auxiliary parts

Abstract

To provide an auxiliary part for a holding section that can securely hold an item while preventing it from shaking due to deformation of the bellows, without requiring custom-made parts. [Solution] The auxiliary part 10 is attached to a holding part 1 that holds an article by suction when the article is moved. The holding part 1 is a bellows-shaped expandable member having a mountain fold portion 4 and a valley fold portion 5. The auxiliary part 10 is inserted into the valley fold portion 5 and has a restricting portion 11 that can come into contact with at least a part of the surfaces 5A and 5B that constitute the valley fold portion 5.

Description

Technical Field

[0001] The present invention relates to auxiliary parts attached to a holding part of an article.

Background Art

[0002] Conventionally, as a means for moving (transferring) an article, there is a device (for example, a robot hand) having a bellows-shaped holding part. The bellows-shaped holding part is an expandable and contractible cup-shaped structure made of a flexible resin or the like, and holds the article by sucking (adsorbing) it by making the inside negative pressure. Such a holding part (adsorption pad) is flexible and expands and contracts by the bellows. Therefore, when the article is adsorbed and held and moved (transferred) in the air at high speed, depending on the form (size, weight, etc.) of the article, the holding part may vibrate violently while deforming.

[0003] In order to avoid such deformation of the holding part, a mechanism for preventing the vibration of the holding part has also been developed (for example, see Patent Document 1). Patent Document 1 describes a configuration for suppressing the deformation of the bellows by providing a cover body that covers the outside of the bellows with respect to the holding part (vacuum pad having bellows).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, the technique described in Patent Document 1 is not sufficient as a regulation of the deformation of the bellows.

[0006] In a bellows-shaped holding section, deformation that occurs when an article is held by suction and moved at high speed is due to the expansion and contraction of the bellows, and this deformation becomes more pronounced when the degree of expansion and contraction is high. When the outer circumference of the bellows is restricted by a cover body as in Patent Document 1, the outward movement of the bellows (in the direction intersecting the central axis AX of the support member) can be restricted, but a gap is created between the bellows and the cover body, and expansion and contraction of the bellows is permitted inside the cover body. As long as the bellows (holding section) remains highly elastic, there is still a problem of the held article shaking (vibrating) and detaching from the suction.

[0007] To avoid this, slowing down the movement speed would increase the time required for transfer and transport.

[0008] Therefore, it is conceivable to partially restrict the elasticity by reducing the number of bellows sections. However, since the retaining part is generally made from off-the-shelf products, a custom-made product with a modified shape (number of bellows sections) would lead to increased costs due to design and mold creation.

[0009] Furthermore, the cover member described in Patent Document 1 has a configuration in which the bottom of the cover comes into contact with the article when the holding part holds the article. This can lead to poor article retention due to impaired flexibility of the bottom (suction surface) of the holding part, or the bottom of the cover may damage the article.

[0010] Furthermore, there is a gap between the retaining part (bellows) and the cover body, and the retaining part may collide with the inside of the cover body, potentially causing wear on the outer circumference of the retaining part.

[0011] This invention has been made in view of the above problems, and provides an auxiliary part for a holding section that can realize a holding section that securely holds an article while preventing the article from shaking due to deformation of the bellows, without requiring a custom-made product. [Means for solving the problem]

[0012] The present invention relates to an auxiliary component to be attached to a holding part that holds an article by suction when the article is moved, wherein the holding part is a bellows-shaped expandable member having mountain folds and valley folds, and the auxiliary component is inserted into the valley fold and has a restricting part that can come into contact with at least a part of the surface constituting the valley fold. [Effects of the Invention]

[0013] According to the present invention, it is possible to provide an auxiliary part for a holding section that can securely hold an article while preventing the article from shaking due to deformation of the bellows, without requiring custom-made parts. [Brief explanation of the drawing]

[0014] [Figure 1] This figure shows a holding part to which auxiliary parts according to this embodiment are attached, with (A) being a perspective view and (B) being a front view. [Figure 2] This figure shows the holding part of this embodiment, and is (A) a perspective view, (B) a front view, and (C) an exploded perspective view. [Figure 3] This figure shows the auxiliary parts of this embodiment, with (A) being a perspective view and (B) being a front view. [Figure 4] This diagram illustrates this embodiment, and shows (A) a cross-sectional view of the holding part with the auxiliary part attached, (B) a partially enlarged view, (C) a cross-sectional view of the holding part, and (D) a cross-sectional view of the auxiliary part. [Figure 5] This is a perspective view showing another example of this embodiment. [Figure 6] This is a plan view showing another example of this embodiment. [Figure 7] This is a partially enlarged view showing another example of this embodiment. [Figure 8] This is a cross-sectional view showing another example of this embodiment. [Modes for carrying out the invention]

[0015] Embodiments of the present invention will be described in detail below with reference to the drawings.

[0016] <First Example> FIG. 1 is a diagram for explaining a first example of the auxiliary component 10 according to the present embodiment. FIG. 1(A) is an external perspective view of the state where the auxiliary component 10 is attached to the holding part 1, and FIG. 1(B) is a front view. FIG. 2 is a diagram showing the holding part 1, where FIG. 2(A) is a perspective view, FIG. 2(B) is a front view, and FIG. 2(C) is an exploded perspective view. FIG. 3 is a diagram showing the auxiliary component 10, where FIG. 3(A) is a perspective view and FIG. 3(B) is a front view. FIG. 4 is a diagram corresponding to the X-X line cross section of FIG. 1(A), where FIG. 4(A) is a cross-sectional view corresponding to FIG. 1(A), FIG. 4(B) is an enlarged view of the portion marked with a broken-line circle in FIG. 4(A), FIG. 4(C) is a cross-sectional view of only the holding part 1, and FIG. 4(D) is a cross-sectional view of only the auxiliary component 10.

[0017] Referring to FIGS. 1, 2, 4(A) and 4(C), the holding part 1 holds the article when the article is moved (transferred). For example, it is an end effector of a robot hand (not shown) that transfers the article. The holding part 1 has an appearance in the shape of a cup and includes a bellows-shaped expansion and contraction part 3. Specifically, the holding part 1 has a connection part 2 connected to the robot hand and a bellows-shaped expansion and contraction part 3 having a plurality of mountain-fold parts 4 and valley-fold parts 5 respectively. In this example, the connection part 2 is made of, for example, metal or a hard resin material, and the expansion and contraction part 3 is made of a relatively flexible resin material (see FIG. 2(C)). The surface of the expansion and contraction part 3 farthest from the connection part 2 is an article contact surface 3A that contacts the article (see FIG. 2(B)). In this example, the holding part 1 is generally in the shape of a substantially bell-shaped. As shown in FIGS. 2(C), 4(A), and 4(C), a cylindrical passage 2A is formed inside the connection part 2, and the lower end of the passage 2A communicates with the expansion and contraction part 3. As shown in FIGS. 4(A) and 4(C), the expansion and contraction part 3 is a bellows with a substantially cylindrical shape and a hollow interior. That is, the mountain-fold parts 4 and the valley-fold parts 5 extend in a substantially annular shape around the central axis AX of the expansion and contraction part 3 (the mountain-fold parts 4 and the valley-fold parts 5). The central axis AX of the passage 2A and the expansion and contraction part 3 coincide (FIGS. 3(C), 4(A)). Hereinafter, in the present embodiment, the side of the connection part 2 closer to the robot hand is defined as the upper side, and the side of the article contact surface 3A is defined as the lower side for explanation. Also, in the expansion and contraction part 3, the side closer to the central axis AX (radial inner side) is defined as the inner side, and the side farther from the central axis AX (radial outer side) is defined as the outer side for explanation.

[0018] In this example, the holding part 1 is generally in a substantially bell shape. Taking the holding part 1 with the telescopic part 3 being in a substantially cylindrical shape as an example for explanation, the shape of the holding part 1 is arbitrary and may be, for example, a prismatic shape or a frustum of a pyramid shape. When holding an article, the article contact surface 3A of the telescopic part 3 is brought into contact with the article. Then, by sucking the air inside the telescopic part 3 through the passage 2A (resulting in a negative pressure), the article is held by vacuum adsorption. In this example, the telescopic part 3 is composed of four mountain-fold parts 4 and four valley-fold parts 5. The holding part 1 is a ready-made product (commercially available product) that is generally easily obtainable.

[0019] Referring to FIGS. 1, 3, and 4, the auxiliary component 10 has a restricting part 11 and a connecting part 12 in this example. In this example, the restricting part 11 is in an annular shape, that is, it is continuous in the extending direction (circumferential direction) of the valley-fold part 5.

[0020] As shown in FIG. 4(B), the restricting part 11 is inserted into the valley-fold part 5 of the holding part 1 (telescopic part 3) and can contact at least a part of the surfaces 5U and 5D that constitute the valley-fold part 5. The restricting part 11 has a substantially rectangular base part 111 in cross-sectional view and a substantially mountain-shaped tip part 112 that protrudes inward (in the direction of the central axis AX) from the base part 111. The base part 111 has an upper surface 111U and a lower surface 111D, and the tip part 112 has an upper inclined surface 112U and a lower inclined surface 112D. A part of the upper inclined surface 112U of the tip part 112 and a part of the upper surface 111U of the base part 111 that is continuous with it contact a part of the upper surface (referred to as the "upper valley-fold surface") 5U of the surface that constitutes the valley-fold part 5 of the telescopic part 3. Also, a part of the lower inclined surface 112D of the tip part 112 and a part of the lower surface 111D of the base part 111 that is continuous with it contact a part of the lower surface (referred to as the "lower valley-fold surface") 5D of the surface that constitutes the valley-fold part 5 of the telescopic part 3.

[0021] And in this example, a part of the upper inclined surface 112U of the tip part 112 and a part of the upper surface 111U of the base part 111 that is continuous with it contact a part of the upper surface of the surface that constitutes the valley-fold part 5 of the telescopic part 3 (referred to as the "upper valley-fold surface") 5U. Also, a part of the lower inclined surface 112D of the tip part 112 and a part of the lower surface 111D of the base part 111 that is continuous with it contact a part of the lower surface of the surface that constitutes the valley-fold part 5 of the telescopic part 3 (referred to as the "lower valley-fold surface") 5D.

[0022] In the case of a bellows, the mountain folds 4 and valley folds 5 are arranged alternately, and the surfaces that make up the mountain folds 4 also make up the valley folds 5. However, in the description of this embodiment, the valley folds 5 are used as the reference and will be referred to as the upper valley fold surface 5U and the lower valley fold surface 5D.

[0023] More specifically, in the cross-sectional view of Figure 4(B), the angle of inclination of the upper valley fold surface 5U of the valley fold portion 5 is smaller than the angle of inclination of the upper inclined surface 112U of the restricting portion 11, and the angle of inclination of the lower valley fold surface 5D of the valley fold portion 5 is smaller than the angle of inclination of the lower inclined surface 112D of the restricting portion 11.

[0024] When the auxiliary part 10 is attached to the holding part 1 (at the position where it is attached), the boundary between the base 111 and the tip 112 (shown by a dashed line in Figure 4(B)) is located inside the outer peripheral end of the expandable part 3, and the height (thickness) h1 along the central axis AX of the boundary is greater than the height h2 of the valley fold part 5. Therefore, when the holding part 1 is not holding an article and the central axis AX is in the vertical direction (hereinafter referred to as the "initial state"), the restricting part 11 is always in contact with a part of the opposing portion of the valley fold part 5 (upper valley fold surface 5U and lower valley fold surface 5D) in the axial direction of the holding part 1 (parallel to the central axis AX).

[0025] Furthermore, when the auxiliary part 10 is attached to the holding part 1, the shaded area in Figure 4(B) slightly widens the valley fold part 5 in the vertical direction.

[0026] Furthermore, the restricting section 11 is provided in multiple stages in the axial direction of the expandable section 3, corresponding to the number of stages in the valley fold section 5. In this example, the valley fold section 5 has 4 stages, and the restricting section 11 is provided in 3 stages. The configuration of the valley fold section 5 and the restricting section 11 for each stage is as shown in Figure 4(B). The 3 stages of the restricting section 11 are continuously inserted into the first to third stages of the valley fold section 5, and the lowest stage (fourth stage) of the valley fold section 5 does not have a restricting section 11 inserted.

[0027] These multiple (stage) restricting sections 11 are all connected to and fixed to connecting sections 12 that extend in the axial direction. In this example, the connecting sections 12 are provided at multiple locations (for example, four locations) in the circumferential direction of the auxiliary part 10, and at each location they connect to the three stages of restricting sections 11. The four connecting sections 12 are routed above the telescopic section 3 and connected to mounting sections 13 that surround the outside of the connecting section 2 (see Figure 1(A)). The auxiliary part 10 is, for example, a one-piece molded product made of a hard resin material, and is fixed to the holding section 1 by being held between the robot hand and the connecting section 2. In this way, the restricting sections 11 are fixed to the connecting section 2 via the connecting sections 12 and the mounting sections 13. As a result, the three stages of restricting sections 11 are maintained at a predetermined distance from each other in the axial direction, and movement in the direction perpendicular to the axial direction (radial direction) is restricted. The auxiliary part 10 may also be fixed by engaging or screwing the mounting sections 13 to the connecting section 2. Furthermore, although this example shows the mounting portion 13 as an annular shape in plan view, it is not limited to the illustrated example as long as it can be gripped by the robot hand and the connecting portion 2, or can be attached to the connecting portion 2. For example, it may be a closed polygonal shape such as a triangle or rectangle, or it may be partially separated, such as a C-shape or radial shape (it does not have to be a closed linear shape).

[0028] In the initial state, the restricting portion 11 of this embodiment abuts the valley fold portion 5 at least in the axial direction of the expandable portion 3. Therefore, the axial deformation, or more specifically, axial contraction, of the valley fold portion 5 is restricted by the auxiliary component 10. In particular, as shown in Figure 4(B), the restricting portion 11 slightly pushes the valley fold portion 5 up and down, so the first to third valley fold portions 5 and mountain fold portions 4 into which the restricting portion 11 is inserted do not function as bellows, while the expansion and contraction of the lower surface of the fourth mountain fold portion 4 and the fourth valley fold portion 5 are not restricted, resulting in an expandable portion 3 that essentially has one bellows section.

[0029] Furthermore, in the initial state, the lower surface of the auxiliary part 10 is positioned above the lower surface of the expandable part 3 (article contact surface 3A). In other words, the expandable part 3 can maintain flexibility in the lower part including the article contact surface 3A (the lowest section that functions as a bellows). This means that the expandable part 3 can maintain a certain degree of contraction and flexibility, while its axial contraction is restricted, compared to when the auxiliary part 10 is not attached. Specifically, it is possible to ensure the same level of expandability and flexibility as when the number of bellows sections is reduced (for example, by reducing the number of mountain fold sections 4 and valley fold sections 5 to one section each). As a result, even when an article is held and moved at high speed, the shaking (vibration) of the article can be suppressed, and poor holding can be avoided.

[0030] Furthermore, since there is no need to reduce the movement speed of the telescopic section 3, the processing capacity of the transfer device (robot) can be fully utilized.

[0031] Furthermore, since no auxiliary parts 10 are placed on the lower part of the telescopic section 3 (especially the surface 3A that contacts the article), the article can come into contact with the lower part of the telescopic section 3 (especially the surface 3A that contacts the article).

[0032] By reducing the number of stages in the restricting section 11 to fewer than the number of stages in the valley fold section 5, and concentrating the insertion of the restricting section 11 in the upper valley fold section 5 of the expandable section 3 (not inserting the restricting section 11 in the lower valley fold section 5 of the expandable section 3), it is possible to use the existing retaining section 1 as a retaining section that maintains the flexibility of the retaining section 1 while substantially reducing the number of stages in the bellows (reducing expandability). If there are multiple restricting sections 11 in the axial direction, they may be distributed rather than concentrated in the upper valley fold section 5. For example, the restricting section 11 may be inserted in the 1st, 3rd, and 4th valley fold sections 5 from the top, but not in the 2nd valley fold section 5, however it is preferable to concentrate them in the upper valley fold section 5.

[0033] In the example above, the number of steps in the restricting section 11 is shown to be one less than the number of steps in the bellows (valley fold section 5) of the expandable section 3. However, depending on the desired expandability, the number of steps in the restricting section 11 may be two or more less than the number of steps in the bellows (valley fold section 5) of the expandable section 3. In that case as well, it is possible to restrict the expansion and contraction of the expandable section 3 while ensuring a certain degree of flexibility, compared to the case where the auxiliary part 10 is not attached. In other words, it is possible to prevent damage to the article when the article is held by the holding section 1, and the suction to the article can be maintained as before.

[0034] The method for attaching the auxiliary part 10 in the example shown in Figures 1 to 4 is as follows: For example, the auxiliary part 10 is attached by placing it over the holding part 1 from above, and then the telescopic part 3 is bent to insert the three restricting parts 11 into the valley folds 5 (in this example, the valley folds 5 up to the third step from the top). After that, the holding part 1 is attached to the tip of a robot hand or the like.

[0035] <Second example> Figure 5 shows a second example of the auxiliary part 10. The auxiliary part 10 is not limited to a single molded product made of resin material, but may be constructed by combining multiple members. That is, as shown in Figure 5, the auxiliary part 10 may be constructed by combining a first part 10A and a second part 10B that are divided into multiple parts (two parts in this example) along the central axis AX. The first part 10A has a semicircular restricting portion 11A, and an engaging projection 115 is provided on its end face in the extending direction (circumferential direction). The second part 10B also has a semicircular restricting portion 11B, and an engaging hole portion 116 is provided on its end face in the extending direction (circumferential direction). The auxiliary part 10 is constructed by engaging the engaging projection 115 and the engaging hole portion 116. This makes it easy to attach and detach the auxiliary part 1. In this example, the two stages of restricting portions 11A and 11B are connected by connecting portions 12. The rest of the configuration is the same as in the first example above, so the explanation is omitted. In this example, the auxiliary part 10 is divided into two parts, but it may be divided into three or more parts.

[0036] <Third example> Referring to Figure 6, a third example of the restricting section 11 will be described. The restricting section 11 may not be configured as a continuous ring, but rather as multiple sections spaced apart in the extending direction (circumferential direction) of a single (single-stage) valley fold section 5. The cross-sectional shape of the restricting section 11 is the same as that shown in Figure 4(B), but in plan view, as shown in Figure 6, the restricting section 11 is provided at positions where the ring-shaped valley fold section 5 is divided into multiple equal parts (for example, 2 divisions, 4 divisions, 6 divisions, 8 divisions, etc.). An odd number of divisions is also acceptable. In the example in Figure 6, the restricting section 11 is provided at positions where the valley fold section 5 is divided into 4 equal parts (positions that are 90 degrees apart from each other). Each restricting section 11 is then integrally supported by a connecting section 12 and an attachment section 13 while maintaining a predetermined distance in the axial direction. The restricting section 11 may have the same width as the connecting section 12. The other configurations are the same as in the first example, so their explanation will be omitted.

[0037] Even in this case, as in the first example, the flexibility of the holding part 1 (extendable part 3) can be maintained while suppressing the shaking (vibration) of the item, thus avoiding poor holding.

[0038] <Fourth example> A fourth example of the restricting portion 11 will be described with reference to Figure 7. The restricting portion 11 may be configured such that a gap S is created between it and the valley fold portion 5 in the initial state (i.e., it does not come into contact with it). Specifically, as shown in Figure 7(A), the restricting portion 11 (tip portion 112) may have only an upper inclined surface 112U, and the upper inclined surface 112U and a part of the upper surface 111U of the base portion 111 may come into contact with the upper valley fold surface 5U of the valley fold portion 5 in the initial state. In this case, the lower surface of the restricting portion 11 is, for example, a flat surface, and a gap S is created between it and the lower valley fold surface 5D in the initial state. The rest of the configuration is the same as in the first example.

[0039] In this case, some degree of expansion and contraction is permitted on the lower valley fold surface 5D, but expansion and contraction are restricted on the upper valley fold surface 5D.

[0040] As shown in Figure 7(B), the tip portion 112 may not have an inclined surface, and the restricting portion 11 may extend horizontally from the base portion 111 to the tip portion 112. The upper surface 112U' and lower surface 112D' of the tip portion 112 are configured as flat surfaces, and in the initial state, a gap S is created between the upper valley fold surface 5U and the lower valley fold surface 5D. The rest of the configuration is the same as in the first example.

[0041] In this case, some degree of expansion and contraction of the valley fold portion 5 is permitted, but as the contraction of the valley fold portion 5 progresses, it comes into contact with the restricting portion 1, and further contraction is restricted. Therefore, compared to the case where the auxiliary part 10 is not attached, the shaking of the article can be suppressed. As shown in Figure 7, depending on the degree of restriction of expansion and contraction and flexibility, a configuration may be adopted in which a gap S is created between the restricting portion 11 and the valley fold portion 5 in the initial state.

[0042] Furthermore, when multiple regulating sections 11 are provided, the upper regulating section 11 may have the configuration of the first example, while only the lowermost regulating section 11 may be configured in the fourth example (a configuration in which a gap S is created between it and the valley fold section 5 in the initial state).

[0043] <Fifth example> A fifth example of the restricting section 11 (auxiliary part 10) will be described with reference to Figure 8. Multiple stages of restricting sections 11 do not necessarily have to be connected by connecting sections 12. That is, the auxiliary part 10 has annular multiple stages of restricting sections 11 (11X~11Z), but the multiple stages of restricting sections 11 may be configured such that their bases 111 (111X~111Z) abut each other in the axial direction to maintain a predetermined interval. Specifically, the uppermost (first stage) restricting section 11X is connected to the mounting section 13 via the connecting section 12, while the upper surface of the base 111 of the second stage restricting section 11 is directly connected to the lower surface of the base 111 of the first stage restricting section 11. Similarly, the upper surface of the base 111 of the third stage restricting section 11 is directly connected to the lower surface of the base 111 of the second stage restricting section 11.

[0044] In this case, after inserting the restricting portion 11 into each valley fold portion 5, the upper and lower restricting portions 11 (base portion 111) can be connected, making it easy to attach the auxiliary component 10 to the holding portion 1. Each restricting portion 11 is connected, for example, by engaging the engaging projection 115 and the engaging hole portion 116. In this case, it is preferable to provide a claw (not shown) or the like on the engaging projection 115 and the engaging hole portion 116 or around them to lock the engaged state and prevent the engaged state from being easily released. In this case, the multiple restricting portions 11 are also fixed to the connecting portion 2 via the uppermost connecting portion 12 and the mounting portion 13. In other words, the restricting portions 11 are maintained at a predetermined distance from each other in the axial direction, and axial expansion and contraction can be restricted compared to the case where the auxiliary component 10 is not attached.

[0045] In the above embodiment, the example given was that the number of steps in the restricting portion 11 of the auxiliary part 10 is less than the number of steps in the valley fold portion 5 of the telescopic portion 3. However, if there is no problem with the flexibility of the holding portion 1 (telescopic portion 3), the number of steps in the valley fold portion 5 and the restricting portion 11 may be the same, and the restricting portion 11 may be inserted into all of the valley fold portion 5. In that case as well, the article contact surface 3A of the telescopic portion 3 is positioned (exposed) below the bottom of the auxiliary part 10. This prevents damage to the article held by the holding portion 1 due to contact with the auxiliary part 10.

[0046] Furthermore, in the third to fifth examples, the auxiliary component 10 may be divided into multiple parts along the axial direction, as in the second example.

[0047] Furthermore, although the above example described a case where the number of steps in the restricting section 11 is one less than the number of steps in the valley fold section 5, the number of steps in the restricting section 11 may be two or more less than the number of steps in the valley fold section 5, depending on the form (size, shape, weight, etc.) of the item and the speed of movement (transfer).

[0048] As described above, according to this embodiment, the restricting part 11 restricts the axial contraction of the expandable part 3, thereby preventing the article from shaking (vibrating) due to deformation (contraction) of the expandable part 3.

[0049] Furthermore, by not inserting the restricting portion 11 into the valley fold portion 5 below the expandable portion 3, for example, the expandability of the expandable portion 3 can be maintained to a certain extent, allowing for secure holding (suction) of the item. Damage to the item can also be prevented.

[0050] Furthermore, by bringing a portion of the restricting portion 11 into contact with the valley fold portion 5 in the initial state, deterioration (wear) caused by the expandable portion 3 colliding with the auxiliary component 10 can be prevented.

[0051] Furthermore, the retaining part 1 can utilize off-the-shelf products, which reduces the cost (initial cost) that would be incurred if it were a custom-made product.

[0052] The outer shape (planar shape) of the holding portion 1 is not limited to a circular shape; it may also be elliptical, rectangular, or polygonal. In that case, the restricting portion 11 shall have a shape (if continuous) or arrangement (if divided) that corresponds to the shape of the valley fold portion 5.

[0053] As stated above, the present invention is not limited to the embodiments described above, and various modifications are possible without departing from its spirit and technical concept. [Explanation of Symbols]

[0054] 1 Holding part 2 Connection part 2A aisle 3 Telescopic part 3A Article contact surface 4. Folded section 5 Valley fold section 5D Lower valley fold surface 5U Upper valley fold surface 10 auxiliary parts 11 Regulatory Department 12 Connecting part 111 Base 111D Bottom side 111U top 112 Tip 112D Lower slope 112U upper slope 115 Engagement protrusion 116 Engagement hole AX central axis

Claims

1. An auxiliary component attached to a holding part that holds an article by suction when the article is moved, The holding portion includes a bellows-shaped expandable portion having mountain folds and valley folds, The aforementioned auxiliary component is The restricting portion is inserted into the valley fold portion and has a restricting portion that can come into contact with at least a part of the surface constituting the valley fold portion, An auxiliary component characterized by the following features.

2. The restricting portion is capable of contacting the valley-fold portion at least in the axial direction of the holding portion. The auxiliary part according to feature 1.

3. The restricting portion restricts the deformation of the valley fold portion. The auxiliary part according to feature 1.

4. The restricting portion is continuous in the direction of extension of the valley fold portion. The auxiliary part according to feature 1.

5. Multiple restricting portions are provided spaced apart in the direction of extension of the valley fold portion. The auxiliary part according to feature 1.

6. Multiple regulating parts are provided in the axial direction of the holding part. The auxiliary part according to feature 1.

7. Having a connecting portion that maintains a plurality of the aforementioned restricting portions at predetermined intervals, The auxiliary part according to feature 6.

8. The multiple restricting parts are maintained at a predetermined interval by contacting each other in the axial direction. The auxiliary part according to feature 6.

9. Multiple of the aforementioned restricting parts are inserted into each of the valley-fold sections except for the lowest section. The auxiliary part according to feature 6.

10. Composed of multiple components, The auxiliary part according to feature 1.

11. The holding part includes a connecting part that connects to the robot hand, The restricting portion is fixed to the connecting portion. The auxiliary part according to feature 1.

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