suction device

Abstract

The suction device 10 uses vacuum pressure to suction the object 300. The suction device 10 includes a base 14, a first suction pad 12 supported on the base, a plurality of second suction pads 16 arranged at intervals around a first axis Ax1 which is the axis of the first suction pad, and a plurality of arm units 20 supported on the base, each of the plurality of second suction pads being supported on the base via a respective one of the plurality of arm units, and the plurality of second suction pads being arranged such that a second axis Ax2 which is the axis of the second suction pad is inclined with respect to the first axis.

Description

[Technical Field]

[0001] The present disclosure relates to adsorption devices. [Background technology]

[0002] Japanese Patent Laid-Open Publication No. 10-70936 discloses a suction device that uses vacuum pressure to suction and hold watermelons. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-70936 Summary of the Invention [Problem to be solved by the invention]

[0004] A better adsorption device is needed.

[0005] The present disclosure aims to solve the above-mentioned problems. [Means for solving the problem]

[0006] An aspect of the present disclosure is an adsorption device that adsorbs an object to be adsorbed using vacuum pressure, comprising: a base portion; a first adsorption pad supported on the base portion; a plurality of second adsorption pads arranged at intervals around a first axis that is the axis of the first adsorption pad; and a plurality of arm portions supported on the base portion, wherein each of the plurality of second adsorption pads is supported on the base portion via each of the plurality of arm portions, and the plurality of second adsorption pads are arranged so that the second axis that is the axis of the second adsorption pad is inclined with respect to the first axis. [Effects of the Invention]

[0007] According to the present disclosure, a better adsorption device can be provided. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view of the adsorption device. [Figure 2] FIG. 2 is a vertical cross-sectional view of the adsorption device, with a portion thereof omitted. [Figure 3] FIG. 3 is an explanatory diagram of the operation of the suction device. [Figure 4] FIG. 4 is an explanatory diagram of the operation of the suction device. [Figure 5] FIG. 5 is an explanatory diagram of the operation of the suction device. [Figure 6] FIG. 6 is a perspective view of a suction device having a position adjustment unit according to a modified example, with a portion thereof omitted. [Figure 7] Fig. 7A is a partially omitted vertical cross-sectional view of the adsorption device of Fig. 6. Fig. 7B is a cross-sectional view taken along line VIIB-VIIB of Fig. 7A. DETAILED DESCRIPTION OF THE INVENTION

[0009] When using a suction device to harvest fruit such as apples from a tree, it is necessary to separate the fruit from the branch by, for example, twisting the fruit with a suction pad while the suction pad is attached to the fruit. When twisting the fruit with a suction pad, the suction pad itself may twist. If the rigidity of the suction pad is increased to prevent twisting of the suction pad itself, the suction pad will repel the fruit when it is brought into contact with the fruit, making it difficult for the suction pad to adsorb the fruit. Therefore, the suction pad must be set to an appropriate rigidity. The present disclosure can provide a suction device that can effectively twist an object to be adsorbed with the suction pad while the suction pad is attached to the object to be adsorbed.

[0010] FIG. 1 is a perspective view of the adsorption device 10. FIG. 2 is a partially omitted longitudinal sectional view of the adsorption device 10. FIGS. 3 to 5 are explanatory diagrams of the operation of the adsorption device 10. As shown in FIGS. 1 to 5, the adsorption device 10 adsorbs an object 300 by using vacuum pressure. As shown in FIG. 3, the object 300 has a spherical adsorption surface 302. The object 300 is, for example, an apple. In this case, the adsorption device 10 is used, for example, when harvesting apples grown on trees in a farm or the like. The object 300 is not limited to apples, but may also be pears, peaches, mandarin oranges, mangoes, tomatoes, etc. Furthermore, the object 300 is not limited to agricultural produce such as fruits.

[0011] As shown in FIG. 1, the suction device 10 is attached to, for example, a robot arm 200. The robot arm 200 is attached to, for example, an autonomously mobile robot (not shown). In this case, the object to be attracted 300, such as apples, can be harvested automatically. The robot arm 200 may also be attached to a mobile object operated by a person. In this case, the object to be attracted 300, such as apples, can be harvested semi-automatically.

[0012] The robot arm 200 has a robot arm body 202 and a flange portion 204. The robot arm body 202 is rotatable around a rotation axis Ax0 of the robot arm body 202. The flange portion 204 is provided at the tip of the robot arm body 202. The suction device 10 is attached to the flange portion 204.

[0013] As shown in FIGS. 1 and 2, the suction device 10 includes a first suction pad 12, a base portion 14, a plurality of second suction pads 16, a plurality of support portions 18, and a plurality of arm portions 20.

[0014] 2, the first suction pad 12 has a cylindrical shape. That is, the first suction pad 12 has an internal space 22. A first contact surface 24 that comes into contact with the object to be suctioned 300 is provided at one end (end in the X1 direction) of the first suction pad 12 in the axial direction (X direction).

[0015] The first suction pad 12 is configured to be elastically deformable. In other words, the first suction pad 12 is flexible. That is, the first suction pad 12 is formed from a flexible material. This prevents the first suction pad 12 from repelling the object to be attracted 300 when the first suction pad 12 comes into contact with a fruit (object to be attracted 300), such as an apple growing on a tree. That is, the first suction pad 12 can be brought into stable contact with the object to be attracted 300. The first suction pad 12 is made from any one of resin, synthetic rubber, natural rubber, and thermoplastic elastomer.

[0016] The first suction pad 12 is formed to be expandable and contractible along the axial direction of the first suction pad 12. The first suction pad 12 has a bellows shape that is bendable in the axial direction of the first suction pad 12. The first suction pad 12 is, for example, a 3.5-stage bellows. The number of stages of the first suction pad 12 can be set appropriately. The first suction pad 12 is not limited to a bellows shape, and may be, for example, a nozzle shape having a constant outer diameter and inner diameter over its entire length.

[0017] As shown in Figures 1 and 2, the base portion 14 has a base pipe portion 26 and a base body 28. The base pipe portion 26 includes a first support pipe portion 30 and a connecting pipe portion 34. The first support pipe portion 30 and the connecting pipe portion 34 are made of, for example, a metal material. This increases the rigidity of the base pipe portion 26. However, the material making up the base pipe portion 26 is not limited to a metal material.

[0018] The other end (the end in the X2 direction) of the first suction pad 12 is attached to one end of the first support pipe 30 (see FIG. 2). The other end of the first support pipe 30 is connected to one end of the connection pipe 34. The other end of the connection pipe 34 is attached to the flange 204 (see FIG. 1).

[0019] As shown in Fig. 2, the base tube portion 26 has a first suction flow path 36 therein. The first suction flow path 36 communicates with the internal space 22 of the first suction pad 12. As shown in Fig. 1, one end of a flexible first tube 38 is connected to the base tube portion 26. The other end of the first tube 38 is connected to, for example, a pump (vacuum pump) not shown. The pump can suck air present in the internal space 22 of the first suction pad 12 via the first suction flow path 36.

[0020] The base pipe portion 26 is disposed coaxially with the first suction pad 12. A first axis Ax1, which is the axis of the first suction pad 12, is offset from the rotation axis Ax0 of the robot arm main body 202. The first axis Ax1 may be positioned on an extension of the rotation axis Ax0 of the robot arm main body 202.

[0021] As shown in FIG. 2, the base body 28 is attached to the first support pipe portion 30. The base body 28 is formed in an annular shape. A through hole 40 is formed in the center of the base body 28. The first support pipe portion 30 is inserted into the through hole 40. The base body 28 is fixed to the first support pipe portion 30 by a nut member 42. The base body 28 has a tapered surface 44 whose diameter decreases in the X2 direction (the direction opposite to the first suction pad 12).

[0022] As shown in FIG. 1, the second suction pads 16 are arranged at intervals around the first axis Ax1. Specifically, the second suction pads 16 are arranged at equal intervals around the first axis Ax1. In this embodiment, the suction device 10 has three second suction pads 16. The number of second suction pads 16 is not limited to three, and may be two, four, or more. The second suction pads 16 are positioned in a direction perpendicular to the first axis Ax1 with respect to the first suction pad 12 (see FIG. 2). The first suction pad 12 is positioned centrally with respect to the second suction pads 16.

[0023] As shown in FIG. 2, the second suction pad 16 has a cylindrical shape. That is, the second suction pad 16 has an internal space 46. One axial end of the second suction pad 16 is provided with a second contact surface 48 that comes into contact with the object 300 to be suctioned. The second suction pad 16 is configured to be elastically deformable. In other words, the second suction pad 16 is flexible. That is, the second suction pad 16 is made of a soft material. The second suction pad 16 is made of any one of resin, synthetic rubber, natural rubber, and thermoplastic elastomer.

[0024] The second suction pad 16 is formed to be expandable and contractible along the axial direction of the second suction pad 16. The second suction pad 16 has a bellows shape that is bendable in the axial direction of the second suction pad 16. The second suction pad 16 is, for example, a 1.5-stage bellows. The number of stages of the second suction pad 16 can be set appropriately. The second suction pad 16 is not limited to a bellows shape, and may be, for example, a nozzle shape having a constant outer diameter and inner diameter over its entire length.

[0025] 2, in a side view from a direction perpendicular to the first axis Ax1, an extension line L1 of the first axis Ax1 and an extension line L2 of the second axis Ax2 intersect on the side opposite to the base portion 14 of the first suction pad 12 (the X1 direction). In a side view from a direction perpendicular to the first axis Ax1, an inclination angle θ of the second axis Ax2 with respect to the first axis Ax1 is an acute angle. The second contact surface 48 is inclined with respect to a plane perpendicular to the first axis Ax1.

[0026] The area of ​​the tip opening 50 of the first suction pad 12 is larger than the area of ​​the tip opening 52 of the second suction pad 16. This allows the suction force of the first suction pad 12 to be larger than the suction force of the second suction pad 16. The area of ​​the tip opening 50 of the first suction pad 12 may be the same as the area of ​​the tip opening 52 of the second suction pad 16. Alternatively, the area of ​​the tip opening 50 of the first suction pad 12 may be smaller than the area of ​​the tip opening 52 of the second suction pad 16.

[0027] The first suction pad 12 and the plurality of second suction pads 16 are arranged such that, when the object 300 has a spherical surface 302, the first suction pad 12 can come into contact with the surface 302 of the object 300 before the plurality of second suction pads 16 do (see FIGS. 3 and 4). In this embodiment, in the axial direction of the first suction pad 12, the first suction pad 12 protrudes in the X1 direction beyond a portion 54 of the second contact surface 48 that is located furthest in the X2 direction.

[0028] The support part 18 supports the second suction pad 16. The support part 18 has a second support pipe part 56, a buffer part 58, a valve member 60, and a joint 62. The other end of the second suction pad 16 is attached to one end of the second support pipe part 56.

[0029] The buffer portion 58 supports the second suction pad 16 so as to be movable in the axial direction of the second suction pad 16. The buffer portion 58 has a piston rod 64, a buffer body 66, a return spring 68, and a stopper member .

[0030] The piston rod 64 is formed in a tubular shape. One end of the piston rod 64 is connected to the other end of the second support pipe portion 56. A first annular protrusion 72 that protrudes radially outward is provided on the outer circumferential surface of the piston rod 64. The buffer body 66 is formed in a cylindrical shape. The piston rod 64 passes through a hole inside the buffer body 66. A second annular protrusion 74 that protrudes radially inward is provided on the inner circumferential surface of the buffer body 66.

[0031] The return spring 68 is interposed between the first protrusion 72 and the second protrusion 74. The return spring 68 is, for example, a coil spring. The return spring 68 biases the piston rod 64 toward the second suction pad 16.

[0032] The stopper member 70 is connected to the other end of the piston rod 64. The stopper member 70 comes into contact with the buffer body 66, thereby restricting the movement of the piston rod 64 relative to the buffer body 66 in the direction toward the second suction pad 16.

[0033] The support portion 18 has a second suction flow path 76 therein. The second suction flow path 76 includes holes in the second support tube portion 56, the piston rod 64, and the stopper member 70. The second suction flow path 76 communicates with the internal space 46 of the second suction pad 16. One end of a flexible second tube 78 is connected to the joint 62 of the support portion 18. The other end of the second tube 78 is connected to the aforementioned pump (not shown). The pump can suck air present in the internal space 46 of the second suction pad 16.

[0034] The valve member 60 is attached to the stopper member 70. The valve member 60 adjusts the flow rate of the second suction flow path 76. The valve member 60 can sufficiently reduce the flow rate of air flowing through the second suction flow path 76 when the tip opening 52 of the second suction pad 16 is not blocked by the object to be attracted 300. The joint 62 is attached to the valve member 60.

[0035] 1 and 2, the arm unit 20 is supported by the base unit 14. Each of the second suction pads 16 is supported by the base unit 14 via each of the arm units 20. The arm unit 20 connects the base unit 14 and the support unit 18. The arm unit 20 supports the second suction pad 16 so that the inclination angle θ of the second axis Ax2 with respect to the first axis Ax1 can be changed. This prevents the second suction pad 16 from separating from the object 300.

[0036] Furthermore, the arm portion 20 is formed to be elastically deformable. In this case, by elastically deforming the arm portion 20, the inclination angle θ of the second axis Ax2 with respect to the first axis Ax1 can be easily changed.

[0037] The arm portion 20 has a leaf spring 79. The leaf spring 79 is made of, for example, metal. However, the leaf spring 79 may also be made of resin. The leaf spring 79 extends in a rectangular shape. One end of the leaf spring 79 is fixed to the tapered surface 44 of the base body 28 by a bolt 80. A position adjustment portion 82 is provided at the other end of the leaf spring 79. The position adjustment portion 82 can adjust the position of the second suction pad 16 relative to the first suction pad 12. The position adjustment portion 82 can adjust the attachment position of the support portion 18 relative to the leaf spring 79 (arm portion 20).

[0038] The position adjustment portion 82 includes a mounting groove 84 formed in the leaf spring 79 and a fixing member 85. The mounting groove 84 extends along the arm portion 20. In other words, the mounting groove 84 extends along the longitudinal direction of the leaf spring 79. The mounting groove 84 opens to the other end of the leaf spring 79. The buffer body 66 is inserted into the mounting groove 84. The length of the mounting groove 84 along the longitudinal direction of the leaf spring 79 is greater than the outer diameter of the buffer body 66. Therefore, the mounting position of the buffer body 66 relative to the leaf spring 79 can be changed with the buffer body 66 inserted into the mounting groove 84.

[0039] The fixing member 85 includes a first nut member 86 and a second nut member 88. The first nut member 86 is fixed to one end of the buffer body 66. The second nut member 88 is screwed into a threaded portion (not shown) formed on the outer circumferential surface of the buffer body 66.

[0040] By fastening the second nut member 88 with the leaf spring 79 disposed between the first nut member 86 and the second nut member 88, the leaf spring 79 can be sandwiched between the first nut member 86 and the second nut member 88. This allows the support portion 18 to be fixed to the leaf spring 79.

[0041] In this embodiment, the flow path that sucks air from the internal space 22 of the first suction pad 12 and the internal space 46 of the second suction pad 16 are partially shared. That is, the first suction flow path 36 and the second suction flow path 76 are connected to each other via the first tube 38 and the second tube 78. In addition, the pump that sucks air from the internal space 22 of the first suction pad 12 and the pump that sucks air from the internal space 46 of the second suction pad 16 are shared.

[0042] The first suction flow path 36 and the second suction flow path 76 may be independent and not connected to each other. In this case, the pump that sucks air from the internal space 22 of the first suction pad 12 and the pump that sucks air from the internal space 46 of the second suction pad 16 are independent from each other. In this case, the valve member 60 does not need to be provided in the second suction flow path 76.

[0043] Next, a description will be given of the operation of the suction device 10. Here, the operation of harvesting an object to be sucked 300, which is fruit such as apples growing on a tree, using the suction device 10 will be described.

[0044] 3, the robot arm 200 (see FIG. 1) is moved so that the first suction pad 12 approaches the target object 300. That is, the robot arm 200 is moved in the X1 direction relative to the target object 300. In addition, a pump (not shown) is driven.

[0045] When the robot arm 200 is moved, the first contact surface 24 of the first suction pad 12 comes into contact with the spherical attracted surface 302 of the attracted object 300. In the suction device 10, the first suction pad 12 has an appropriate rigidity, and therefore, when the first suction pad 12 comes into contact with the attracted object 300, the attracted object 300 can be prevented from being repelled by the first suction pad 12. Therefore, the first contact surface 24 of the first suction pad 12 can be brought into stable contact with the attracted surface 302 of the attracted object 300.

[0046] When the first contact surface 24 of the first suction pad 12 comes into contact with the attracted surface 302 of the object 300, a negative pressure is created in the internal space 22 of the first suction pad 12. As a result, the first suction pad 12 is attracted to the attracted surface 302 of the object 300.

[0047] 4, when the first suction pad 12 is attached to the object 300, the first suction pad 12 contracts in the X2 direction. As a result, the object 300 is also drawn in in the X2 direction, and the second contact surfaces 48 of the multiple second suction pads 16 come into contact with the attached surface 302 of the object 300. In this case, because the first suction pad 12 adsorbs and holds the object 300, the object 300 can be prevented from being repelled by the multiple second suction pads 16 when the multiple second suction pads 16 come into contact with the object 300. This allows the second contact surfaces 48 of the multiple second suction pads 16 to stably come into contact with the attached surface 302 of the object 300.

[0048] When the second contact surface 48 of each of the plurality of second suction pads 16 comes into contact with the attracted surface 302 of the attracted object 300, the internal space 46 of each second suction pad 16 becomes negative pressure. As a result, the plurality of second suction pads 16 are attracted to the attracted surface 302 of the attracted object 300.

[0049] Furthermore, the piston rod 64 moves toward the buffer body 66 in the opposite direction from the second suction pad 16 while pressing the return spring 68. As a result, the elastic force of the return spring 68 presses the second contact surface 48 against the attracted surface 302, sealing the internal space 46 of the second suction pad 16. As a result, the second suction pad 16 more firmly adheres to the attracted object 300 (see FIG. 5).

[0050] In this embodiment, when the first suction pad 12 contracts and the piston rod 64 moves, the leaf spring 79 (arm portion 20) elastically deforms, thereby changing the inclination angle θ of the second axis Ax2 with respect to the first axis Ax1. This makes it possible to prevent the second suction pad 16 from separating from the object 300.

[0051] Thereafter, the movement of the robot arm 200 in the X1 direction is stopped. Next, the robot arm 200 is rotated around the rotation axis Ax0 of the robot arm 200. As a result, the first suction pad 12 and the plurality of second suction pads 16 can twist the attracted object 300, so that the fruit such as an apple that is the attracted object 300 can be separated from the branch (the branch on which the fruit is attached can be broken off).

[0052] According to this embodiment, the object 300 can be twisted by the first suction pad 12 and the plurality of second suction pads 16, which prevents torsional force from concentrating on the first suction pad 12. This prevents the first suction pad 12 itself from twisting. Therefore, with the first suction pad 12 and the plurality of second suction pads 16 attached to the object 300, the object 300 can be twisted well by the first suction pad 12 and the plurality of second suction pads 16. This makes it possible to provide a better suction device 10.

[0053] (Variation) Next, a position adjustment unit 82a according to a modified example will be described. Fig. 6 is a perspective view, with a portion omitted, of a suction device 10 having a position adjustment unit 82a according to a modified example. Fig. 7A is a longitudinal sectional view, with a portion omitted, of the suction device 10 of Fig. 6. Fig. 7B is a sectional view taken along line VIIB-VIIB of Fig. 7A.

[0054] As shown in FIGS. 6 to 7B, the position adjustment unit 82a has a holder 90, a locking plate 92, and a screw member 94. The holder 90 is fixed to the other end of the leaf spring 79, which is the arm unit 20. The holder 90 extends along the extension direction of the leaf spring 79. An insertion hole 96 is formed in the holder 90, into which the locking plate 92 can be inserted. The insertion hole 96 passes through the holder 90 in the extension direction of the holder 90.

[0055] As shown in FIG. 7B , the holder 90 has a pair of side walls 98 and a wall 100. The pair of side walls 98 and the wall 100 are integrally formed. The pair of side walls 98 protrude from both sides of the leaf spring 79 in the short direction in the thickness direction of the leaf spring 79. The pair of side walls 98 are integrally formed with the leaf spring 79. The pair of side walls 98 are arranged to face each other. The wall 100 is arranged to face the leaf spring 79. A slit 102 communicating with the insertion hole 96 is formed in the wall 100.

[0056] As shown in Figures 6 and 7A, the locking plate 92 is formed in a rectangular shape. One end of the locking plate 92 is inserted into the insertion hole 96 of the holder 90. A screw hole 104 into which a screw member 94 is screwed is formed at one end of the locking plate 92 (see Figure 7B). The other end of the locking plate 92 is fixed to the support part 18. A through-hole (not shown) is formed at the other end of the locking plate 92, through which the buffer body 66 is inserted. The other end of the locking plate 92 is fixed to the support part 18 by being clamped between a first nut member 86 and a second nut member 88.

[0057] The locking plate 92 and the holder 90 are fastened together by a screw member 94. That is, the locking plate 92 is inserted into the insertion hole 96 of the holder 90, and the screw member 94 is screwed into the screw hole 104. As a result, the wall portion 100 of the holder 90 is clamped between the locking plate 92 and the head of the screw member 94. The position adjustment unit 82a can adjust the attachment position of the support portion 18 relative to the arm portion 20 by adjusting the insertion length of the locking plate 92 into the insertion hole 96 of the holder 90. In other words, the position adjustment unit 82a can adjust the position of the second suction pad 16 relative to the first suction pad 12.

[0058] According to this modification, the same effect as that of the position adjustment section 82 described above can be achieved.

[0059] In this modification, a plurality of screw holes 104 may be formed in the locking plate 92. In this case, the plurality of screw holes 104 are arranged at intervals in the longitudinal direction of the locking plate 92.

[0060] This embodiment is not limited to the above-described configuration. The position adjustment unit 82 may have any configuration as long as it is capable of adjusting the attachment position of the support unit 18 relative to the arm unit 20. Therefore, the position adjustment unit 82 may be configured using a link mechanism, for example. The arm unit 20 is not limited to the leaf spring 79. The arm unit 20 may be a columnar elastic member. In this case, the elastic member may be made of, for example, a rubber material.

[0061] The following additional notes are further disclosed regarding the above embodiment.

[0062] (Appendix 1) The suction device (10) of the present disclosure is an suction device that uses vacuum pressure to suction an object to be suctioned (300), and comprises a base portion (14), a first suction pad (12) supported on the base portion, a plurality of second suction pads (16) arranged at intervals around a first axis (Ax1) that is the axis of the first suction pad, and a plurality of arm portions (20) supported on the base portion, wherein each of the plurality of second suction pads is supported on the base portion via each of the plurality of arm portions, and the plurality of second suction pads are arranged such that a second axis (Ax2) that is the axis of the second suction pad is inclined with respect to the first axis.

[0063] With this configuration, the object can be twisted by the first suction pad and the multiple second suction pads, preventing torsional force from concentrating on the first suction pad. This prevents the first suction pad itself from twisting. Therefore, with the first suction pad and the multiple second suction pads attached to the object, the object can be twisted effectively by the first suction pad and the multiple second suction pads. This provides a better suction device.

[0064] (Appendix 2) In the suction device described in Appendix 1, when viewed from the side from a direction perpendicular to the first axis, an extension line (L1) of the first axis and an extension line (L2) of the second axis may intersect on the side opposite the base portion of the first suction pad.

[0065] (Appendix 3) In the suction device described in Appendix 1 or 2, the first suction pad may be expandable and contractible in the axial direction of the first suction pad, and the first suction pad and the plurality of second suction pads may be arranged so that when the object to be suctioned has a spherical suction surface (302), the first suction pad can contact the suction surface of the object to be suctioned before the plurality of second suction pads.

[0066] With this configuration, the second suction pads can be brought into contact with the surface of the object to be attracted while the object is being held by suction with the first suction pads. This prevents the object from being repelled by the second suction pads when the second suction pads come into contact with the object. This allows the second suction pads to stably contact the surface of the object to be attracted.

[0067] (Appendix 4) In the suction device according to any one of Supplementary Notes 1 to 3, the area of ​​the tip opening (50) of the first suction pad may be larger than the area of ​​the tip opening (52) of each of the plurality of second suction pads.

[0068] According to this configuration, the suction force of the first suction pad can be made relatively large, so that the plurality of second suction pads can be brought into contact with the suction target surface of the suction target object in a more stable manner.

[0069] (Appendix 5) In the suction device described in Supplementary Note 1, each of the plurality of arm portions may support the second suction pad so that an inclination angle (θ) of the second axis with respect to the first axis can be changed.

[0070] With this configuration, the second suction pad can be prevented from separating from the object to be suctioned.

[0071] (Appendix 6) In the suction device according to Supplementary Note 5, each of the plurality of arm portions may be formed to be elastically deformable.

[0072] According to this configuration, the inclination angle of the second axis with respect to the first axis can be easily changed by elastically deforming the arm portion.

[0073] (Appendix 7) In the suction device according to Supplementary Note 6, each of the arm portions may have a leaf spring (79).

[0074] With this configuration, the arm portion can be elastically deformed with a simple configuration.

[0075] (Appendix 8) In the suction device described in any one of Supplementary Notes 1 to 7, each of the multiple arm portions may be provided with a position adjustment portion (82, 82a) for adjusting the position of the second suction pad relative to the first suction pad.

[0076] With this configuration, the position of the second suction pad relative to the first suction pad can be adjusted in accordance with the size, shape, etc. of the object to be suctioned.

[0077] (Appendix 9) The suction device described in Appendix 8 may further include a plurality of support portions (18) that support each of the plurality of second suction pads, and the position adjustment portion may be capable of adjusting the mounting position of the support portion relative to the arm portion.

[0078] According to this configuration, the position of the second suction pad relative to the first suction pad can be easily adjusted by adjusting the attachment position of the support portion relative to the arm portion.

[0079] (Appendix 10) In the suction device described in Appendix 9, the position adjustment part includes an attachment groove (84) formed in the arm part, and a fixing member (85) that fixes the support part to the arm part with the support part passing through the attachment groove, and the attachment groove may extend along the arm part so that the position of the support part relative to the arm part is changeable.

[0080] With this configuration, the attachment position of the support portion relative to the arm portion can be easily changed.

[0081] (Appendix 11) In the suction device described in any one of Appendices 1 to 10, the first suction pad and the plurality of second suction pads may be made of any of the following materials: resin, synthetic rubber, natural rubber, and thermoplastic elastomer.

[0082] Although the present disclosure has been described in detail, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible in these embodiments without departing from the gist of the present disclosure or the spirit of the present disclosure derived from the content of the claims and their equivalents. These embodiments can also be implemented in combination. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these. The same applies when numerical values ​​or mathematical expressions are used in the description of the above-described embodiments. [Explanation of symbols]

[0083] 10...suction device 12...first suction pad 14...Base portion 16...Second suction pad 18...Support part 20...Arm part 50, 52...Tip opening 79...Leaf spring 82, 82a... Position adjustment portion 84... Mounting groove 85...fixing member 300...object to be attracted 302…Adsorption surface Ax1…1st axis Ax2…Second axis L1, L2…Extension line θ… tilt angle

Claims

1. An adsorption device that adsorbs an object by utilizing vacuum pressure, A base portion and a first suction pad supported by the base portion; a plurality of second suction pads arranged at intervals around a first axis that is the axis of the first suction pad; a plurality of arms provided on the base; Equipped with each of the second suction pads is supported by the base portion via each of the arm portions; The plurality of second suction pads are arranged such that second axes, which are axes of the second suction pads, are inclined with respect to the first axis.

2. The adsorption device according to claim 1, When viewed from a side view perpendicular to the first axis, an extension line of the first axis and an extension line of the second axis intersect on the side opposite the base portion of the first suction pad.

3. The adsorption device according to claim 1, the first suction pad is extendable and contractible in an axial direction of the first suction pad, an adsorption device, wherein the first suction pad and the plurality of second suction pads are positioned such that, when the object to be adsorbed has a spherical adsorbed surface, the first suction pad can contact the adsorbed surface of the object to be adsorbed before the plurality of second suction pads.

4. The adsorption device according to claim 1, An adsorption device, wherein an area of ​​a tip opening of the first adsorption pad is larger than an area of ​​a tip opening of each of the plurality of second adsorption pads.

5. The adsorption device according to claim 1, a suction device, wherein each of the plurality of arm portions supports the second suction pad so that an inclination angle of the second axis with respect to the first axis can be changed;

6. The adsorption device according to claim 5, Each of the arm portions is formed to be elastically deformable.

7. The adsorption device according to claim 6, Each of the arm portions has a leaf spring.

8. The adsorption device according to claim 1, a position adjusting portion for adjusting the position of the second suction pad relative to the first suction pad, on each of the plurality of arm portions;

9. The adsorption device according to claim 8, further comprising a plurality of support portions that support the plurality of second suction pads, The position adjustment unit is capable of adjusting an attachment position of the support unit relative to the arm unit.

10. The adsorption device according to claim 9, The position adjustment unit a mounting groove formed in the arm portion; a fixing member that fixes the support portion to the arm portion in a state in which the support portion is passed through the mounting groove; Including, The attachment groove extends along the arm portion so that the position of the support portion relative to the arm portion can be changed.

11. The adsorption device according to claim 1, The suction device, wherein the first suction pad and the plurality of second suction pads are made of any one of resin, synthetic rubber, natural rubber, and thermoplastic elastomer.

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