Item holding device

Abstract

To improve the suction properties of the suction pad to the object. [Solution] The article holding device (100) comprises a pad mounting section (11) provided with a suction port (11A), a suction pad (2) attached to the pad mounting section (11) for adsorbing an article (W), and a pressing section (12) that is movable relative to the pad mounting section (11) and presses the suction pad (2) toward the article (W) when the article (W) is adsorbed.

Description

[Technical Field]

[0001] The present disclosure relates to an article holding device that holds an article by means of a suction pad. [Background Art]

[0002] In recent years, picking devices (transfer devices) have been used in factories, warehouses, and the like, for example, to efficiently sort a large variety of articles by shipping destination. Such a picking device is provided with a suction pad for sucking an article, and is configured to transfer the article to a desired position while the article is sucked by the suction pad.

[0003] Patent Document 1 discloses a suction pad in which an elastic petal-shaped portion separated by a plurality of recesses is provided at a contact portion that contacts an article. This type of suction pad is used by being attached to, for example, the distal end of a picking device provided with a suction port. [Prior Art Documents] [Patent Documents]

[0004] [Patent Document 1] Japanese Patent Laid-Open No. 2020-89936 [Summary of the Invention] [Problem to be Solved by the Invention]

[0005] However, in the above-described conventional technology, the suction pad is brought into close contact with an article by elastic deformation caused by suction. Therefore, depending on the shape of the article, the suction pad does not adhere closely to the article, leaving room for improvement in suction performance.

[0006] One aspect of the present disclosure has been made in view of the above-described conventional problems, and an object thereof is to improve the suction performance of a suction pad with respect to an article. [Means for Solving the Problem]

[0007] To solve the aforementioned problems, an article holding device according to one aspect of the present disclosure comprises: a pad mounting portion provided with a suction port; a suction pad attached to the pad mounting portion for adsorbing an article; and a pressing portion that is relatively movable with respect to the pad mounting portion along the central axis direction of the suction port and presses the suction pad toward the article when the article is adsorbed. [Effects of the Invention]

[0008] According to one aspect of this disclosure, it is possible to provide an article holding device that can improve the suction properties of an adsorption pad to an article. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic diagram showing an example of the main components of an article holding device according to Embodiment 1 of this disclosure. [Figure 2] Figure 1 is a schematic diagram illustrating an example of the operation of the item holding device shown. [Figure 3] This is an end view showing a modified example of the suction pad shown in Figure 1. [Figure 4] Figure 3 is a schematic diagram illustrating an example of operation of an article holding device equipped with a suction pad. [Figure 5] Figure 1 is an end view showing another modified example of the suction pad. [Figure 6] Figure 5 is a schematic diagram illustrating an example of operation of an article holding device equipped with a suction pad. [Figure 7] This is a schematic diagram illustrating an example of the operation of an article holding device when an extension is added to the suction pad shown in Figure 6. [Figure 8] This is a schematic diagram showing an example of the main components of an article holding device according to Embodiment 2 of this disclosure. [Figure 9] Figure 8 is a schematic diagram illustrating an example of the operation of the article holding device. [Modes for carrying out the invention]

[0010] [Embodiment 1] Hereinafter, an embodiment of the present disclosure will be described. In the following description, a case where the article holding device according to the present disclosure is applied to a picking device (transfer device) that sucks and transfers an article will be described as an example. However, the following description is an example of the article holding device according to the present disclosure, and the technical scope of the present disclosure is not limited to the illustrated examples.

[0011] [Outline of Article Holding Device] First, an outline of the article holding device 100 according to the present embodiment will be described with reference to FIG. 1. FIG. 1 is a schematic diagram showing a configuration example of a main part of the article holding device 100 according to the present embodiment. The article holding device 100 is provided, for example, at a distal end of a robot arm constituting a picking device, and is used for sucking an article W.

[0012] As shown in FIG. 1, the article holding device 100 includes: a pad attachment portion 11 provided with a suction port 11A; a suction pad 2 attached to the pad attachment portion 11; and a pressing portion 12 that is relatively movable with respect to the pad attachment portion 11 along a direction of a central axis A and presses the suction pad 2 toward the article W when the article W is sucked.

[0013] In the article holding device 100, the pad attachment portion 11 and the pressing portion 12 are relatively movable, and the pressing portion 12 presses the suction pad 2 toward the article W when the article W is sucked. Accordingly, the suction pad 2 is likely to be in close contact with the article W, and the suction performance of the suction pad 2 for the article W can be improved.

[0014] [Configuration of Article Holding Device] Next, a configuration example of the article holding device 100 will be described with reference to FIG. 1. As shown in FIG. 1, the article holding device 100 includes a head portion 1 and a suction pad 2 attached to the head portion 1.

[0015] In the drawings of the present disclosure, for convenience of description, only an end face of the suction pad 2 when cut along a plane passing through the central axis A of the suction port (suction hole) 11A is shown.

[0016] Furthermore, in the following description of the present disclosure, the direction along the central axis A of the suction port 11A may be referred to as the vertical direction, and the direction orthogonal to the vertical direction may be referred to as the lateral direction. Further, in the vertical direction, the side where the head portion 1 is located may be referred to as the upper side, and the side where the suction pad 2 is located may be referred to as the lower side.

[0017] (Head Portion) The head portion 1 is rotatably attached to, for example, a distal end portion of a robot arm. The head portion 1 includes a pad attachment portion 11, a pressing portion 12, and a spring (elastic member) 13.

[0018] The pad attachment portion 11 is a cylindrical member to which the suction pad 2 is attached. The pad attachment portion 11 has, at a lower end thereof, the suction port 11A for sucking air. The suction port 11A is connected to a vacuum pump (not shown) and is configured to suck air through the suction port 11A.

[0019] The article holding device 100 is configured such that when the suction pad 2 is brought into contact with an article W and vacuum suction is performed from the suction port 11A, the suction pad 2 is elastically deformed to suck and hold the article W.

[0020] Note that, the example of the present embodiment shows a configuration example in which one suction pad 2 is attached to the head portion 1. However, a configuration may be adopted in which the head portion 1 has a plurality of (e.g., three) pad attachment portions 11, and the suction pad 2 is attached to each of the plurality of pad attachment portions 11.

[0021] The pressing portion 12 is a plate-shaped member provided at a lower portion of the head portion 1. The pressing portion 12 may constitute a part (bottom portion) of a housing 14 of the head portion 1. The pressing portion 12 is disposed so as to be orthogonal to the direction of the central axis A of the suction port 11A. In the pressing portion 12, a facing surface (lower surface) facing the suction pad 2 serves as a pressing surface 12A. The pressing surface 12A is configured to abut against the suction pad 2 when sucking the article W, and press the suction pad 2 toward the article W side.

[0022] The pressing surface 12A may be a flat surface. A flat pressing surface 12A makes it less likely for the suction pad 2 to catch on the pressing surface 12A, and allows the suction pad 2 to move (tilt) more easily to conform to the shape of the object W.

[0023] However, the pressing surface 12A is not limited to a flat shape. For example, the pressing surface 12A may have a shape that includes a protrusion where a part of the pressing surface 12A protrudes toward the suction pad 2. This makes it easier to press the suction pad 2 toward the article W with the protrusion, thereby making it easier to bring the suction pad 2 into close contact with the article W.

[0024] Furthermore, the pressing portion 12 has an insertion hole 12B formed through the pressing portion 12 in the thickness direction (direction of the central axis A). The insertion hole 12B is formed in the center of the pressing portion 12 in a plan view. The pad mounting portion 11 is inserted into this insertion hole 12B.

[0025] In the head unit 1, the pad mounting portion 11 is attached to the housing 14 of the head unit 1 via a spring 13, which is made of, for example, a coil spring. Therefore, the pad mounting portion 11 is movable along the insertion hole 12B. In this embodiment, the pad mounting portion 11 is configured to move relative to the pressing portion 12 in the direction of the central axis A of the suction port 11A.

[0026] The pad mounting portion 11 and the spring 13 may be composed of, for example, a spring plunger. In this case, the spring plunger may be fixed to the pressing portion 12 such that the tip of the spring plunger (suction port 11A) protrudes toward the suction pad 2 side from the insertion hole 12B of the pressing portion 12.

[0027] (Adhesive pad) The suction pad 2 is a vacuum suction pad that elastically deforms under vacuum pressure to adsorb an article W. The suction pad 2 is generally configured in a cylindrical shape. The suction pad 2 includes a suction part 21, an adsorption part 22, and a shape-retaining part 23.

[0028] The suction pad 2 is attached to the pad mounting portion 11 such that the shape-retaining portion 23 does not come into contact with the pressing portion 12 when the article W is not being held, that is, when it is not subjected to external force and is not substantially deformed. As a result, the article holding device 100 has a gap S between the shape-retaining portion 23 and the pressing portion 12. In other words, the suction pad 2 is a floating pad configured so that the shape-retaining portion 23 does not come into contact with the head portion 1 when the article W is not being held. Because the suction pad 2 is floating, for example, the suction pad 2 can easily tilt along the inclination of the article W, improving the suction performance of the suction pad 2 on the article W.

[0029] The suction portion 21 is constructed using, for example, an elastically deformable resin material such as silicone resin. The suction portion 21 is also formed in a bellows-like shape. One ring-shaped end 21A of the suction portion 21, which is the end facing the pad mounting portion 11, is connected to the pad mounting portion 11. By connecting one end 21A of the suction portion 21 to the pad mounting portion 11, the suction pad 2 is attached to the pad mounting portion 11.

[0030] Furthermore, the suction portion 21 has a circular opening 21C formed in plan view at the other end 21B, which is the ring-shaped end opposite to the pad mounting portion 11.

[0031] The suction portion 22 is constructed using an elastically deformable resin material such as silicone resin. The suction portion 22 is configured to connect to the other end 21B of the suction portion 21. Specifically, the suction portion 22 has a first suction portion 22A connected to the other end 21B of the suction portion 21 and expanding in diameter as it moves away from the suction portion 21, and a second suction portion 22B that is folded back from the first suction portion 22A toward the pad mounting portion 11 and expanding in diameter as it moves away from the first suction portion 22A.

[0032] In other words, the suction portion 22 is composed of a first suction portion 22A and a second suction portion 22B, and has a folded portion 22C that is folded back toward the pad mounting portion 11 at the lower end position of the suction pad 2.

[0033] In the suction portion 22, both the first suction portion 22A and the second suction portion 22B are made of an elastically deformable material. The folded portion 22C is configured in a ring shape when the article W is not being adsorbed. On the other hand, when the article W is being adsorbed, the folded portion 22C can be appropriately deformed from a ring shape in accordance with the elastic deformation of at least one of the first suction portion 22A and the second suction portion 22B.

[0034] Furthermore, in the suction section 22, an opening 22D is formed on the inside of the ring-shaped folded portion 22C. This opening 22D is sequentially connected to the opening 21C of the suction section 21 and the suction port 11A of the pad attachment section 11, allowing the article W to be sucked in when the article W is being suctioned.

[0035] The shape-retaining portion 23 is constructed, for example, using the same material as the suction portion 22. Furthermore, the shape-retaining portion 23 is positioned around the suction portion 21 and is configured to maintain the shape of the second suction portion 22B when the article W is not being adsorbed. In other words, the shape-retaining portion 23 has the function of restoring the second suction portion 22B, which has elastically deformed when the article W is adsorbed, back to its original shape before elastic deformation. The shape-retaining portion 23 may be configured to have higher rigidity than the suction portion 22.

[0036] For example, the shape-retaining portion 23 is made of the same elastically deformable resin material as the suction portion 22, such as silicone resin, and is integrally formed with the suction portion 22. Furthermore, one end 23A of the ring shape of the shape-retaining portion 23 is connected to the second suction portion 22B side of the suction portion 22, and is provided to decrease in diameter as it moves away from the second suction portion 22B. The other end 23B of the shape-retaining portion 23 may be formed in a ring shape with a predetermined thickness in order to give the shape-retaining portion 23 higher rigidity than the suction portion 22.

[0037] Furthermore, as described above, when the article W is not being held in place, the other end 23B of the shape-holding portion 23 is positioned at a distance from the pressing surface 12A of the pressing portion 12. As a result, when the article W is not being held in place, the shape-holding portion 23 is in a floating state without contacting the pressing surface 12A. This allows the suction pad 2 to move more easily in accordance with the article W when the article W is being held in place.

[0038] The material of the shape-retaining portion 23 is not particularly limited as long as it can maintain the shape of the second suction portion 22B when the article W is not being adsorbed. The shape-retaining portion 23 may be made of a different material than the suction portion 22. For example, the shape-retaining portion 23 may be made of a metal material or the like.

[0039] Furthermore, in order to properly maintain the shape of the suction portion 22 when the article W is not being adsorbed by the shape-retaining portion 23, it is preferable that the shape-retaining portion 23 has higher rigidity than the suction portion 22. Having higher rigidity than the suction portion 22 makes it easier to restore the shape of the second suction portion 222B of the suction portion 22, which has elastically deformed when the article W is adsorbed, back to its shape before adsorption.

[0040] [Operation of the item holding device] Next, an example of the operation of the article holding device 100 will be described with reference to Figure 2. Figure 2 is a schematic diagram illustrating an example of the operation of the article holding device 100. Reference numeral 201 in Figure 2 indicates the state when the article W is not held, and reference numeral 202 in Figure 2 indicates the state when the article W is held.

[0041] As the article holding device 100 is lowered toward the article W from the non-adhering state shown by reference numeral 201 in Figure 2, the folded portion 22C of the suction pad 2 first comes into contact with the article W, and then the suction pad 2 is pressed against the article W, causing the suction pad 2 to elastically deform according to the shape of the article W. As a result, as shown by reference numeral 202 in Figure 2, the first suction portion 22A and the second suction portion 22B of the suction portion 22 come into close contact with the surface of the article W to be adsorbed.

[0042] At this time, as the article holding device 100 descends, the pressing portion 12 moves downward, while the pad mounting portion 11 to which the suction pad 2 is connected is prevented from moving downward because the suction pad 2 comes into contact with the article W. Therefore, as shown by reference numeral 202 in Figure 2, as the pressing portion 12 moves downward, the pad mounting portion 11 is pushed into the insertion hole 12B, and the spring 13 contracts (compresses). As a result, as shown by arrow A1 in the figure, the pad mounting portion 11 moves relatively upward with respect to the pressing portion 12.

[0043] In this way, as the pad mounting portion 11 moves relatively upward with respect to the pressing portion 12 together with the suction pad 2, the pressing portion 12 presses the shape holding portion 23 toward the article W, as shown by arrow A2 in the figure. This makes it easier for the suction pad 2 to adhere more closely to the article W, improving the suction performance of the suction pad 2 toward the article W. As a result, the vacuum drawn from the suction port 11A allows the suction pad 2 to adsorb the article W, as shown by arrow F at reference numeral 202 in Figure 2, and stably hold the article W.

[0044] Furthermore, after the article holding device 100 moves the held article W to the desired position, the spring 13 extends, causing the pad mounting portion 11 to move downward relative to the pressing portion 12, returning the article W to the non-adsorbed state shown by reference numeral 201 in Figure 2. In other words, the article holding device 100 is configured so that the pressing portion 12 reciprocates relative to the pad mounting portion 11 in the vertical direction.

[0045] The stroke length of the relative reciprocating movement of the pressing portion 12 with respect to the pad mounting portion 11 may be greater than or equal to the length of the gap S in the vertical direction, and less than or equal to the sum of the length of the gap S and the maximum deformation amount of the suction pad 2 in the vertical direction. In this disclosure, the maximum deformation amount of the suction pad 2 in the vertical direction is the maximum amount of compression (maximum deformable amount) when the suction pad 2 is compressed in the vertical direction, and is the amount of deformation of the suction pad 2 in the vertical direction when the suction pad 2 loses flexibility and its rigidity increases rapidly.

[0046] In this case, when the article holding device 100 is lowered toward the article W, during the first period from when the suction portion 22 of the suction pad 2 comes into contact with the article W until the pressing portion 12 comes into contact with the shape-retaining portion 23 of the suction pad 2, the suction pad 2 is pressed against the article W with a very weak force (approximately 0-70g) solely by the biasing force of the spring 13. Therefore, during this first period, the suction pad 2 hardly undergoes any elastic deformation.

[0047] Next, in the second period, from the time the pressing part 12 contacts the shape-retaining part 23 of the suction pad 2 until the pressing part 12 reaches the stroke end where the spring 13 is most contracted, a portion of the pressing force from the pressing part 12 is absorbed by the contraction of the spring 13. As a result, the suction pad 2 is pressed against the article W with a weak force (approximately 250g). During this second period, the suction pad 2 begins elastic deformation (initial deformation).

[0048] Next, in the third period after the pressing portion 12 reaches the stroke end where the spring 13 is most contracted, the suction pad 2 undergoes elastic deformation (late deformation) to near its maximum deformation amount as the article holding device 100 descends. As a result, the elastic force of the suction pad 2 presses it against the article W with a strong force (approximately 500g).

[0049] In this way, by adjusting the stroke length of the relative reciprocating movement of the pressing portion 12 with respect to the pad mounting portion 11 to, for example, the range described above, the suction portion 22 of the suction pad 2 can be brought into close contact with the article W with a relatively weak force during the first and second periods. Therefore, articles W that are easily deformable, such as stand pouches, can be suitably adsorbed.

[0050] [Effects of the Article Holding Device] As described above, the article holding device 100 according to this embodiment includes a pad mounting portion 11 provided with a suction port 11A, a suction pad 2 attached to the pad mounting portion 11 for adsorbing an article W, and a pressing portion 12 that is relatively movable with respect to the pad mounting portion 11 along the direction of the central axis A of the suction port 11A, and presses the suction pad 2 toward the article W when the article W is adsorbed.

[0051] The article holding device 100 has a pad mounting portion 11 and a pressing portion 12 that are relatively movable, and when an article W is attracted, the pressing portion 12 presses the suction pad 2 toward the article W. Therefore, according to this embodiment, the suction pad 2 can adhere more closely to the article W, and the suction performance of the suction pad 2 toward the article W can be improved.

[0052] [Differentiation] (Variation 1) Figure 3 is an end view showing a modified suction pad 2A of the suction pad 2. As shown in Figure 3, the suction pad 2A includes an annular member 24 which is fixed to the other end 23B of the shape-retaining portion 23 on the side facing the pressing portion 12 and is positioned around the suction portion 21. This annular member 24 is formed in a ring shape and is configured to have even higher rigidity than the shape-retaining portion 23. The annular member 24 may be made of, for example, a synthetic resin such as plastic that is not easily elastically deformed, a metal material, or the like.

[0053] The annular member 24 is not limited to being ring-shaped (circular). The annular member 24 can be appropriately changed to match the shape of the pressing portion 12 or the shape of the other end 23B of the shape-holding portion 23. The annular member 24 may also be, for example, elliptical, star-shaped, or other polygonal shapes.

[0054] Furthermore, the annular member 24 may include a large-diameter portion 24A fixed to the other end 23B of the shape-retaining portion 23, and a small-diameter portion 24B positioned on the pressing portion 12 side relative to the large-diameter portion 24A and pressed by the pressing portion 12 when the article W is attracted.

[0055] Figure 4 is a schematic diagram illustrating an example of operation of the article holding device 100A equipped with the suction pad 2A shown in Figure 3. Reference numeral 401 in Figure 4 indicates the state in which the suction pad 2A is in contact with the article W which is positioned at an angle, and reference numeral 402 in Figure 4 indicates the state in which the suction pad 2A is tilted in accordance with the tilt of the article W.

[0056] As shown by reference numeral 401 in Figure 4, when the article holding device 100 is lowered toward the article W which is positioned at an angle, first a part of the folded portion 22C of the suction pad 2 (the right folded portion 22C in the figure) comes into contact with the article W. As the article holding device 100 continues to lower, the suction pad 2A tilts along the inclination of the surface of the article W to be adsorbed, and the small diameter portion 24B of the annular member 24 fixed to the other end 23B of the shape-holding portion 23 comes into contact with the pressing portion 12. At this time, because the annular member 24 has rigidity that makes it difficult to elastically deform, the elastic deformation of the shape-holding portion 23 is suppressed, making it easier for the suction pad 2 to maintain an inclined state along the surface of the article W to be adsorbed. As a result, the suction performance of the suction pad 2A on the article W which is positioned at an angle is improved.

[0057] Furthermore, since the annular member 24 includes a large-diameter portion 24A and a small-diameter portion 24B, the pressing portion 12 only needs to have dimensions that allow it to press the small-diameter portion 24B. Therefore, it becomes possible to reduce the lateral outer diameter of the pressing portion 12, and thus the pressing portion 12 can be made more compact.

[0058] (Modification 2) Figure 5 is an end view showing another modified example of the suction pad 2, the suction pad 2B. As shown in Figure 5, the suction portion 22 of the suction pad 2B has a first suction portion 22A connected to the other end 21B of the suction portion 21 and expanding in diameter as it moves away from the suction portion 21, and a second suction portion 22B that bends and extends radially outward from the first suction portion 22A of the suction pad 2B.

[0059] In other words, the suction portion 22 of the suction pad 2B is composed of a first suction portion 22A and a second suction portion 22B, and has a bent portion 22E that is bent radially outward at the lower end of the suction pad 2, for example. The suction portion 22 may be arranged radially (in a multiple petal shape) in a plan view.

[0060] Furthermore, the shape-retaining portion 23 of the suction pad 2B is arranged around the first suction portion 22A and is configured to maintain the shape of the second suction portion 22B when the article W is not being adsorbed.

[0061] For example, the shape-retaining portion 23 has one ring-shaped end 23A connected to the second suction portion 22B of the suction portion 22, and is designed to decrease in diameter as it moves away from the second suction portion 22B. Furthermore, the other ring-shaped end 23B of the shape-retaining portion 23 is connected to the other end 21B of the suction portion 21.

[0062] Figure 6 is a schematic diagram illustrating an example of operation of the article holding device 100B equipped with the suction pad 2B shown in Figure 5. Figure 6 shows the state when the article W is being held in place.

[0063] As shown in Figure 6, the pressing portion 12 of the article holding device 100B includes an annular projection 12C, where a part of the pressing surface 12A protrudes toward the suction pad 2B. In the article holding device 100B, when an article W is sucked, the pressing surface 12A at the tip of the projection 12C presses the shape-retaining portion 23 of the suction pad 2B toward the article W. This makes it easier for the suction pad 2B to adhere more closely to the article W, improving the suction performance of the suction pad 2B toward the article W.

[0064] Figure 7 is a schematic diagram illustrating an example of the operation of the article holding device 100B when an extension portion 25 is added to the suction pad 2B shown in Figure 6. Figure 7 shows the state when the article W is being held in place.

[0065] As shown in Figure 7, the suction pad 2B may have an overhang 25 that extends radially outward from the outer circumference of the suction portion 21. The overhang 25 may be integrally formed with the suction pad 2B, or it may be a separate component from the suction pad 2B. If it is integrally formed with the suction pad 2B, the overhang 25 may have higher rigidity than the shape-retaining portion 23. If it is a separate component from the suction pad 2B, the overhang 25 may be made of a synthetic resin such as plastic that is not easily elastically deformed.

[0066] The article holding device 100B may be configured such that, when the article W is being sucked, the pressing surface 12A at the tip of the protruding portion 12C presses the protruding portion 25 of the suction pad 2B toward the article W. This makes it easier for the suction pad 2B to adhere more closely to the article W, thereby improving the suction properties of the suction pad 2B toward the article W.

[0067] [Embodiment 2] Other embodiments of this disclosure are described below. For the sake of convenience, components having the same function as those described in the above embodiments are denoted by the same reference numerals, and their descriptions are not repeated.

[0068] [Configuration of the article holding device] First, an example of the configuration of the article holding device 101 will be described with reference to Figure 8. Figure 8 is a schematic diagram showing an example of the main components of the article holding device 101 according to this embodiment. The article holding device 101 according to this embodiment differs from the article holding device 100 according to the previous embodiment in that the pressing portion 12 is configured to be movable in the direction of the central axis A of the suction port 11A relative to the pad mounting portion 11.

[0069] As shown in Figure 8, in the article holding device 101, the head unit 1 is equipped with an actuator (drive unit) 15 that moves the pressing unit 12 toward the article W when the article W is attracted, instead of a spring 13. The pad mounting unit 11 is fixed to the housing 14 of the head unit 1, while the pressing unit 12 is not fixed to the housing 14 but is connected to the actuator 15 which is fixed to the housing 14.

[0070] Multiple actuators 15 are arranged on either side of the pad mounting portion 11, with each actuator positioned so that its axial direction is parallel to the central axis A of the suction port 11A. One end 15A of the actuator 15 is fixed to the housing 14. The other end 15B of the actuator 15 opposite to the one end 15A is connected to the pressing portion 12. Therefore, by operating the actuator 15, the pressing portion 12 can be moved relative to the pad mounting portion 11 in the direction of the central axis A of the suction port 11A.

[0071] [Operation of the item holding device] Next, an example of the operation of the article holding device 101 will be described with reference to Figure 9. Figure 9 is a schematic diagram illustrating an example of the operation of the article holding device 101. Reference numeral 901 in Figure 9 indicates the state when the article W is not held, and reference numeral 902 in Figure 9 indicates the state when the article W is held.

[0072] As the article holding device 101 is lowered toward the article W from the non-adhering state shown by reference numeral 901 in Figure 9, the folded portion 22C of the suction pad 2 first comes into contact with the article W, and then the suction pad 2 is pressed against the article W, causing the suction pad 2 to elastically deform according to the shape of the article W. As a result, as shown by reference numeral 902 in Figure 9, the first suction portion 22A and the second suction portion 22B of the suction portion 22 come into close contact with the surface of the article W to be adsorbed.

[0073] At this time, the actuator 15 is operated to push the pressing portion 12 downward. As a result, the pressing portion 12 moves downward relative to the pad mounting portion 11.

[0074] In this way, by operating the actuator 15 so that the pressing portion 12 moves downward relative to the pad mounting portion 11, the pressing portion 12 presses the shape-holding portion 23 toward the article W, as shown by arrow A2 in the figure. This makes it easier for the suction pad 2 to adhere more closely to the article W, and improves the suction performance of the suction pad 2 toward the article W.

[0075] [Effects of the Article Holding Device] As described above, the article holding device 101 according to this embodiment includes a pad mounting portion 11 provided with a suction port 11A, a suction pad 2 attached to the pad mounting portion 11 for adsorbing an article W, a pressing portion 12 that is relatively movable with respect to the pad mounting portion 11 along the direction of the central axis A of the suction port 11A and presses the suction pad 2 toward the article W when the article W is adsorbed, and an actuator 15 that moves the pressing portion 12 toward the article W when the article W is adsorbed.

[0076] The article holding device 101 moves the pressing portion 12 toward the article W using the actuator 15, which makes it easier for the suction pad 2 to adhere more closely to the article. Therefore, according to this embodiment, the suction pad 2 adheres more closely to the article W, and the suction performance of the suction pad 2 to the article W can be improved.

[0077] 〔summary〕 An article holding device according to Embodiment 1 of the present disclosure comprises a pad mounting portion provided with a suction port, a suction pad attached to the pad mounting portion for adsorbing an article, and a pressing portion that is relatively movable with respect to the pad mounting portion along the central axis direction of the suction port and presses the suction pad toward the article when the article is adsorbed.

[0078] In the above configuration, the pad mounting portion and the pressing portion are relatively movable, and when an article is attracted, the pressing portion presses the suction pad toward the article. Therefore, with the above configuration, the suction pad can adhere more closely to the article, improving the suction performance.

[0079] In the article holding device according to aspect 2 of the present disclosure, in aspect 1, the suction pad may include a cylindrical suction portion one end of which is connected to the pad mounting portion, an adsorption portion connected to the other end of the suction portion opposite to the one end and adsorbing onto the article, and a shape-holding portion connected to the adsorption portion and maintaining the shape of the adsorption portion when the article is not adsorbed.

[0080] In the above configuration, the shape-retaining part maintains the shape of the suction part when it is not adsorbing an article, so the suction part can be brought close to the article while maintaining a constant shape, and the suction part can be adsorbed onto the article.

[0081] In the article holding device according to aspect 3 of the present disclosure, in aspect 2, the suction portion includes a first suction portion connected to the other end of the suction portion and expanding in diameter as it moves away from the suction portion, and a second suction portion folded back from the first suction portion toward the pad mounting portion and expanding in diameter as it moves away from the first suction portion, and the shape holding portion may be connected to the second suction portion and arranged around the suction portion.

[0082] In the above configuration, the suction pad has a folded portion between the first suction portion and the second suction portion. Therefore, when the suction pad is brought close to an article, the folded portion first comes into contact with the article and elastically deforms according to the shape of the article, and then the first and second suction portions elastically deform to adhere closely to the article. Accordingly, with the above configuration, the suction portion becomes more elastically deformable according to the shape of the article, and the suction performance to the article is improved.

[0083] In the article holding device according to aspect 4 of this disclosure, in aspect 2 or 3, the pressing portion may press the shape holding portion toward the article.

[0084] According to the above configuration, the pressing portion presses the suction portion toward the article via the shape-retaining portion, thereby allowing the suction portion to adhere to the article.

[0085] In the article holding device according to aspect 5 of the present disclosure, in aspect 4, the pressing portion may include a flat pressing surface facing the suction pad, and the pressing surface may press the shape holding portion toward the article.

[0086] According to the above configuration, since the pressing surface of the pressing part that presses the suction pad is flat, the suction pad is less likely to get caught on the pressing surface, and the suction pad can move more easily to conform to the shape of the object.

[0087] In the article holding device according to aspect 6 of the present disclosure, in aspect 4 or 5, there may be a gap between the pressing portion and the shape holding portion when the article is not being held.

[0088] In the above configuration, when the article is not being held in place, the shape-holding portion is in a floating state, separated from the pad mounting portion. Therefore, with this configuration, for example, the suction pad can easily tilt in accordance with the inclination of the article, further improving the suction performance to the article.

[0089] In the article holding device according to embodiment 7 of the present disclosure, in embodiment 6, the pressing portion is configured to reciprocate relative to the pad mounting portion along the central axis direction, and the stroke length of the reciprocating movement of the pressing portion may be greater than or equal to the length of the gap in the central axis direction, and less than or equal to the sum of the length of the gap and the maximum deformation amount of the suction pad in the central axis direction.

[0090] In the above configuration, when an article is being adsorbed, even after the pressing part comes into contact with the adsorption pad, the adsorption pad remains in close contact with the article with a weak force until it reaches the stroke end. Then, when the pressing part reaches the stroke end, the adsorption pad is pressed against the article with a strong force, and the article is adsorbed. Therefore, with the above configuration, the adsorption pad can be made to adhere to the article with a relatively weak force, making it suitable for adsorbing easily deformable articles such as stand-up pouches.

[0091] In the article holding device according to aspect 8 of the present disclosure, in aspect 6 or 7, the shape holding portion may include an annular member fixed to the end facing the pressing portion and arranged around the suction portion.

[0092] In the above configuration, for example, when an object placed at an angle is picked up, the annular member contacts the pressing portion while the suction pad is tilted in line with the tilt of the object. At this time, the annular member suppresses the elastic deformation of the shape-holding portion, making it easier for the suction pad to maintain its tilted position. Therefore, the suction pad can stably pick up an object that is tilted.

[0093] In the article holding device according to aspect 9 of the present disclosure, in aspect 8, the annular member has a large diameter portion fixed to the shape holding portion, and a small diameter portion positioned on the pressing portion side relative to the large diameter portion and pressed by the pressing portion when the article is held in place. It may include.

[0094] According to the above configuration, the pressing part only needs to have dimensions that allow it to press the small diameter part, so the pressing part can be made smaller.

[0095] The article holding device according to embodiment 10 of the present disclosure may further include, in any of embodiments 1 to 9, a drive unit (actuator 15) that moves the pressing portion toward the article when the article is held in place.

[0096] According to the above configuration, the drive unit moves the pressing unit toward the article, making it easier for the suction pad to adhere more closely to the article.

[0097] This disclosure is not limited to the embodiments described above, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of this disclosure. [Explanation of Symbols]

[0098] 2, 2A, 2B: Suction pads 11: Pad mounting area 11A: Suction port 12: Pressing part 12A: Pressing surface 15: Actuator (drive unit) 21:Suction part 21B: Other end (other end of the suction part) 22: Adsorption part 22A: 1st suction part 22B:Second suction part 23: Shape retention part 23B: Other end (other end of the shape-retaining part) 24: Annular member 24A: Large diameter section 24B: Small diameter part A: Central axis of the suction port S: Gap W:Goods

Claims

1. A pad mounting section with a suction port, A suction pad attached to the pad mounting portion for adsorbing an object, A pressing portion is movable relative to the pad mounting portion along the central axis direction of the suction port, and presses the suction pad toward the article when the article is adsorbed, An article holding device equipped with the following features.

2. The aforementioned suction pad is A cylindrical suction part, one end of which is connected to the pad mounting part, A suction part connected to the other end of the suction part opposite to the aforementioned one end, which adheres to the article, A shape-retaining part connected to the adsorption part and which maintains the shape of the adsorption part when the article is not adsorbed, The article holding device according to claim 1, including the following:

3. The adsorption part is, A first suction portion is connected to the other end of the suction portion and its diameter increases as it moves away from the suction portion, A second suction portion is folded back from the first suction portion toward the pad mounting portion and expands in diameter as it moves away from the first suction portion, Includes, The article holding device according to claim 2, wherein the shape-holding portion is connected to the second suction portion and arranged around the suction portion.

4. The article holding device according to claim 2 or 3, wherein the pressing portion presses the shape-holding portion toward the article.

5. The pressing portion is, It includes a flat pressing surface facing the suction pad, The article holding device according to claim 4, wherein the pressing surface presses the shape-holding portion toward the article.

6. The article holding device according to claim 4, wherein there is a gap between the pressing portion and the shape holding portion when the article is not being held.

7. The pressing portion is configured to reciprocate relative to the pad mounting portion along the central axis direction, The stroke length of the reciprocating movement of the pressing part is The length of the gap in the central axis direction is greater than or equal to the length of the gap, and The article holding device according to claim 6, wherein the length of the gap is less than or equal to the sum of the length of the gap and the maximum deformation of the suction pad in the central axis direction.

8. The article holding device according to claim 6, wherein the shape-holding portion includes an annular member fixed to the end facing the pressing portion and arranged around the suction portion.

9. The aforementioned annular member is The large-diameter portion fixed to the shape-retaining portion, A small diameter portion is positioned on the pressing portion side relative to the large diameter portion and is pressed by the pressing portion when the article is attracted, The article holding device according to claim 8, including the following:

10. The article holding device according to any one of claims 1 to 3, further comprising a drive unit for moving the pressing unit toward the article when the article is held in place.

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