3 suctions the object B2 by vacuum drawing from the opening 3d, as shown by the arrow F2 in Fig. 4, and can pull the object B2 upward.

[0032] 4, the first suction portion 3a and the second suction portion 3b are attached to the upper surface and the left side surface of the article B2, so that the outer shape of the suction pad 1 is inclined with respect to the pad attachment portion 102. However, in the suction pad 1 of the present embodiment 1, the shape-retaining portion 4 is in a floating state with respect to the pad attachment portion 102, so that the other end 4b of the shape-retaining portion 4 is configured to be displaced in response to the elastic deformation of the suction portion 3, as shown by the diagonally downward arrow H in FIG. 4. Furthermore, this displacement of the shape-retaining portion 4 can be performed without impeding the elastic deformation of the suction portion 3 (i.e., the suction operation of the article B2).

[0033] In this way, the suction pad 1 has a larger suction surface due to the configuration of the suction part 3, and the contact area with the article B2 becomes wider, but it is more difficult to return to its original shape after elastic deformation. For this reason, the shape-retaining part 4 arranged around the suction part 2 is configured to pull the end of the second suction part 3b inward, and this pulling force acts as a restoring force, so that the suction part 3 easily returns to its original shape even if it is elastically deformed.

[0034] As described above, the suction pad 1 of the present embodiment 1 includes a bellows-shaped suction part 2 having one end 2a connected to the pad attachment part 102. The suction pad 1 also includes a suction part 3 that is connected to the other end 2b of the suction part 2 opposite to the one end 2a and adheres to an article, the suction part 3 including a first suction part 3a connected to the other end 2b of the suction part 2 and expanding in diameter as it moves away from the suction part 2, and a second suction part 3b folded back from the first suction part 3a toward the pad attachment part 102 and expanding in diameter as it moves away from the first suction part 3a. The suction pad 1 also includes a shape retaining part 4 that is connected to the second suction part 3b side of the suction part 3 and is disposed around the suction part 2, and that retains the shape of the second suction part 3b when the article is not being adsorbed. The article holding device 100 of the present embodiment 1 also includes the suction pad 1 and a pad attachment part 102 provided with a suction port 102a.

[0035] With the above configuration, in the suction pad 1 and the article holding device 100 of the present embodiment 1, the suction part 3 can easily elastically deform in response to an article and can easily adsorb the article, as shown in Figures 3 and 4. This allows the suction pad 1 and the article holding device 100 of the present embodiment 1 to have improved suction properties for the article.

[0036] Furthermore, in the suction pad 1 of the present embodiment 1, the shape maintaining portion 4 is in a floating state with respect to the pad attachment portion 102 when not adsorbing an article, so that the suction portion 3 can more easily elastically deform in response to the article when adsorbing the article, and can more easily adsorb the article. This allows the suction pad 1 of the present embodiment 1 to further improve its adsorption to the article.

[0037] Moreover, in the suction pad 1 of the present embodiment 1, the shape-retaining portion 4 is provided so as to decrease in diameter as it moves away from the second suction portion 3b, which makes it easy to miniaturize the shape-retaining portion 4 and, in turn, the configuration of the suction pad 1. Moreover, since the shape-retaining portion 4 has a shape with a decreased diameter as described above, the rigidity of the shape-retaining portion 4 itself can also be increased.

[0038] [Embodiment 2] A second embodiment of the present disclosure will be described below. For ease of explanation, the same reference numerals will be given to members having the same functions as those described in the first embodiment, and the description thereof will not be repeated.

[0039] 5 is a cut end view illustrating a configuration example and an operation example of the main parts of the suction pad 1 and the pad attachment part 102 according to the second embodiment of the present disclosure. In FIG. 5, the main difference between the first embodiment and the second embodiment is that a conductive ring 4c is provided at the other end 4b of the shape retaining part 4.

[0040] 5, in the suction pad 1 of the second embodiment, a ring 4c as a conductive member is provided on the other end 4b side of the shape retaining part 4. This ring 4c is configured to be detachable from the pad attachment part 102 in accordance with the displacement of the position of the shape retaining part 4 accompanying the elastic deformation of the suction part 3, as will be described later.

[0041] In the article holding device 100 of the second embodiment, a detection member 102c is provided on the surface of the pad attachment portion 102 on the suction pad 1 side. The detection member 102c is made of a conductive material, such as a copper wire, that can be electrically connected to the ring 4c.

[0042] Further, a detector (not shown) that detects, for example, a resistance value is connected to the detection member 102c. Furthermore, in the article holding device 100 of the second embodiment, a control unit (not shown) is provided for the detector. The control unit is configured to be able to detect whether or not the shape maintaining part 4 has come into contact with the detection member 102c by detecting a change in the resistance value from the detector.

[0043] Specifically, when an article is not being adsorbed, as shown in Fig. 2, the shape maintaining portion 4 is in a floating state with respect to the pad attachment portion 102. In this case, the ring 4c is not in contact with the detection member 102c. For this reason, in the article holding device 100 of the second embodiment, the control portion detects that the detection result of the detector has not changed from a predetermined initial value. Then, in the pad attachment portion 102 of the second embodiment, the control portion determines, based on the detection result, that the ring 4c and the detection member 102c are not in contact with each other, and is thereby able to determine that the suction pad 1 is not adsorbing an article.

[0044] Furthermore, in the item holding device 100 of this embodiment 2, when the control unit determines that an item is not being adsorbed, the control unit can operate the base 101 so that the suction pad 1 can adsorb the item.

[0045] On the other hand, when an article is adsorbed, for example, the second suction portion 3b exerts a force to pull the upper surface of the article B3 upward, as shown in Fig. 5. As a result, in the suction pad 1, the suction portion 3 adsorbs the article B3 by vacuuming the opening 3d, and the article B3 can be pulled upward. In this case, as shown in Fig. 5, the shape-retaining portion 4 is displaced toward the pad attachment portion 102 in response to the upward elastic deformation of the suction portion 3, and the ring 4c comes into contact with the detection member 102c, for example, at the points indicated by T1 and T2 in Fig. 5.

[0046] As a result, in the article holding device 100 of the second embodiment, the control unit detects that the detection result of the detector has changed from a predetermined initial value. In other words, the control unit detects that the resistance value detected by the detector changes from its initial value when the ring 4c comes into contact with the detection member 102c. Then, in the article holding device 100 of the second embodiment, the control unit can determine that the ring 4c and the detection member 102c are in contact with each other based on the detection result, and can determine that the suction pad 1 is suctioning an article.

[0047] Furthermore, in the article holding device 100 of the second embodiment, the control unit stops the operation of the base 101, thereby stopping, for example, the lifting operation of the suction pad 1 to approach the article. Furthermore, since the control unit determines that the suction pad 1 is adsorbing the article, it starts drawing a vacuum from the suction port 102a, allowing the suction pad 1 to start adsorbing the article.

[0048] With the above configuration, the second embodiment provides the same effects as the first embodiment.

[0049] In addition, in the suction pad 1 of the second embodiment, the shape maintaining part 4 is provided with a detachable ring 4c on the pad attachment part 102, so that it becomes possible to detect whether the suction part 3 has come into contact with an article. This makes it possible to accurately determine whether the suction part 3 has adsorbed an article.

[0050] In the article holding device 100 of the second embodiment, the pad attachment portion 102 is provided with a detection member 102c for detecting contact of the shape maintaining portion 4, so that it is possible to detect displacement of the shape maintaining portion 4 so as to come into contact, and to detect whether the suction portion 3 has come into contact with an article. This allows for accurate determination of whether the suction portion 3 has adsorbed an article.

[0051] As described above, in the second embodiment, the shape maintaining portion 4 changes its position in response to the elastic deformation of the suction portion 3, and this shape maintaining portion 4 is made to function as an indirect contact detection means for the suction pad 1 with the article. As a result, in the second embodiment, a low-cost article holding device 100, and therefore a low-cost picking device, can be easily configured, compared to a case in which an imaging means such as a camera is installed to detect the contact of the suction pad 1 with the article.

[0052] Furthermore, in the item holding device 100 of this embodiment 2, after it is determined that the suction pad 1 has come into contact with an item, the operation of the pad mounting portion 102 (i.e., the picking head) is stopped, thereby making it possible to prevent excessive contact of the suction pad 1 with the item and also to prevent damage to the item due to excessive contact.

[0053] However, depending on the shape and material of the article, the suction pad 1 may be moved a predetermined distance (e.g., about several mm) toward the article after it is determined that the suction pad 1 has come into contact with the article. In this case, the suction performance of the suction pad 1 to the article can be improved, and relatively heavy articles can be easily transferred.

[0054] In addition to the above description, the presence or absence of contact between the detection member 102c and the ring 4c may be detected using, for example, a change in an electrical characteristic other than a change in resistance value, such as a change in the value of the power (voltage value and / or current value) supplied to the detection member 102c or a change in the dielectric constant of the detection member 102c.

[0055] In addition to the above description, for example, a detection member that detects the proximity of the shape retaining part 4 using an electromagnetic method may be provided on the pad attachment part 102. Also, a sensor element such as a proximity sensor or a pressure sensor may be installed on the pad attachment part 102 as a detection member.

[0056] [Modification of the second embodiment] A modified example of the second embodiment of the present disclosure will be described below. For ease of explanation, the same reference numerals will be given to members having the same functions as those described in the second embodiment, and the explanations thereof will not be repeated.

[0057] Fig. 6 is a cutaway end view illustrating a configuration example and an operation example of a main part of a modified example of the pad attachment part 102 shown in Fig. 5. In Fig. 6, the main difference between the modified example of the present embodiment 2 and the embodiment 2 is that a side detection member 102d that detects the lateral displacement of the suction pad 1 is provided.

[0058] As shown in Fig. 6, in the article holding device 100 of this modified example, a cylindrical side detection member 102d is provided on the pad mounting portion 102. Like the detection member 102c, this side detection member 102d is made of a conductive material, such as a copper wire, that is electrically conductive with the ring 4c. Like the mounting member 102b, the side detection member 102d is provided so as to protrude on the side opposite to the base portion and is configured to contact the outer circumferential surface of the suction portion 2. And, in the article holding device 100 of this modified example, as shown in Fig. 6, it is possible to detect, for example, that the suction pad 1 has come into contact with a side wall of a container that contains an article.

[0059] Specifically, when the suction pad 1 comes into contact with the side wall of the container, a force acts on the suction pad 1 from the side wall, as shown by arrow F3 in Fig. 6, causing the suction pad 1 to elastically deform. In other words, the suction pad 1 elastically deforms in a lateral direction perpendicular to the vertical direction, which is the attachment direction to the pad attachment portion 102, that is, in the left-right direction on the paper surface of the drawing. As a result, in the suction pad 1, the shape maintaining portion 4 is displaced as shown by arrow F4 in Fig. 6 in conjunction with the elastic deformation in the left-right direction, and the ring 4c comes into contact with the side detection member 102d. As a result, in the article holding device 100 of this modified example, the control portion can determine that the suction pad 1 has come into contact with the side wall or the like before the suction portion 3 adsorbs the article.

[0060] Furthermore, in the article holding device 100 of this modified example, the control unit determines that an abnormal operation has occurred when it determines that the suction pad 1 has come into contact with the side wall, etc. Then, in the article holding device 100 of this modified example, the control unit can easily notify an occurrence of the abnormal operation on a display unit (not shown) or the like, stop the operation of the article holding device 100 (picking device), or continue the suction operation of the article holding device 100 (picking device) by the suction pad 1 without stopping the operation of the article holding device 100 (picking device).

[0061] [Modifications of the suction pad] The following describes modified examples of the suction pad 1 of the present disclosure. For ease of explanation, the same reference numerals are given to members having the same functions as those described in the first embodiment, and the explanation thereof will not be repeated.

[0062] Fig. 7 is a cutaway end view for explaining an example of the essential configuration of the suction pads 11 and 21 according to Modifications 1 and 2. In 101 of Fig. 7, the main difference between Modification 1 and Embodiment 1 is that the protruding dimension of the shape retaining portion 14 toward the pad attachment portion 102 is reduced. In 102 of Fig. 7, the main difference between Modification 2 and Embodiment 1 is that only the end portion 24a of the second suction portion 3b is provided in the shape retaining portion 24.

[0063] 7, in the suction pad 11 of the first modification, one end 14a of the shape-retaining portion 14 is connected to the second suction portion 3b side of the suction portion 3. The shape-retaining portion 14 is provided so as to decrease in diameter as it moves away from the second suction portion 3b, and the other end 14b is formed in a ring shape configured to have a predetermined thickness in order to impart higher rigidity to the shape-retaining portion 14 than the suction portion 3.

[0064] Furthermore, in the suction pad 11 of the first modification, the shape-retaining portion 14 is different from that in the first embodiment in that the dimension in the vertical direction is about half the dimension in the vertical direction of the suction portion 2. In this manner, in the suction pad 11 of the first modification, the dimension of the shape-retaining portion 14 is set short, so that it is possible to suppress inhibition of elastic deformation in the suction portion 3 due to contact with the pad attachment portion 102.

[0065] 7, in the suction pad 21 of the second modification, the shape-retaining portion 24 does not decrease in diameter as it moves away from the second suction portion 3b, and the end portion 24a is connected to the second suction portion 3b side of the suction portion 3. The end portion 24a is formed in a ring shape configured to have a predetermined thickness in order to impart higher rigidity to the shape-retaining portion 24 than the suction portion 3.

[0066] Furthermore, in the suction pad 21 of the second modification, the shape maintaining portion 24 is formed only by the end portion 24a that connects the ends of the second suction portions 3b, so that the structure of the suction pad 21 can be simplified.

[0067] 〔summary〕 The suction pad of a first aspect of the present disclosure is an suction pad that is attached to a pad mounting portion provided with a suction port of an article holding device that holds an article, and comprises: a bellows-shaped suction portion having one end connected to the pad mounting portion; an suction portion connected to the other end of the suction portion opposite the one end and adsorbing to an article, the suction portion having a first suction portion connected to the other end of the suction portion and expanding in diameter as it moves away from the suction portion, and a second suction portion folded back from the first suction portion toward the pad mounting portion and expanding in diameter as it moves away from the first suction portion; and a shape retaining portion connected to the second suction portion side of the suction portion and arranged around the suction portion, which retains the shape of the second suction portion when the article is not being adsorbed.

[0068] According to the above configuration, the suction portion having the first suction portion and the second suction portion is provided to the suction port of the article holding device. In addition, since the shape retention portion retains the shape of the second suction portion when the article is not being suctioned, the suction portion can easily elastically deform in response to the article and easily suction the article. This improves the suction ability to the article.

[0069] A second aspect of the present disclosure is the suction pad of the first aspect, wherein the shape-retaining portion may be disposed spaced apart from the pad attachment portion when the article is not being suctioned.

[0070] According to the above configuration, the shape-retaining portion is in a floating state with respect to the pad attachment portion when the article is not being adsorbed, so that the adsorption portion can more easily elastically deform in response to the article when the article is adsorbed, and can more easily adsorb the article. This can further improve the adsorption ability to the article.

[0071] A third aspect of the present disclosure is the suction pad of the first or second aspect, wherein the shape-retaining portion may be provided so as to decrease in diameter as it moves away from the second suction portion.

[0072] According to the above-described configuration, the shape maintaining portion, and therefore the suction pad configuration, can be easily reduced in size.

[0073] A fourth aspect of the present disclosure is the suction pad according to any one of the first to third aspects, wherein the shape-retaining portion may have a higher rigidity than the suction portion.

[0074] According to the above configuration, since the rigidity of the shape maintaining portion is higher than the rigidity of the suction portion, the shape maintaining portion can reliably hold the suction portion when the suction portion is not suctioning an article.

[0075] A fifth aspect of the present disclosure is the suction pad according to any one of the first to fourth aspects, wherein the shape-retaining portion may be provided with a detachable conductive member at the pad attachment portion.

[0076] According to the above configuration, by using the conductive member, it becomes possible to detect whether or not the suction part has come into contact with an article, thereby making it possible to accurately determine whether or not the suction part has attracted the article.

[0077] An article holding device of a sixth aspect of the present disclosure is an article holding device having a pad mounting portion provided with a suction port, and is equipped with a suction pad comprising: a bellows-shaped suction portion having one end connected to the pad mounting portion; an suction portion connected to the other end of the suction portion opposite the one end and adapted to adsorb to an article, the suction portion having a first suction portion connected to the other end of the suction portion and expanding in diameter as it moves away from the suction portion, and a second suction portion folded back from the first suction portion toward the pad mounting portion and expanding in diameter as it moves away from the first suction portion; and a shape retaining portion connected to the second suction portion side of the suction portion and arranged around the suction portion, for retaining the shape of the second suction portion when the article is not being adsorbed.

[0078] According to the above configuration, an article holding device can be configured that can improve the adsorptive properties for articles.

[0079] A seventh aspect of the present disclosure is the article holding device of the sixth aspect, wherein the pad attachment portion may be provided with a detection member that detects the proximity or contact of the shape maintaining portion.

[0080] According to the above-mentioned configuration, the detection member can detect the displacement of the shape-retaining part so as to approach or come into contact with the object, and can detect whether the suction part has come into contact with the object. This makes it possible to accurately determine whether the suction part has adsorbed the object.

[0081] The present disclosure is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Configurations obtained by appropriately combining the technical means disclosed in the embodiments are also included in the technical scope of the present disclosure. [Explanation of symbols]

[0082] 1, 11, 21 Suction pad 2 Suction part 2a one end 2b other end 3 Adsorption part 3a 1st suction part 3b 2nd suction part 4 Shape retention part 4c Ring (conductive material) 100 Article holding device 102 Pad mounting part 102a Suction port 102c Detection member

Claims

1. A suction pad attached to a pad attachment part provided with a suction port of an article holding device for holding an article, a bellows-shaped suction part, one end of which is connected to the pad attachment part; an suction portion connected to the other end of the suction portion opposite to the one end and adapted to suction an article, the suction portion having a first suction portion connected to the other end of the suction portion and increasing in diameter as it moves away from the suction portion, and a second suction portion folded back from the first suction portion toward the pad attachment portion and increasing in diameter as it moves away from the first suction portion; a shape retaining portion connected to the second suction portion side of the suction portion and disposed around the suction portion, the shape retaining portion retaining the shape of the second suction portion when the article is not being suctioned; The suction pad comprises:

2. The suction pad according to claim 1 , wherein the shape maintaining portion is disposed away from the pad attachment portion when the article is not being suctioned.

3. The suction pad according to claim 1 , wherein the shape-retaining portion is configured to decrease in diameter as it moves away from the second suction portion.

4. The suction pad according to claim 1 , wherein the shape-retaining portion has a higher rigidity than the suction portion.

5. The suction pad according to claim 1 , wherein the shape-retaining portion is provided with a detachable conductive member at the pad attachment portion.

6. An article holding device having a pad attachment part provided with a suction port, a bellows-shaped suction part, one end of which is connected to the pad attachment part; an suction portion connected to the other end of the suction portion opposite to the one end and adapted to suction an article, the suction portion having a first suction portion connected to the other end of the suction portion and increasing in diameter as it moves away from the suction portion, and a second suction portion folded back from the first suction portion toward the pad attachment portion and increasing in diameter as it moves away from the first suction portion; a shape retaining portion connected to the second suction portion side of the suction portion and arranged around the suction portion, the shape retaining portion retaining the shape of the second suction portion when the article is not being suctioned. An article holding device comprising:

7. The article holding device according to claim 6, wherein a detection member is provided in the pad attachment portion for detecting the proximity or contact of the shape maintaining portion.

Images