Hand device

Abstract

To provide a hand device which can respond to articles of various dimensions and simplify a constitution.SOLUTION: A plurality of suction pads 20 are divided into a predetermined suction pads to form a plurality of suction face zones of first divisions and a plurality of suction face zones of second divisions. First channels 31a, 31b, 31c for the suction face zones of the first divisions and second channels 32a, 32b, 32c for the suction face zones of the second divisions are connected with ejectors 21 matching suction pads 20 included in both suction face zones of the suction face zones of the first divisions and the suction face zones of the second divisions. First suction switching parts 13a, 13b, 13c perform actions of air supply into and cutoff out of the ejectors 21 through the first channels 31a, 31b, 31c. Second suction switching parts 14a, 14b, 14c perform actions of air supply into and cutoff out of the ejectors 21 through the second channels 32a, 32b, 32c.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a hand device that adsorbs and holds an adsorption surface of an article.

Background Art

[0002] Conventionally, in a hand device used to adsorb and hold an adsorption surface such as the top surface of an article and move it from a transfer source to a transfer destination, as described in, for example, Patent Documents 1 and 2 below, a plurality of adsorption pads are used to form an adsorption surface for adsorbing the adsorption surface of the article, and there is one that enables the change of the adsorption area on the adsorption surface according to the dimensions of the adsorption surface of the article.

[0003] In the hand device described in Patent Document 1, an adsorption switching unit is connected to each adsorption pad, and by operating the adsorption switching unit corresponding to an arbitrary adsorption pad to enable the corresponding adsorption pad, the adsorption area of the adsorption surface can be freely changed.

[0004] Also, in the hand device described in Patent Document 2, a plurality of adsorption pads installed on the adsorption surface are partitioned to form adsorption zones, and the adsorption pads are operated in units of adsorption zones by operating the adsorption switching units connected to the adsorption pads in each adsorption zone. Then, by operating an arbitrary combination of adsorption zones, the adsorption area of the adsorption surface can be changed.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, in the structure described in Patent Document 1, since the adsorption pads can be individually controlled one by one, the adsorption area of the adsorption surface can be flexibly changed, making it easier to adapt to various shapes of the surface to be adsorbed. However, the number of adsorption switching parts required is equal to the number of adsorption pads, resulting in a larger structure and increased costs.

[0007] Also, in the structure described in Patent Document 2, if there are few variations in the combination of adsorption zones, the shape of the adsorption area may not match the surface to be adsorbed of the article. In this case, if there are adsorption pads within the adsorption area during operation that are not in contact with the surface to be adsorbed, air leakage will occur from these non - contacting adsorption pads, and the adsorption force of the adsorption zone including the adsorption pad with the leakage and the adsorption area including this adsorption zone will decrease.

[0008] The problem to be solved by the present invention is to provide a hand device that can accommodate articles of various dimensions and can simplify the configuration.

Means for Solving the Problem

[0009] The hand device of the present invention includes a plurality of adsorption pads that constitute an adsorption surface for adsorbing the surface to be adsorbed of an article, a vacuum generator connected to the adsorption pads to generate a vacuum, and an adsorption switching unit that performs a switching operation to supply and cut off air to the vacuum generator through a flow path connected to the vacuum generator. The plurality of adsorption pads are divided into a plurality of first - division adsorption surface zones for each predetermined number of adsorption pads, and at the same time, the plurality of adsorption pads are divided into a plurality of second - division adsorption surface zones different from the first division for each predetermined number of adsorption pads. For the vacuum generator corresponding to the adsorption pads included in both the first - division adsorption surface zone and the second - division adsorption surface zone, as the flow path, a first flow path for the first - division adsorption surface zone and a second flow path for the second - division adsorption surface zone are connected. The adsorption switching unit has a first adsorption switching unit connected to the first flow path and a second adsorption switching unit connected to the second flow path. The first adsorption switching unit and the second adsorption switching unit can perform switching operations independently according to the adsorption surface zone to be used.

Effect of the Invention

[0010] According to the present invention, it is possible to accommodate articles of various dimensions and simplify the configuration.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

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Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Embodiments for Carrying Out the Invention

[0012] Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. 1 to 7.

[0013] Fig. 1 shows a perspective view of the hand device 10, Fig. 2 shows an explanatory view of the flow path circuit of the hand device 10, and Figs. 3(a) and (b) show explanatory views of the suction surface zones of the first section and the second section of the suction surface of the hand device 10.

[0014] The hand device 10 is used for a transfer device that transfers an article from a transfer source to a transfer destination. The hand device 10 adsorbs and holds a suction surface such as the top surface of the article. When the transfer device includes a gantry-type moving mechanism having a horizontal moving arm that moves in the horizontal direction and a vertical moving arm that moves in a direction perpendicular to the horizontal moving arm, the hand device 10 is attached to the lower end side of the vertical moving arm. When the transfer mechanism includes an articulated robot, the hand device 10 is attached to the tip of the arm of the articulated robot.

[0015] The hand device 10 includes a suction body 11, a flow path 12, first suction switching parts 13a, 13b, 13c and second suction switching parts 14a, 14b, 14c as suction switching parts, and a check valve 15.

[0016] The suction body 11 includes a plurality of suction pads 20, ejectors 21 which are a plurality of vacuum generators respectively connected to the suction pads 20, a plurality of connection parts 22 respectively connecting the flow path 12 and the ejectors 21, and a mounting part 23 for mounting the plurality of suction pads 20.

[0017] The suction pad 20 is formed of an elastically deformable bellows pad made of, for example, rubber. The upper side of the suction pad 20 is attached to the mounting part 23 by a joint 25, and the plurality of suction pads 20 are arranged on the lower surface side of the mounting part 23. The lower surface side of the plurality of suction pads 20 is configured as a suction surface 26 that contacts and adsorbs the suction surface of the article.

[0018] On the mounting part 23, a plurality of suction pads 20 are arranged side by side in a first direction x along one side of the rectangular mounting part 23, and a plurality of suction pads 20 are arranged side by side in a second direction y intersecting the first direction x.

[0019] On the suction surface 26, as shown in Fig. 3(a), suction surface zones 27a, 27b, 27c of a first section in which a plurality of suction pads 20 are arranged side by side in the first direction x are provided in a plurality of rows in the second direction y. Also, as shown in Fig. 3(b), suction surface zones 28a, 28b, 28c of a second section in which a plurality of suction pads 20 are arranged side by side in the second direction y are provided in a plurality of rows in the first direction x.

[0020] In this embodiment, three suction pads 20 are arranged side by side both in the first direction x and the second direction y, and three suction surface zones 27a, 27b, 27c of the first section and three suction surface zones 28a, 28b, 28c of the second section are also provided, and a substantially square suction surface 26 is formed on the lower surface side of all the suction pads 20.

[0021] Note that the suction surface 26 is not limited to being substantially square. By varying the number and positions of the suction pads 20 arranged in each direction in the first direction x and the second direction y, and by varying the number of the suction surface zones 27a, 27b, 27c of the first section and the suction surface zones 28a, 28b, 28c of the second section, it may be formed in a non-regular shape other than a substantially rectangular or square shape.

[0022] The ejector 21 has its lower end connected to the suction pad 20 and its upper end connected to the connection part 22. The ejector 21 is, for example, an in-line type vacuum generator. It exhausts the compressed air, which is the air supplied from the connection part 22, from the circumferential surface of the ejector 21, and sucks the air inside the suction pad 20 by this exhaust pressure, so that the inside of the suction pad 20 becomes a vacuum and the article can be adsorbed in an adsorption state.

[0023] The connection part 22 is a joint. Its lower end is connected to the ejector 21, and the flow path 12 is connected to its upper end. To each connection part 22, a first flow path 31a, 31b, 31c for the suction surface zones 27a, 27b, 27c of the first section of the flow path 12 and a second flow path 32a, 32b, 32c for the suction surface zones 28a, 28b, 28c of the second section are connected via check valves 15 respectively.

[0024] Further, the flow path 12 includes first flow paths 31a, 31b, 31c and second flow paths 32a, 32b, 32c that connect the connection portions 22 of the respective adsorption pads 20 to the first adsorption switching portions 13a, 13b, 13c and the second adsorption switching portions 14a, 14b, 14c.

[0025] The first flow paths 31a, 31b, 31c are connected in parallel to the connection portions 22 of the adsorption pads 20 of the respective first-division adsorption surface zones 27a, 27b, 27c via check valves 15 for each of the first-division adsorption surface zones 27a, 27b, 27c, and are connected to the respective first adsorption switching portions 13a, 13b, 13c. Therefore, compressed air can be supplied from each of the first adsorption switching portions 13a, 13b, 13c to the connection portions 22 of the adsorption pads 20 of the respective first-division adsorption surface zones 27a, 27b, 27c through the respective first flow paths 31a, 31b, 31c and the respective check valves 15.

[0026] The second flow paths 32a, 32b, 32c are connected in parallel to the connection portions 22 of the adsorption pads 20 of the respective second-division adsorption surface zones 28a, 28b, 28c via check valves 15 for each of the second-division adsorption surface zones 28a, 28b, 28c, and are connected to the respective second adsorption switching portions 14a, 14b, 14c. Therefore, compressed air can be supplied from each of the second adsorption switching portions 14a, 14b, 14c to the connection portions 22 of the adsorption pads 20 of the respective second-division adsorption surface zones 28a, 28b, 28c through the respective second flow paths 32a, 32b, 32c and the respective check valves 15.

[0027] The flow path 12 includes a supply flow path 34 that connects the first adsorption switching portions 13a, 13b, 13c and the second adsorption switching portions 14a, 14b, 14c in parallel to a compressed air supply source 33 that supplies compressed air.

[0028] Flexible tubes or the like through which compressed air can flow are used for the respective flow paths 31a, 31b, 31c, 32a, 32b, 32c, 34.

[0029] Further, the check valve 15 is provided in the first flow paths 31a, 31b, 31c and the second flow paths 32a, 32b, 32c connected to each connection portion 22, and allows the flow of compressed air from any of the first flow paths 31a, 31b, 31c and the second flow paths 32a, 32b, 32c to the ejector 21 through the connection portion 22, and is configured such that compressed air does not flow backward from one of the first flow paths 31a, 31b, 31c and the second flow paths 32a, 32b, 32c to the other.

[0030] Also, the first adsorption switching portions 13a, 13b, 13c are constituted by electromagnetic valves. The first adsorption switching portions 13a, 13b, 13c are connected between the supply flow path 34 from the compressed air supply source 33 and the first flow paths 31a, 31b, 31c, and switch between a supply switching state in which the supply flow path 34 and the first flow paths 31a, 31b, 31c are communicated to supply compressed air to the first flow paths 31a, 31b, 31c, and a stop switching state in which the supply flow path 34 and the first flow paths 31a, 31b, 31c are blocked to stop the supply of compressed air to the first flow paths 31a, 31b, 31c.

[0031] Also, the second adsorption switching portions 14a, 14b, 14c are constituted by electromagnetic valves. The second adsorption switching portions 14a, 14b, 14c are connected between the supply flow path 34 from the compressed air supply source 33 and the second flow paths 32a, 32b, 32c, and switch between a supply switching state in which the supply flow path 34 and the second flow paths 32a, 32b, 32c are communicated to supply compressed air to the second flow paths 32a, 32b, 32c, and a stop switching state in which the supply flow path 34 and the second flow paths 32a, 32b, 32c are blocked to stop the supply of compressed air to the second flow paths 32a, 32b, 32c.

[0032] Next, the operation of the hand device 10 will be described.

[0033] FIG. 2 shows an example in which all the first adsorption switching parts 13a, 13b, 13c and the second adsorption switching parts 14a, 14b, 14c are switched to the state of supplying compressed air, and all the adsorption pads 20 are in the adsorption state. This corresponds to the case where the adsorption surface 26 is smaller than the dimension of the adsorption surface of the article, the adsorption surface 26 can be arranged within the adsorption surface of the article, and all the adsorption pads 20 can be brought into contact with the adsorption surface of the article for adsorption. In this case, the entire adsorption surface 26 becomes the adsorption area for adsorbing the adsorption surface of the article.

[0034] Also, FIGS. 4 to 7 each show an example in which the adsorption area A on the adsorption surface 26 is changed corresponding to various dimensions of the adsorption surface of the article. (a) of each figure is an explanatory view of the flow path 12, and (b) is an explanatory view of each adsorption surface zone 27a, 27b, 27c, 28a, 28b, 28c and the adsorption area A in the adsorption state of the adsorption surface 26. In (a) of each figure, the first flow paths 31a, 31b, 31c and the second flow paths 32a, 32b, 32c to which compressed air is supplied are shown by thick lines. Also, in (b) of each figure, the adsorption surface zones 27a, 27b, 27c of the first section, the adsorption surface zones 28a, 28b, 28c of the second section, and the adsorption area A are shown in order from the top. Further, each adsorption surface zone in which the adsorption pad 20 is in the adsorption state is shown by hatching, and the adsorption area A is shown by a dot pattern.

[0035] In FIG. 4, the first adsorption switching part 13a is switched to the state of supplying compressed air to the first flow path 31a. Through the first flow path 31a, compressed air is supplied from each connection part 22 of the adsorption surface zone 27a of the first section to each ejector 21, and each adsorption pad 20 of the adsorption surface zone 27a of the first section is in the adsorption state. In this case, the adsorption surface zone 27a of the first section becomes the adsorption area A on the adsorption surface 26.

[0036] In FIG. 5, the second adsorption switching section 14a is switched to a state of supplying compressed air to the second flow path 32a. Through the second flow path 32a, compressed air is supplied from each connection part 22 of the adsorption surface zone 28a in the second section to each ejector 21, and each adsorption pad 20 in the adsorption surface zone 28a in the second section becomes an adsorption state. In this case, the adsorption surface zone 28a in the second section becomes the adsorption area A on the adsorption surface 26.

[0037] In FIG. 6, the first adsorption switching section 13a is switched to a state of supplying compressed air to the first flow path 31a, and at the same time, the second adsorption switching section 14c is switched to a state of supplying compressed air to the second flow path 32c. Through the first flow path 31a and the second flow path 32c, compressed air is supplied from each connection part 22 of the adsorption surface zone 27a in the first section and the adsorption surface zone 28c in the second section to each ejector 21, and each adsorption pad 20 in the adsorption surface zone 27a in the first section and the adsorption surface zone 28c in the second section becomes an adsorption state. In this case, the adsorption surface zone 27a in the first section and the adsorption surface zone 28c in the second section become the adsorption area A on the adsorption surface 26.

[0038] In FIG. 7, the first adsorption switching sections 13a, 13c are switched to a state of supplying compressed air to the first flow paths 31a, 31c, and at the same time, the second adsorption switching section 14b is switched to a state of supplying compressed air. Through the first flow paths 31a, 31c and the second flow path 32b, compressed air is supplied from each connection part 22 of the adsorption surface zones 27a, 27c in the first section and the adsorption surface zone 28b in the second section to each ejector 21, and each adsorption pad 20 in the adsorption surface zones 27a, 27c in the first section and the adsorption surface zone 28b in the second section becomes an adsorption state. In this case, the adsorption surface zones 27a, 27c in the first section and the adsorption surface zone 28b in the second section become the adsorption area A on the adsorption surface 26.

[0039] Then, by arbitrarily combining the switching of the first adsorption switching units 13a, 13b, 13c and the switching of the second adsorption switching units 14a, 14b, 14c, the adsorption surface zones 27a, 27b, 27c of the first section and the adsorption surface zones 28a, 28b, 28c of the second section can be arbitrarily combined to diversely change the adsorption area A on the adsorption surface 26, enabling the adsorption surface to accommodate articles of various dimensions.

[0040] Thus, in the hand device 10 of the first embodiment, compared with the conventional operation of the adsorption pads in units of adsorption zones simply partitioning a plurality of adsorption pads, the variations in the adsorption area A on the adsorption surface 26 increase, enabling the adsorption surface to accommodate articles of various dimensions. As a result, all the adsorption pads 20 in the adsorption area A can easily contact the adsorption surface of the article, reducing the suction leak during adsorption and preventing a decrease in the adsorption force of the article.

[0041] Moreover, compared with the conventional method of individually controlling each adsorption pad one by one, the number of the adsorption switching units 13a, 13b, 13c, 14a, 14b, 14c can be made less than the number of the adsorption pads 20, simplifying the configuration and being excellent in terms of cost.

[0042] Next, a second embodiment is shown in FIG. 8.

[0043] Three adsorption pads 20 are respectively partitioned in the adsorption surface zones 27a, 27b, 27c of the first section connected to the first adsorption units 13a, 13b, 13c through the first flow paths 31a, 31b, 31c. Also, in the adsorption surface zones 28a, 28b, 28c of the second section connected to the second adsorption units 14a, 14b, 14c through the second flow paths 32a, 32b, 32c, the two lower adsorption pads 20 in FIG. 8(a) are partitioned in the adsorption surface zone 28a of the second section, and the two upper adsorption pads 20 in FIG. 8(a) are partitioned in the adsorption surface zones 28b, 28c of the second section.

[0044] In FIG. 8, the second adsorption switching units 14a, 14b, and 14c are switched to a state in which compressed air is supplied to the second flow paths 32a, 32b, and 32c. Through the second flow paths 32a, 32b, and 32c, compressed air is supplied from each connection portion 22 of the adsorption surface zones 28a, 28b, and 28c in the second section to each ejector 21, and the adsorption pads 20 in the adsorption surface zones 28a, 28b, and 28c in the second section are brought into an adsorption state. In this case, the adsorption pads 20 divided into the adsorption surface zones 28a, 28b, and 28c in each second section constitute the adsorption area A on the adsorption surface 26.

[0045] As described above, by arbitrarily setting the number and positions of the adsorption pads 20 divided into the adsorption surface zones 27a, 27b, and 27c in the first section and the adsorption surface zones 28a, 28b, and 28c in the second section, the variations in the adsorption area A on the adsorption surface 26 increase, and the adsorption surface can accommodate articles of various dimensions.

[0046] Next, a third embodiment will be described with reference to FIGS. 9 to 13.

[0047] As shown in FIG. 9, the hand device 10 includes an adsorbent 11 having a plurality of adsorption pads 20, an air flow path 12, and a plurality of adsorption switching units 40a, 40b, and 40c.

[0048] The adsorption switching units 40a, 40b, and 40c are connected to the connection portions 22 of the adsorption pads 20 in the adsorption surface zones 27a, 27b, and 27c in the first section via the first flow paths 31a, 31b, and 31c and check valves 15, and are switched to a first switching state in which the adsorption pads 20 are switched to an adsorption state by switching the supply of compressed air through the first flow paths 31a, 31b, and 31c and the check valves 15, a second switching state in which the adsorption pads 20 are switched to an adsorption state by switching the supply of compressed air through the second flow paths 32a, 32b, and 32c and the check valves 15, and a third switching state in which the supply of compressed air through the first flow paths 31a, 31b, and 31c and the second flow paths 32a, 32b, and 32c is blocked.

[0049] The suction switching parts 40a, 40b, and 40c use a closed center type three-position solenoid valve with two solenoids arranged at both ends. When one solenoid is energized, it switches to the first switching state. When the other solenoid is energized, it switches to the second switching state. When neither solenoid is energized, it switches to the third switching state.

[0050] The suction switching parts 40a, 40b, and 40c are connected to the connection part 22 of the suction pad 20 via the first flow paths 31a, 31b, 31c and the check valves 15 for each of the suction surface zones 27a, 27b, 27c in the first section, and are also connected to the connection part 22 of the suction pad 20 via the second flow paths 32a, 32b, 32c and the check valves 15 for each of the suction surface zones 28a, 28b, 28c in the second section, enabling switching among three positions. Specifically, the suction switching part 40a is connected to the connection part 22 of the suction pad 20 in the suction surface zone 27a of the first section via the first flow path 31a and the check valve 15, and is also connected to the connection part 22 of the suction pad 20 in the suction surface zone 28a of the second section via the second flow path 32a and the check valve 15, enabling switching among three positions. The suction switching part 40b is connected to the connection part 22 of the suction pad 20 in the suction surface zone 27b of the first section via the first flow path 31b and the check valve 15, and is also connected to the connection part 22 of the suction pad 20 in the suction surface zone 28b of the second section via the second flow path 32b and the check valve 15, enabling switching among three positions. The suction switching part 40c is connected to the connection part 22 of the suction pad 20 in the suction surface zone 27c of the first section via the first flow path 31c and the check valve 15, and is also connected to the connection part 22 of the suction pad 20 in the suction surface zone 28c of the second section via the second flow path 32c and the check valve 15, enabling switching among three positions.

[0051] Next, the operation of the hand device 10 of the third embodiment will be described.

[0052] FIG. 9 shows an example in which all the adsorption switching parts 40a, 40b, and 40c are switched to the state of supplying compressed air, and all the adsorption pads 20 are in the adsorption state. This corresponds to the case where the adsorption surface 26 is smaller than the dimension of the adsorption surface of the article, the adsorption surface 26 can be arranged within the adsorption surface of the article, and all the adsorption pads 20 can be brought into contact with the adsorption surface of the article for adsorption. In this case, the entire adsorption surface 26 becomes the adsorption area A for adsorbing the adsorption surface of the article.

[0053] Further, FIGS. 10 to 13 each show an example in which the adsorption area A on the adsorption surface 26 is changed corresponding to various dimensions of the adsorption surface of the article. (a) of each figure is an explanatory view of the flow path 12, and (b) is an explanatory view of each adsorption surface zone 27a, 27b, 27c, 28a, 28b, 28c and the adsorption area A in the adsorption state of the adsorption surface 26. In (a) of each figure, the first flow paths 31a, 31b, 31c and the second flow paths 32a, 32b, 32c to which compressed air is supplied are shown by thick lines. Also, in (b) of each figure, the adsorption surface zones 27a, 27b, 27c of the first section, the adsorption surface zones 28a, 28b, 28c of the second section, and the adsorption area A are shown in order from the top. Further, each adsorption surface zone in which the adsorption pad 20 is in the adsorption state is shown by oblique lines, and the adsorption area A is shown by a dot pattern.

[0054] In FIG. 10, the adsorption switching part 40a is switched to the state of supplying compressed air to the first flow path 31a. Through the first flow path 31a, compressed air is supplied from each connection part 22 of the adsorption surface zone 27a of the first section to each ejector 21, and each adsorption pad 20 of the adsorption surface zone 27a of the first section is in the adsorption state. In this case, the adsorption surface zone 27a of the first section becomes the adsorption area A on the adsorption surface 26.

[0055] In FIG. 11, the adsorption switching part 40a is switched to the state of supplying compressed air to the second flow path 32a. Through the second flow path 32a, compressed air is supplied from each connection part 22 of the adsorption surface zone 28a of the second section to each ejector 21, and each adsorption pad 20 of the adsorption surface zone 28a of the second section is in the adsorption state. In this case, the adsorption surface zone 28a of the second section becomes the adsorption area A on the adsorption surface 26.

[0056] In FIG. 12, the adsorption switching part 40a is switched to a state of supplying compressed air to the first flow path 31a, and the adsorption switching part 40c is switched to a state of supplying compressed air to the second flow path 32c. Through the first flow path 31a and the second flow path 32c, compressed air is supplied from each connection part 22 of the adsorption surface zone 27a in the first section and the adsorption surface zone 28c in the second section to each ejector 21, and each adsorption pad 20 of the adsorption surface zone 27a in the first section and the adsorption surface zone 28c in the second section is in an adsorption state. In this case, the adsorption surface zone 27a in the first section and the adsorption surface zone 28c in the second section become the adsorption area A on the adsorption surface 26.

[0057] At the connection part 22 of the adsorption pad 20 at the position where the adsorption surface zone 27a in the first section intersects with the adsorption surface zone 28c in the second section, since compressed air is supplied from both the first flow path 31a and the second flow path 32c, the adsorption force of the adsorption pad 20 may increase compared to the adsorption pads 20 at other positions.

[0058] In FIG. 13, the adsorption switching part 40a is switched to a state of supplying compressed air to the first flow path 31a, the adsorption switching part 40c is switched to a state of supplying compressed air to the first flow path 31c, and the adsorption switching part 40b is switched to a state of supplying compressed air to the second flow path 32b. Through the first flow paths 31a, 31c and the second flow path 32b, compressed air is supplied from each connection part 22 of the adsorption surface zones 27a, 27c in the first section and the adsorption surface zone 28b in the second section to each ejector 21, and each adsorption pad 20 of the adsorption surface zones 27a, 27c in the first section and the adsorption surface zone 28b in the second section is in an adsorption state. In this case, the adsorption surface zones 27a, 27c in the first section and the adsorption surface zone 28b in the second section become the adsorption area A on the adsorption surface 26.

[0059] At the connection part 22 of the adsorption pad 20 at the position where the adsorption surface zones 27a, 27c in the first section intersect with the adsorption surface zone 28b in the second section, since compressed air is supplied from both the first flow paths 31a, 31c and the second flow path 32b, the adsorption force of the adsorption pad 20 may increase compared to the adsorption pads 20 at other positions.

[0060] Then, by the switching combinations of the adsorption switching units 40a, 40b, and 40c, the adsorption surface zones 27a, 27b, 27c in the first section and the adsorption surface zones 28a, 28b, 28c in the second section can be arbitrarily combined to diversely change the adsorption area A on the adsorption surface 26, enabling the adsorption surface to accommodate articles of various dimensions.

[0061] Thus, in the hand device 10 of the second embodiment, compared with the conventional operation of the adsorption pads in units of adsorption zones simply partitioning a plurality of adsorption pads, the variations of the adsorption area A on the adsorption surface 26 increase, enabling the adsorption surface to accommodate articles of various dimensions. As a result, all the adsorption pads 20 in the adsorption area A can easily contact the adsorption surface of the article, reducing the suction leak during adsorption and preventing the decrease in the adsorption force of the article.

[0062] Moreover, compared with the conventional method of individually controlling each adsorption pad one by one, the number of the adsorption switching units 40a, 40b, 40c (the number of solenoid valves) can be reduced, simplifying the configuration and being excellent in terms of cost.

[0063] Note that the adsorption pads 20 are brought into the adsorption state by supplying compressed air from the compressed air supply source 33 to the ejector 21. However, the adsorption pads 20 may also be brought into the adsorption state by sucking the inside of the adsorption pads 20 by a suction device such as a vacuum pump.

[0064] Next, a fourth embodiment is shown in FIG. 14.

[0065] Three adsorption pads 20 are respectively partitioned in the adsorption surface zones 27a, 27b, 27c of the first section connected to the adsorption switching units 40a, 40b, 40c through the first flow paths 31a, 31b, 31c. Also, in the adsorption surface zones 28a, 28b, 28c of the second section connected to the adsorption switching units 40a, 40b, 40c through the second flow paths 32a, 32b, 32c, one adsorption pad 20 on the upper side in FIG. 14(a) is partitioned in the adsorption surface zone 28a of the second section, and two adsorption pads 20 on the upper side in FIG. 14(a) are partitioned in the adsorption surface zones 28b, 28c of the second section.

[0066] In FIG. 14, the adsorption switching units 40a, 40b, and 40c are switched to a state where compressed air is supplied to the second flow paths 32a, 32b, and 32c. Through the second flow paths 32a, 32b, and 32c, compressed air is supplied from each connection part 22 of the adsorption surface zones 28a, 28b, and 28c in the second section to each ejector 21, and each adsorption pad 20 in the adsorption surface zones 28a, 28b, and 28c in the second section is in an adsorption state. In this case, the adsorption area A on the adsorption surface 26 is constituted by the adsorption pads 20 divided into the adsorption surface zones 28a, 28b, and 28c in each second section.

[0067] In this way, by arbitrarily setting the number and positions of the adsorption pads 20 divided into the adsorption surface zones 27a, 27b, and 27c in the first section and the adsorption surface zones 28a, 28b, and 28c in the second section, the variations of the adsorption area A on the adsorption surface 26 increase, and the adsorbed surface can correspond to articles of various dimensions.

[0068] As described above, the embodiments of the present invention and their modified examples have been described, but various combinations of configurations, partial omissions, replacements, and changes are also possible.

Explanation of Reference Numerals

[0069] 10 Hand device 12 Flow path 13a, 13b, 13c First adsorption switching unit which is an adsorption switching unit 14a, 14b, 14c Second adsorption switching unit which is an adsorption switching unit 20 Adsorption pad 21 Ejector which is a vacuum generator 26 Adsorption surface 27a, 27b, 27c Adsorption surface zones in the first section 28a, 28b, 28c Adsorption surface zones in the second section 31a, 31b, 31c First flow path 32a, 32b, 32c Second flow path 40a, 40b, 40c Adsorption switching unit x First direction y second direction

Claims

1. A plurality of suction pads that constitute a suction surface for sucking the suction surface of an article; A vacuum generator connected to the suction pad for generating a vacuum; A suction switching unit that performs a switching operation for supplying and blocking air to the vacuum generator through a flow path connected to the vacuum generator; The plurality of suction pads are divided into a plurality of first divided suction surface zones for each predetermined number of suction pads, and the plurality of suction pads are divided into a plurality of second divided suction surface zones different from the first division for each predetermined number of suction pads, To the vacuum generator corresponding to the suction pads included in both the suction surface zones of the first divided suction surface zone and the second divided suction surface zone, as the flow path, a first flow path for the first divided suction surface zone and a second flow path for the second divided suction surface zone are connected, The suction switching unit includes a first suction switching unit connected to the first flow path and a second suction switching unit connected to the second flow path, The first suction switching unit and the second suction switching unit can perform switching operations independently according to the suction surface zone to be used A hand device characterized by this.

2. A plurality of suction pads that constitute a suction surface for sucking the suction surface of an article; A vacuum generator connected to the suction pad for generating a vacuum; A suction switching unit that performs a switching operation for supplying and blocking air to the vacuum generator through a flow path connected to the vacuum generator; The plurality of suction pads are divided into a plurality of first divided suction surface zones for each predetermined number of suction pads, and the plurality of suction pads are divided into a plurality of second divided suction surface zones different from the first division for each predetermined number of suction pads, The vacuum generator corresponding to the suction pads included in both the suction surface zones of the first section and the suction surface zone of the second section has, as the flow path, a first flow path for the suction surface zone of the first section and a second flow path for the suction surface zone of the second section connected thereto. The suction switching unit is switchable between a first switching state in which air is supplied to the first flow path, a second switching state in which air is supplied to the second flow path, and a third switching state in which air to the first flow path and the second flow path is blocked. A hand device characterized by the above.

3. The suction surface is composed of a plurality of the suction pads arranged side by side in a first direction of the suction surface and a second direction intersecting the first direction. The suction pads included in both the suction surface zones of the first section and the suction surface zone of the second section are included in the suction surface zone of the first section composed of the suction pads arranged in the first direction and the suction surface zone of the second section composed of the suction pads arranged in the second direction. The hand device according to claim 1 or 2, characterized by the above.

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