suction device

Abstract

An adsorption device capable of suitably adsorbing an object to be adsorbed is provided. [Solution] The suction device 10 is an suction device that uses vacuum pressure to suction an object to be suctioned, and is equipped with a first suction pad 12 and a second suction pad 14 arranged inside the first suction pad 12, and when the object to be suctioned is not in contact with either the first suction pad 12 or the second suction pad 14, the tip 30 of the second suction pad 14 protrudes further than the tip 20 of the first suction pad 12.

Description

[Technical Field]

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

[0002] Japanese Patent Laid-Open Publication No. 11-165708 discloses an adsorption holder that uses vacuum pressure to adsorb and hold agricultural products. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 11-165708 Summary of the Invention [Problem to be solved by the invention]

[0004] There is a demand for an adsorption device that can adsorb an adsorbate in an appropriate manner.

[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 first adsorption pad and a second adsorption pad arranged inside the first adsorption pad, and when the object to be adsorbed is not in contact with either the first adsorption pad or the second adsorption pad, the tip of the second adsorption pad protrudes further than the tip of the first adsorption pad. [Effects of the Invention]

[0007] According to the present disclosure, the object to be adsorbed can be adsorbed in an appropriate manner. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view of the suction device. [Figure 2] FIG. 2 is a cross-sectional view of the adsorption device. [Figure 3] FIG. 3 is a cross-sectional view of the adsorption device. [Figure 4] FIG. 4 is a cross-sectional view of the valve unit. DETAILED DESCRIPTION OF THE INVENTION

[0009] The suction device creates a vacuum (vacuum pressure, negative pressure) in the internal space formed inside the suction pad by sucking the air from the internal space. This allows the object to be sucked onto the suction pad. The suction pad is made of a flexible material. However, if the suction pad is highly rigid, a relatively large force is applied to the fruit when the suction pad contacts the fruit. As a result, the fruit is likely to slip off the suction pad. Therefore, such a suction device cannot necessarily effectively suck wobbly objects, such as fruit on a tree. The present disclosure described below relates to a suction device that can effectively suck wobbly objects, such as fruit on a tree. Note that, in this specification, the object to be sucked by the suction device is referred to as fruit, but the object is not limited to fruit and may be a workpiece or the like.

[0010] [1 Configuration of the adsorption device 10] FIG. 1 is an external perspective view of the suction device 10. FIGS. 2 and 3 are cross-sectional views of the suction device 10. FIG. 2 shows the suction device 10 not suctioning fruit F. FIG. 3 shows the suction device 10 suctioning fruit F. The suction device 10 is attached to, for example, a robot that harvests fruit F. This allows for automated harvesting of fruit F. The suction device 10 may also be attached to a tool that can be operated by a user. This allows for semi-automated harvesting of fruit F.

[0011] For ease of explanation, the following directions are defined in this specification. The axial direction of the suction device 10 is defined as the X direction. Furthermore, when the suction device 10 and the fruit F face each other, the direction in which the fruit F is positioned relative to the suction device 10 is defined as the X1 direction. Furthermore, the direction opposite to the X1 direction is defined as the X2 direction.

[0012] [1-1 Suction pad] The suction device 10 has a double-pad structure including a first suction pad 12 with a large diameter and a second suction pad 14 with a small diameter. The first suction pad 12 and the second suction pad 14 are both hollow pads extending along the X direction. The first suction pad 12 and the second suction pad 14 are arranged coaxially. The second suction pad 14 is arranged inside the first suction pad 12. That is, the second suction pad 14 is arranged in the internal space S1 of the first suction pad 12.

[0013] Each of the first suction pad 12 and the second suction pad 14 can be made of a soft material, such as resin, synthetic rubber, natural rubber, or thermoplastic elastomer. The second suction pad 14 is softer than the first suction pad 12. In other words, the rigidity of the first suction pad 12 is relatively high, and the rigidity of the second suction pad 14 is relatively low. For example, the thickness of the material constituting the second suction pad 14 is thinner than the thickness of the material constituting the first suction pad 12.

[0014] [1-2 First suction pad 12] The first suction pad 12 includes a hollow main pad 16 and a hollow mounting portion (base end) 18. An internal space S1 is formed inside the main pad 16. The main pad 16 is a bellows-type suction pad. The main pad 16 is bellows-type and soft, and therefore can easily expand and contract along the axial direction (X direction) of the first suction pad 12. A tip 20 of the main pad 16, which is the end of the main pad 16 in the X1 direction, can come into contact with the fruit F when the suction device 10 suctions the fruit F. Note that the main pad 16 is not limited to being bellows-type. For example, the main pad 16 may have a cylindrical shape with constant outer and inner diameters along its entire length.

[0015] The mounting portion 18 is connected to the end of the main pad 16 in the X2 direction. The mounting portion 18 has a circular ring shape. An opening 24 is formed in the mounting portion 18, which connects the outside of the first suction pad 12 with the internal space S1 of the main pad 16. The opening 24 is formed coaxially with the internal space S1.

[0016] [1-3 Second suction pad 14] The second suction pad 14 includes a hollow main pad 26 and a hollow mounting portion 28. An internal space S2 is formed inside the main pad 26. The main pad 26 is a bellows-type suction pad. The main pad 26 is bellows-type and soft, and therefore can easily expand and contract along the axial direction (X direction) of the second suction pad 14. A tip 30 of the main pad 26, which is the end of the main pad 26 in the X1 direction, can come into contact with the fruit F when the suction device 10 suctions the fruit F. Note that the main pad 26 is not limited to being bellows-type. For example, the main pad 26 may have a cylindrical shape with constant outer and inner diameters along its entire length.

[0017] The mounting portion 28 is connected to the end of the main pad 26 in the X2 direction. The mounting portion 28 has a cylindrical shape. An opening 34 is formed in the mounting portion 28, which connects the outside of the second suction pad 14 with the internal space S2 of the main pad 26. The opening 34 is formed coaxially with the internal space S2.

[0018] As shown in FIG. 2 , when the suction device 10 is not suctioning a fruit F, the tip 30 of the second suction pad 14 protrudes in the X1 direction further than the tip 20 of the first suction pad 12. With this structure, when the suction device 10 suctions a fruit F, the tip 30 of the second suction pad 14 can come into contact with the fruit F before the tip 20 of the first suction pad 12. Because the second suction pad 14 is softer than the first suction pad 12, it can absorb the force pushing back from the fruit F when the second suction pad 14 comes into contact with the fruit F. As a result, the fruit F is pushed by the second suction pad 14 with a small force, which prevents the fruit F from shifting position relative to the tip 30 of the second suction pad 14.

[0019] [1-4 Body 36] The suction device 10 includes a hollow body (first suction pad support portion) 36. The body 36 supports the first suction pad 12. The body 36 can be made of, for example, a resin material or a metal material.

[0020] The body 36 is a hollow cylindrical member. An internal space S3 is formed inside the body 36. The body 36 includes a hollow main body 38 and a hollow mounting portion 40. The mounting portion 40 protrudes in the X1 direction from the main body 38. A flange 42 is formed at the end of the mounting portion 40 in the X1 direction, with the center being the axis of the body 36. A groove 44 is formed between the main body 38 and the flange 42.

[0021] The mounting portion 18 of the first suction pad 12 is attached to the mounting portion 40 of the body 36. The mounting portion 40 of the body 36 is inserted in the X1 direction into an opening 24 formed in the mounting portion 18 of the first suction pad 12. The mounting portion 18 of the first suction pad 12 is soft and can expand and contract according to the shape of the mounting portion 40 of the body 36. When the mounting portion 18 of the first suction pad 12 fits into the groove 44 of the body 36, the flange 42 is caught on the mounting portion 18 of the first suction pad 12. This restricts movement of the mounting portion 18 of the first suction pad 12 relative to the mounting portion 40 of the body 36. In this manner, the first suction pad 12 is attached to the body 36. When the first suction pad 12 is attached to the body 36, the internal space S1 of the first suction pad 12 and the internal space S3 of the body 36 are in communication with each other.

[0022] The main body 38 is formed with a body flow path 46 that penetrates from the internal space S3 to the outside of the main body 38. One end of the body flow path 46 is disposed on the inner wall surface of the main body 38. The other end of the body flow path 46 is disposed on the outer wall surface of the main body 38.

[0023] [1-5 Valve Unit 48] The adsorption device 10 includes a valve unit 48. A first end of the valve unit 48 is attached to the outer circumferential surface of the main body 38. A second end of the valve unit 48 is connected to a first joint J1. A suction flow path 50 is formed in the valve unit 48. The suction flow path 50 is connected to a body flow path 46 formed in the main body 38. The suction flow path 50 is also connected to a pump (not shown) via the first joint J1 and a tube (not shown).

[0024] The body flow path 46 and the suction flow path 50 form a first flow path 52. Air that is sucked from the internal space S1 of the first suction pad 12 and the internal space S3 of the body 36 by a pump (not shown) flows through the first flow path 52.

[0025] 4 is a cross-sectional view of the valve unit 48. The valve unit 48 adjusts the flow rate of air in the first flow path 52. The valve unit 48 includes a first housing 54, a second housing 56, a third housing 58, a valve element 60, a spring 62, and a filter 64. Here, the axial direction of the valve unit 48 is defined as the Y direction. The direction in which the body 36 is positioned relative to the valve unit 48 is defined as the Y1 direction. The direction opposite to the Y1 direction is defined as the Y2 direction.

[0026] The first housing 54, the second housing 56, and the third housing 58 form a suction flow path 50 inside the valve unit 48. A valve body 60 and a filter 64 are disposed in the suction flow path 50.

[0027] The valve element 60 is displaceable in the axial direction relative to the first housing 54. The first housing 54 has a tapered seat portion 66 against which the head of the valve element 60 can abut. The spring 62 is disposed between the valve element 60 and the first housing 54. The spring 62 biases the valve element 60 in a direction (Y1 direction) away from the seat portion 66. The filter 64 is fixed on the suction flow path 50. The filter 64 prevents foreign matter from entering the suction flow path 50 of the first housing 54 from the internal space S1 of the first suction pad 12 and the internal space S3 of the body 36.

[0028] An orifice 68 is formed in the center of the head of the valve body 60. A plurality of openings 70 are formed in the side of the valve body 60. The area of ​​the openings 70 is sufficiently larger than the area of ​​the orifices 68. When the head of the valve body 60 is separated from the seat portion 66 of the first housing 54, the internal space S1 of the first suction pad 12 and the internal space S3 of the body 36 communicate with a pump (not shown) via the orifice 68 of the valve body 60 and the plurality of openings 70. When the head of the valve body 60 is in contact with the seat portion 66 of the first housing 54, the internal space S1 of the first suction pad 12 and the internal space S3 of the body 36 communicate with the pump (not shown) only via the orifice 68 of the valve body 60.

[0029] When the air in the internal spaces S1 and S3 is sucked through the suction passage 50 and the tip 20 of the main pad 16 is not in contact with the fruit F, the air flowing through the suction passage 50 passes through the orifice 68 of the valve element 60 in the Y2 direction at a first flow velocity. Therefore, the valve element 60 is displaced in the Y2 direction due to the pressure difference between the front and rear of the orifice 68, and the head of the valve element 60 comes into contact with the seat portion 66 of the first housing 54. When the head of the valve element 60 comes into contact with the seat portion 66, air no longer flows through the multiple openings 70 of the valve element 60, and the flow velocity of the air passing through the orifice 68 becomes even greater than the first flow velocity. This further increases the pressure difference between the front and rear of the orifice 68, maintaining the head of the valve element 60 in contact with the seat portion 66 of the first housing 54. In this state, the flow rate of the air flowing through the suction passage 50 is a sufficiently small first flow rate. Therefore, the pressure on the pump side can be prevented from increasing.

[0030] When the tip 20 of the main pad 16 is in contact with the fruit F while air is being sucked from the internal spaces S1 and S3 through the suction passage 50, the air flowing through the suction passage 50 passes through the orifice 68 of the valve element 60 in the Y2 direction at a second flow velocity that is smaller than the first flow velocity. Therefore, the pressure difference across the orifice 68 is smaller than the pressure difference across the first flow velocity. In this case, the valve element 60 is displaced in the Y1 direction by the biasing force of the spring 62, and the head of the valve element 60 moves away from the seat portion 66 of the first housing 54. When the head of the valve element 60 moves away from the seat portion 66, air flows through the orifice 68 and the multiple openings 70, so the flow velocity of the air passing through the orifice 68 becomes even smaller than the second flow velocity. This further reduces the pressure difference across the orifice 68, thereby maintaining the head of the valve element 60 spaced apart from the seat portion 66 of the first housing 54. In this state, the flow rate of the air flowing through the suction flow path 50 is the second flow rate, which is greater than the first flow rate, so that the pressure in the internal space S1 of the main pad 16 can be reduced quickly.

[0031] [1-6 Guide part 72] The suction device 10 includes a guide portion 72. The guide portion 72 includes a first holder 74, a second holder 76, and three guide rods 78. Each of the first holder 74, the second holder 76, and the guide rods 78 may be formed from, for example, a resin material or a metal material.

[0032] The first holder 74 is a plate-shaped member. A pad fixing hole 80 is formed in the first holder 74. Three guide rods 78 are fixed to the first holder 74. The three guide rods 78 are arranged so as to extend from the first holder 74 in the X2 direction and to surround the pad fixing hole 80.

[0033] The first suction pad 12 is inserted into the pad fixing hole 80. The first holder 74 is connected to an intermediate portion between the tip 20 of the main pad 16 (first suction pad 12) and the mounting portion 18 of the first suction pad 12. For example, the outer peripheral surface of the main pad 16 and the inner peripheral surface of the first holder 74, which forms the pad fixing hole 80, are connected by adhesive or the like. In this way, the first holder 74 is fixed to the first suction pad 12.

[0034] The second holder 76 is a plate-shaped member. The second holder 76 has a body fixing hole 82 and three insertion holes 84 formed therein. The three insertion holes 84 are formed so as to surround the body fixing hole 82. The three insertion holes 84 are formed on the axes of the three guide rods 78 fixed to the first holder 74.

[0035] The body 36 is inserted into the body fixing hole 82. The second holder 76 is connected to the body 36. For example, the outer peripheral surface of the main body 38 and the inner peripheral surface of the second holder 76, which forms the body fixing hole 82, are connected by screws, adhesive, or the like. In this way, the second holder 76 is fixed to the body 36.

[0036] The guide rods 78 are inserted into insertion holes 84 arranged on the axes of the guide rods 78. The guide rods 78 can move within the insertion holes 84 along the X direction. Regardless of whether the suction device 10 is suctioning fruit F or not, each guide rod 78 remains inserted into the insertion hole 84. The suction device 10 according to this embodiment includes three guide rods 78, but the number of guide rods 78 is not limited to this. The number of guide rods 78 may be two, four or more.

[0037] The guide rods 78 may be fixed to the second holder 76 instead of the first holder 74. In this case, an insertion hole 84 is formed in the first holder 74. When viewed in the X direction, the three guide rods 78 are arranged so as not to overlap with the fruit F. This makes it possible to prevent each of the guide rods 78 protruding from the second holder 76 in the X1 direction from coming into contact with the fruit F when the suction device 10 has sucked the fruit F.

[0038] The multiple guide rods 78 guide the first holder 74 in the X direction. That is, the multiple guide rods 78 guide the first suction pad 12 connected to the first holder 74 in the axial direction of the first suction pad 12. The multiple guide rods 78 also restrict the first holder 74 from rotating relative to the second holder 76. That is, the multiple guide rods 78 restrict twisting of the first suction pad 12.

[0039] [1-7 Buffer 86] The suction device 10 includes a buffer (second suction pad support portion) 86. The buffer 86 supports the second suction pad 14 so as to be movable in the axial direction of the second suction pad 14. The buffer 86 includes an adapter (first support portion) 88, a buffer assembly 90, and a connecting portion 92. The buffer assembly 90 includes a piston rod (first support portion) 94, a buffer body (second support portion) 96, and a spring (elastic member) 98. Each of the components included in the buffer 86 may be formed from, for example, a resin material or a metal material.

[0040] The adapter 88 is a hollow cylindrical member. An adapter flow path 100 is formed inside the adapter 88 along the X direction. The adapter 88 has a hollow mounting portion 103 at its end in the X1 direction. A flange 102 is formed at the end in the X1 direction of the mounting portion 103, with its center on the axis of the adapter 88.

[0041] The mounting portion 28 of the second suction pad 14 is attached to the mounting portion 103 of the adapter 88. The mounting portion 103 of the adapter 88 is inserted in the X1 direction into an opening 34 formed in the mounting portion 28 of the second suction pad 14. The inner circumferential surface of the mounting portion 28 of the second suction pad 14, which forms the opening 34, has a shape corresponding to the outer circumferential shape of the mounting portion 103 of the adapter 88. When the flange 102 of the mounting portion 103 of the adapter 88 is inserted into the opening 34, it catches on the inner circumferential surface of the mounting portion 28 of the second suction pad 14, which forms the opening 34. This restricts movement of the mounting portion 28 of the second suction pad 14 relative to the mounting portion 103 of the adapter 88. In this manner, the second suction pad 14 is attached to the adapter 88. With the second suction pad 14 attached to the adapter 88, the internal space S2 of the second suction pad 14 and the adapter flow path 100 are in communication.

[0042] The connecting portion 92 is a hollow cylindrical member. A connecting flow path 104 is formed inside the connecting portion 92 along the X direction. The connecting portion 92 is connected to a second joint J2. The second joint J2 is connected to a pump (not shown) via a tube (not shown).

[0043] The piston rod 94 is a hollow cylindrical member. The piston rod 94 is arranged along the X direction. A rod flow path 106 is formed inside the piston rod 94 and along the X direction. The piston rod 94 includes a first connecting portion 108, a second connecting portion 110, and a spring abutment portion 112. The first connecting portion 108 is arranged at the end of the piston rod 94 in the X1 direction. The second connecting portion 110 is arranged at the end of the piston rod 94 in the X2 direction. The spring abutment portion 112 is arranged between the first connecting portion 108 and the second connecting portion 110. The spring abutment portion 112 has a larger diameter than the adjacent rod portions.

[0044] The buffer body 96 is a hollow cylindrical member. The buffer body 96 is arranged along the X direction. An internal space 116 is formed in the buffer body 96. Of the inner wall surfaces that define the internal space 116, a spring abutment portion 118 is formed on the inner wall surface that is arranged at the end in the X2 direction.

[0045] The buffer body 96 is inserted into the internal space S3 of the body 36 in the X1 direction. The buffer body 96 is fixed to the body 36. A seal member is interposed between the buffer body 96 and the body 36. The end of the buffer body 96 in the X1 direction is disposed inside the internal space S3. The end of the buffer body 96 in the X2 direction is disposed outside the body 36.

[0046] The piston rod 94 is inserted into the internal space 116 of the buffer body 96 from the X1 direction. A first connecting portion 108 of the piston rod 94 protrudes from the buffer body 96 in the X1 direction. A second connecting portion 110 of the piston rod 94 protrudes from the buffer body 96 in the X2 direction. A spring abutment portion 112 of the piston rod 94 is disposed in the internal space 116 of the buffer body 96.

[0047] In the internal space 116 of the buffer body 96, a spring 98 is disposed between a spring abutment portion 118 of the buffer body 96 and a spring abutment portion 112 of the piston rod 94. The end of the spring 98 in the X1 direction abuts against the spring abutment portion 112 of the piston rod 94. The end of the spring 98 in the X2 direction abuts against the spring abutment portion 118 of the buffer body 96. This biases the piston rod 94 in the X1 direction. The total length of the spring 98 when the fruit F is not in contact with the first suction pad 12 is longer than the total length of the spring 98 when the fruit F is in contact with the first suction pad 12.

[0048] The first connecting portion 108 of the piston rod 94 is inserted in the X1 direction into the inside of the adapter flow path 100 of the adapter 88. For example, the first connecting portion 108 is engaged or screwed into the inner circumferential surface of the adapter 88 that forms the adapter flow path 100. In this manner, the piston rod 94 and the adapter 88 are connected.

[0049] The second connecting portion 110 of the piston rod 94 is inserted into the connecting passage 104 of the connecting portion 92 from the X1 direction. For example, the second connecting portion 110 is engaged or screwed into the inner circumferential surface of the connecting portion 92 that forms the connecting passage 104. In this manner, the piston rod 94 and the connecting portion 92 are connected.

[0050] The piston rod 94 is guided in the X direction by the buffer body 96. The connecting portion 92 can abut against the end surface of the buffer body 96 in the X2 direction. In other words, the connecting portion 92 limits the movement of the piston rod 94 in the X1 direction. This prevents the second connection portion 110 of the piston rod 94 from entering the internal space 116 of the buffer body 96. Furthermore, the spring abutment portion 112 of the piston rod 94 from slipping out of the internal space 116 of the buffer body 96.

[0051] The adapter flow path 100, the rod flow path 106, and the connecting flow path 104 form a second flow path 120. The second flow path 120 is connected to the first flow path 52. In this manner, in the present embodiment, the first flow path 52 through which air sucked from the internal space S1 of the first suction pad 12 flows and the second flow path 120 through which air sucked from the internal space S2 of the second suction pad 14 flows are partially shared. Furthermore, in the present embodiment, the pump that sucks air from the internal space S1 of the first suction pad 12 and the pump that sucks air from the internal space S2 of the second suction pad 14 are shared.

[0052] The first flow path 52 through which air sucked from the internal space S1 of the first suction pad 12 flows and the second flow path 120 through which air sucked from the internal space S2 of the second suction pad 14 flows may be independent of each other. In this case, the pump that sucks air from the internal space S1 of the first suction pad 12 and the pump that sucks air from the internal space S2 of the second suction pad 14 are independent of each other. In this case, the valve unit 48 does not need to be provided in the first flow path 52.

[0053] [2 Operation of the adsorption device 10] As shown in FIG. 2, when the suction device 10 is not suctioning fruit F, the suction device 10 is moved in the X1 direction to approach the fruit F. At this time, a pump (not shown) sucks air from the internal space S2 of the second suction pad 14 via the second flow path 120. This creates a negative pressure in the internal space S2. Meanwhile, a pump (not shown) sucks air from the internal space S1 of the first suction pad 12 and the internal space S3 of the body 36 via the first flow path 52. However, when the suction device 10 is not suctioning fruit F, the air flow rate through the first flow path 52 is small. This causes the pressure in the internal space S1 and the internal space S3 to be closer to atmospheric pressure than the pressure in the internal space S2.

[0054] As described above, when the suction device 10 is not suctioning a fruit F, the tip 30 of the second suction pad 14 protrudes in the X1 direction further than the tip 20 of the first suction pad 12. Therefore, the tip 30 of the second suction pad 14 abuts the fruit F before the tip 20 of the first suction pad 12. Because the internal space S2 of the second suction pad 14 is under negative pressure, the fruit F is suctioned to the second suction pad 14. This further reduces the pressure in the internal space S2. The main pad 26 of the second suction pad 14 contracts in the X2 direction as the pressure in the internal space S2 decreases. The fruit F suctioned by the second suction pad 14 moves in the X2 direction as the main pad 26 of the second suction pad 14 contracts.

[0055] When the fruit F held by the second suction pad 14 moves in the X2 direction, the tip 20 of the first suction pad 12 comes into contact with the fruit F. Because the fruit F is held by the second suction pad 14, even when the tip 20 of the first suction pad 12 comes into contact with the fruit F, displacement of the fruit F relative to the first suction pad 12 is suppressed. When the internal space S1 of the first suction pad 12 is blocked by the fruit F, the air flow rate in the first flow path 52 increases. This creates negative pressure in the internal spaces S1 and S3. As a result, the fruit F is held by the first suction pad 12. This further reduces the pressure in the internal spaces S1 and S3. The first suction pad 12 contracts in the X2 direction as the pressure in the internal spaces S1 and S3 decreases. The fruit F held by the first suction pad 12 and the second suction pad 14 moves further in the X2 direction as the main pad 16 of the first suction pad 12 contracts.

[0056] When the main pad 16 of the first suction pad 12 contracts, the spring 98 of the buffer assembly 90 contracts in the X2 direction. At this time, the amount of expansion and contraction of the main pad 26 of the second suction pad 14 remains unchanged. If the main pad 26 of the second suction pad 14 contracts too much, a repulsive force is generated in the second suction pad 14. This generates a force pushing the fruit F in the X1 direction. The contraction of the spring 98 can suppress the contraction of the main pad 26 of the second suction pad 14. As a result, the force with which the second suction pad 14 pushes the fruit F in the X1 direction can be suppressed.

[0057] For example, the robot rotates the suction device 10, which has picked up the fruit F, around the axis of the suction device 10 or another axis parallel to the axis of the suction device 10. At this time, a twisting force acts on the first suction pad 12. However, the guide portion 72 suppresses the twisting of the first suction pad 12. Therefore, the suction device 10 can twist the fruit F while still holding it in place. This allows the fruit F to be picked in an optimal manner.

[0058] [3 Notes] The following additional notes are further disclosed regarding the above embodiment.

[0059] (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 (F), and is equipped with a first suction pad (12) and a second suction pad (14) arranged inside the first suction pad, and when the object to be suctioned is not in contact with either the first suction pad or the second suction pad, the tip (30) of the second suction pad protrudes further than the tip (20) of the first suction pad.

[0060] (Appendix 2) In the suction device described in Appendix 1, the first suction pad may be expandable and contractable along the axial direction of the first suction pad, and the second suction pad may be expandable and contractible along the axial direction of the second suction pad.

[0061] (Appendix 3) In the suction device described in Supplementary Note 2, the first suction pad and the second suction pad may both be bellows-type suction pads.

[0062] (Appendix 4) The suction device according to Supplementary Note 2 or 3 may further include a guide portion (72) that restricts twisting of the first suction pad and guides the first suction pad in the axial direction of the first suction pad.

[0063] (Appendix 5) The suction device described in Appendix 4 may include a first suction pad support portion (36) that supports the base end (18) of the first suction pad, and the guide portion may include a first holder (74) connected to an intermediate portion between the tip end of the first suction pad and the base end of the first suction pad, a second holder (76) connected to the first suction pad support portion, and a guide rod (78) fixed to the first holder and inserted into a hole (84) formed in the second holder.

[0064] (Appendix 6) The suction device described in Appendix 4 may include a first suction pad support portion that supports the base end of the first suction pad, and the guide portion may include a first holder connected to an intermediate portion between the tip end of the first suction pad and the base end of the first suction pad, a second holder connected to the first suction pad support portion, and a guide rod fixed to the second holder and inserted into a hole formed in the first holder.

[0065] (Appendix 7) The suction device described in Supplementary Note 2 or 3 may further include a second suction pad support portion (86) that supports the second suction pad movably in the axial direction of the second suction pad.

[0066] (Appendix 8) In the suction device described in Appendix 7, the second suction pad support portion comprises a first support portion (88, 94) that supports the second suction pad, a second support portion (96) that supports the first support portion so that it can move in the axial direction of the second suction pad, and an elastic member (98) that is interposed between the first support portion and the second support portion and can expand and contract along the axial direction of the second suction pad, and the total length of the elastic member when the object to be suctioned is not in contact with the first suction pad may be longer than the total length of the elastic member when the object to be suctioned is in contact with the first suction pad.

[0067] (Appendix 9) The suction device described in Appendix 1 is provided with a first flow path (52) through which air sucked from the space (S1) inside the first suction pad flows, and a second flow path (120) through which air sucked from the space (S2) inside the second suction pad flows, and the first flow path and the second flow path may be partially common or may be independent of each other.

[0068] (Appendix 10) In the adsorption device described in Appendix 9, the first flow path may be provided with a valve unit (48) that changes the flow rate of air depending on whether the object to be adsorbed is adsorbed to the tip of the first adsorption pad.

[0069] (Appendix 11) In the suction device described in Supplementary Note 1, the second suction pad may be softer than the first suction pad.

[0070] (Appendix 12) In the suction device described in Supplementary Note 1, the first suction pad and the second suction pad may be made of any one of resin, synthetic rubber, natural rubber, and thermoplastic elastomer.

[0071] 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]

[0072] 10...suction device 12...first suction pad 14... Second suction pad 18... Mounting portion (base end) 20...tip 30...tip 36...Body (first suction pad support portion) 48...Valve unit 52...First flow path 72...Guide portion 74...First holder 76...Second holder 78... Guide rod 84... Insertion hole (hole) 86... Buffer (second suction pad support portion) 88... Adapter (first support portion) 94...Piston rod (first support part) 96... Buffer body (second support portion) 98... Spring (elastic member) 120...Second flow path F...Fruit (object to be adsorbed) S1, S2…internal space (space)

Claims

1. An adsorption device that adsorbs an object by utilizing vacuum pressure, A first suction pad; a second suction pad disposed inside the first suction pad; Equipped with a suction device, wherein when the object to be suctioned is not in contact with either the first suction pad or the second suction pad, a tip of the second suction pad protrudes further than a tip of the first suction pad.

2. The adsorption device according to claim 1, the first suction pad is extendable and contractible along an axial direction of the first suction pad, The second suction pad is extendable and contractible along an axial direction of the second suction pad.

3. The adsorption device according to claim 2, The suction device, wherein the first suction pad and the second suction pad are both bellows-type suction pads.

4. The adsorption device according to claim 2 or 3, a suction device including a guide portion that restricts twisting of the first suction pad and guides the first suction pad in the axial direction of the first suction pad.

5. The adsorption device according to claim 4, a first suction pad support portion that supports a base end of the first suction pad; The guide portion is a first holder connected to an intermediate portion between the tip end of the first suction pad and the base end of the first suction pad; a second holder connected to the first suction pad support portion; a guide rod fixed to the first holder and inserted into a hole formed in the second holder; An adsorption device comprising:

6. The adsorption device according to claim 4, a first suction pad support portion that supports a base end of the first suction pad; The guide portion is a first holder connected to an intermediate portion between the tip end of the first suction pad and the base end of the first suction pad; a second holder connected to the first suction pad support portion; a guide rod fixed to the second holder and inserted into a hole formed in the first holder; An adsorption device comprising:

7. The adsorption device according to claim 2 or 3, a second suction pad support portion that supports the second suction pad so that the second suction pad can move in the axial direction of the second suction pad;

8. The adsorption device according to claim 7, The second suction pad support portion is a first support portion that supports the second suction pad; a second support portion that supports the first support portion movably in the axial direction of the second suction pad; an elastic member interposed between the first support portion and the second support portion and capable of expanding and contracting along the axial direction of the second suction pad, an adsorption device, wherein the total length of the elastic member when the object to be adsorbed is not in contact with the first adsorption pad is longer than the total length of the elastic member when the object to be adsorbed is in contact with the first adsorption pad.

9. The adsorption device according to claim 1, a first flow path through which air sucked from a space inside the first suction pad flows; a second flow path through which air sucked from the space inside the second suction pad flows; Equipped with The adsorption device, wherein the first flow path and the second flow path are partially common to each other or are independent of each other.

10. 10. The adsorption device according to claim 9, a valve unit provided in the first flow path for changing the flow rate of air depending on whether the object to be adsorbed is adsorbed to the tip of the first suction pad;

11. The adsorption device according to claim 1, The second suction pad is softer than the first suction pad.

12. The adsorption device according to claim 1, The suction device, wherein the first suction pad and the second suction pad are formed from any one of resin, synthetic rubber, natural rubber, and thermoplastic elastomer.

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