Adsorption device and conveyance device using same

Abstract

To provide a technique which can grip and convey a plurality of kinds of objects having different sizes with high productivity while having a compact structure.SOLUTION: A suction device 1 includes: a body part 10 having a plurality of decompression paths 11 which are flow channels of air vacuumed by a decompression device; a plurality of decompression chambers 21 which are connected to each of the plurality of decompression paths, and have a space that can be decompressed; and a plurality of suction pads 20 which are provided on each of the plurality of decompression chambers and vacuum-suck objects. The plurality of decompression chambers 21 are arranged so that one decompression chamber surrounds the outside the other decompression chamber, thereby are configured to form layers in a radial direction. The plurality of suction pads 20 are configured so that the diameter of one suction pad is concentrically larger than the diameter of the other suction pad.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a suction device used to grip and transport a predetermined object, and a transport device using this suction device. [Background technology]

[0002] Conventionally, systems using suction devices to grip and transport objects have been known. In such systems, for example, objects are gripped by suction pads, but in order to handle multiple types of objects with different shapes, it was necessary to change the attachment each time.

[0003] On the other hand, a technique for adjusting the suction pad to match the shape of the article to be gripped is known in which a plurality of suction pads is provided.

[0004] For example, Patent Document 1 discloses a flexible suction hand in which multiple vacuum suction pads are attached at intervals to a flexible support member that can deform along the outer surface of a workpiece. This technology has a relatively simple structure but can be applied to workpieces of various shapes. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-240778 Summary of the Invention [Problem to be solved by the invention]

[0006] Suction devices equipped with suction pads that vacuum-suck objects have the problem that they cannot grip and transport multiple types of objects of different sizes. One solution is to replace the suction pads with the appropriate ones each time a different type of object is needed. However, this replacement process takes time, reducing productivity when transporting objects.

[0007] On the other hand, the technology described in Patent Document 1 appears to be able to accommodate workpieces of various shapes without replacing the suction pads, thereby maintaining productivity when transporting objects. However, with this technology, multiple vacuum suction pads are attached at intervals to a support member of a predetermined length in a flexible suction hand. This results in a relatively large structure for gripping and transporting objects. As such, there is still room for improvement in technology for gripping and transporting multiple types of objects of different sizes with high productivity without increasing the size of the structure.

[0008] The object of the present disclosure is to provide a technology that can grip and transport multiple types of objects of different sizes with high productivity, despite having a compact structure. [Means for solving the problem]

[0009] The suction device disclosed herein is a suction device used to grip and transport a predetermined object. The suction device includes a main body configured to be connectable to a predetermined pressure reducing device and having a plurality of pressure reducing paths that are flow paths for air to be evacuated by the pressure reducing device, a plurality of pressure reducing chambers connected to the plurality of pressure reducing paths, respectively, and a plurality of suction pads provided in the plurality of pressure reducing chambers for vacuum-sucking the object. The plurality of pressure reducing chambers are configured to be radially layered, with one pressure reducing chamber surrounding the other, and the plurality of suction pads are configured concentrically so that the diameter of one suction pad is larger than the diameter of the other suction pad.

[0010] In the above-described suction device, multiple pressure reduction paths are formed in the main body. These pressure reduction paths are connected to respective pressure reduction chambers corresponding to the suction pads that vacuum-suck the object. Therefore, a user can select the pressure reduction path from the multiple pressure reduction paths to actually evacuate the object to be grasped or transported, and then grasp or transport the object using the suction pad appropriate for the object. This makes it possible to grasp and transport multiple types of objects of different sizes without replacing the suction pad, thereby improving productivity when grasping and transporting multiple types of objects of different sizes. Furthermore, by configuring the multiple pressure reduction chambers in which such suction pads are installed to be layered in the radial direction, a compact structure of the suction device can be advantageously achieved.

[0011] In such a suction device, each of the suction pads may be a cylindrical bellows-shaped member that can expand and contract in its axial direction, and its end may contact the object present in the axial direction to vacuum-suck the object. In this case, the decompression chamber is defined by the suction pad, with one end connected to the main body and the other end being an open end sealed by the object. The suction pads are arranged in layers in the radial direction to define the decompression chambers. In such a suction device, the bellows-shaped member absorbs shock when the suction pad contacts the object. Furthermore, even if the suction pad presses the object to bring the end of the suction pad into close contact with the object, the bellows-shaped member prevents excessive pressure. This minimizes damage to the object when gripping it using the suction device. Furthermore, the space within the bellows-shaped member (suction pad) serves as a decompression chamber, resulting in a compact suction device structure.

[0012] Furthermore, the suction device of the present disclosure may further include a sensor that detects the size of the object, and an information processing device that controls the vacuuming by the vacuum device and selects one of the plurality of vacuum paths to vacuum using the vacuum device based on the size of the object detected by the sensor. This allows automatic selection of a vacuum path corresponding to a suction pad that is suitable for the object whose size is detected by the sensor from among the plurality of suction pads, thereby more suitably improving productivity when gripping and transporting multiple types of objects of different sizes.

[0013] In this case, the plurality of suction pads are arranged in three or more radial layers, and the information processing device selects the decompression path connected to the decompression chamber defined by a first suction pad of the plurality of suction pads, the first suction pad having a diameter closest to but smaller than the diameter of the object detected by the sensor, so that the object is vacuum-adsorbed by the first suction pad, and if the first suction pad is the suction pad arranged in the outermost layer of the plurality of suction pads, may further select the decompression path connected to the decompression chamber defined by the second suction pad so that the object is also vacuum-adsorbed by a second suction pad arranged more inward than the first suction pad and not including a suction pad arranged in the innermost layer. This increases the contact area between the object and the suction pads, thereby preferably generating a relatively strong suction force, and preferably prevents the decompression chamber in the suction pad arranged in the innermost layer from being evacuated, thereby preferably preventing damage to the object.

[0014] The present disclosure can also be understood from the perspective of a conveying device using the suction device described above. That is, the conveying device of the present disclosure is a conveying device using the suction device described above, and includes a conveying unit that conveys the object vacuum-sucked by the suction pad by moving the main body, and the main body may further include a locking unit that restrains the orientation of the suction pad when moved by the conveying unit, the locking unit being formed by a rod-shaped member connecting an end of the suction pad to the main body.

[0015] In the above-described conveying device, even if the suction pad attempts to swing in its radial direction, the rod-shaped member is restrained by the main body, thereby suppressing displacement of the rod-shaped member. As a result, the position of the suction pad is restrained by the rod-shaped member. Furthermore, since the locking portion is configured to include such a rod-shaped member, a compact structure can be realized without complicating the structure. [Effects of the Invention]

[0016] According to the present disclosure, even with a compact structure, it is possible to grip and transport a variety of objects of different sizes with high productivity. [Brief explanation of the drawings]

[0017] [Figure 1] FIG. 2 is a diagram showing a schematic configuration of a suction device according to the first embodiment. [Figure 2] FIG. 1 is a first diagram for explaining an aspect in which a plurality of kinds of fruits having different sizes are gripped using the suction device according to the first embodiment. [Figure 3] FIG. 2 is a second diagram illustrating an aspect in which a plurality of types of fruits having different sizes are gripped using the suction device according to the first embodiment. [Figure 4] 10A and 10B are diagrams illustrating an embodiment in which a relatively large fruit is gripped using a first suction pad and a second suction pad. [Figure 5] FIG. 10 is a diagram showing a schematic configuration of a transport device according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0018] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. The configurations of the following embodiments are examples, and the present disclosure is not limited to the configurations of the embodiments.

[0019] First Embodiment An overview of the suction device in the first embodiment will be described with reference to FIG. 1. FIG. 1 is a diagram showing the schematic configuration of the suction device in this embodiment. The suction device 1 in this embodiment is a device used to grip and transport a predetermined object. In this embodiment, the following description will be given using an example in which the object is fruit.

[0020] The suction device 1 according to this embodiment includes a main body 10 that is connectable to a predetermined pressure reducing device, a suction pad 20 that vacuum-sucks fruit, and a pressure reducing chamber 21 defined by the suction pad 20.

[0021] Here, each of the above-mentioned components constituting the adsorption device 1 will be described in detail below.

[0022] The main body 10 is a structural component that is connected to a predetermined pressure reducing device and supports the suction pad 20. The upper end 10a of the main body 10 is connected to the pressure reducing device, and the suction pad 20 is connected to the lower end 10b of the main body 10. Here, the pressure reducing device is, for example, a well-known vacuum pump, and functions to reduce the pressure in the pressure reducing chamber 21 to a substantial vacuum. The main body 10 is formed with a pressure reducing passage 11, which is a flow path for air evacuated by the pressure reducing device. More specifically, as shown in FIG. 1(b), the main body 10 is formed with a plurality of pressure reducing passages, namely pressure reducing passages 11a, 11b, and 11c, which penetrate from the upper end 10a to the lower end 10b of the main body 10. Therefore, in the pressure reducing passage 11, air is drawn from the lower end 10b toward the upper end 10a, which is the side connected to the pressure reducing device. In this embodiment, the pressure reduction path 11a is formed along the central axis of the main body 10, the pressure reduction path 11c is formed at the outermost side relative to the central axis, and the pressure reduction path 11b is formed between the pressure reduction path 11a and the pressure reduction path 11c.

[0023] As shown in Fig. 1(b), the suction pad 20 is a bellows-shaped cylinder that can expand and contract in its axial direction. The end of the suction pad comes into close contact with fruit present in the axial direction, thereby vacuum-adsorbing the fruit. More specifically, the internal space of the suction pad 20 is configured as a decompression chamber 21, and with the end of the suction pad 20 in close contact with the fruit, the decompression chamber 21, which is the internal space of the suction pad 20, is decompressed, thereby vacuum-adsorbing the fruit.

[0024] The decompression chamber 21 is connected to the decompression path 11, and air is drawn in the decompression path 11 from the lower end 10b of the main body 10 toward the upper end 10a, thereby reducing the pressure in the decompression chamber 21. Specifically, the decompression chamber 21 is defined by the suction pad 20, and one end is connected to the lower end 10b of the main body 10, while the other end is an open end that can be sealed with an object (fruit). The decompression chamber 21 is made up of a plurality of decompression chambers (decompression chamber 21a, decompression chamber 21b, decompression chamber 21c) connected to the plurality of decompression paths (decompression path 11a, decompression path 11b, decompression path 11c), respectively, with the decompression chamber 21a connected to the decompression path 11a, the decompression chamber 21b connected to the decompression path 11b, and the decompression chamber 21c connected to the decompression path 11c.

[0025] However, a suction device equipped with a suction pad that vacuum-sucks an object has a problem with gripping and transporting multiple types of objects of different sizes. If the suction pads had to be replaced with the corresponding ones each time multiple types of objects of different sizes were to be handled, the replacement work would take time, reducing productivity when transporting the objects.

[0026] Therefore, the suction device 1 according to this embodiment includes a plurality of suction pads (suction pad 20a, suction pad 20b, suction pad 20c) with different diameters, which are arranged in layers in the radial direction. As shown in FIG. 1(a), the suction pads 20a, suction pad 20b, and suction pad 20c are arranged concentrically such that the diameter (d2) of suction pad 20b is larger than the diameter (d1) of suction pad 20a, and the diameter (d3) of suction pad 20c is larger than the diameter (d2) of suction pad 20b.

[0027] The multiple decompression chambers (decompression chamber 21a, decompression chamber 21b, decompression chamber 21c) defined by such multiple suction pads (suction pad 20a, suction pad 20b, suction pad 20c) are arranged so that one decompression chamber surrounds the outside of the other decompression chamber, thereby forming layers in the radial direction. More specifically, decompression chamber 21b is arranged so as to surround the outside of decompression chamber 21a and form a layer, and decompression chamber 21c is arranged so as to surround the outside of decompression chamber 21b and form a layer.

[0028] The suction device 1 described above can grip and transport a variety of objects (fruits) of different sizes without replacing the suction pads. This will be described with reference to Figs. 2 and 3.

[0029] 2 is a first diagram illustrating an aspect in which a plurality of kinds of fruits of different sizes are gripped using the suction device 1 according to this embodiment. Note that the objects to be gripped in FIG. 2 are relatively small fruits such as mandarin oranges.

[0030] For such a relatively small object, as shown in Fig. 2, the innermost suction pad 20a of the suction pads 20 arranged in layers in the radial direction is used as the suction pad for gripping the object. In this case, the decompression device draws a vacuum only through the decompression path 11a connected to the decompression chamber 21a defined by the suction pad 20a. Furthermore, the end of the suction pad 20a comes into close contact with the object (e.g., a mandarin orange), thereby sealing the open end 22a of the decompression chamber 21a. As a result, the object (e.g., a mandarin orange) is vacuum-sucked by the suction pad 20a.

[0031] According to the suction device 1 of this embodiment, the suction pad 20a described above has a bellows shape and is configured to be expandable and contractible in its axial direction. This bellows shape absorbs the impact when the suction pad 20a comes into contact with an object (e.g., a mandarin orange). Even if the suction pad 20a presses against the object (e.g., a mandarin orange) to bring the end of the suction pad 20a into close contact with the object, the bellows shape prevents excessive pressure. This minimizes damage to the fruit when the suction device 1 is used to grip the fruit. Furthermore, the space within the bellows shape (suction pad 20a) serves as a decompression chamber 21a, making the structure of the suction device 1 compact.

[0032] The user can select the suction pad to be used for the object to be grasped, i.e., the settings of the pressure-reducing device for selecting the pressure-reducing path to be vacuumed. For example, in the embodiment illustrated in FIG. 2, if the suction pads (suction pads 20b and 20c) outside suction pad 20a were used, the diameter of the suction pads would be larger than the diameter of the small object (tangerine), making it impossible to grasp the object (tangerine). In contrast, using suction pad 20a, which has the smallest diameter, makes it possible to grasp the small object (tangerine). In this case, the user can set the pressure-reducing device to vacuum the pressure-reducing path 11a connected to pressure-reducing chamber 21a defined by suction pad 20a. The object (tangerine) can be appropriately grasped by setting the diameter of the suction pad used to grasp the object (tangerine) to 50 to 80% of the diameter of the object.

[0033] On the other hand, for a relatively large object, a suction pad (for example, suction pad 20c) that is further outward than suction pad 20a is used. Fig. 3 is a second diagram illustrating an example of gripping a plurality of different kinds of fruit of different sizes using the suction device 1 according to this embodiment. Note that the object being gripped in Fig. 3 is a relatively large fruit such as a melon.

[0034] For such a relatively large object, as shown in FIG. 3, the outermost suction pad 20c of the suction pads 20 arranged in layers in the radial direction is used as the suction pad for gripping the object. In this case, the decompression device draws a vacuum only through the decompression path 11c connecting to the decompression chamber 21c defined by the suction pads 20c and 20b. Furthermore, the ends of the suction pads 20c and 20b come into close contact with the object (e.g., a melon), thereby sealing the open end of the decompression chamber 21c (defined by the open ends 22c and 22b). As a result, the object (e.g., a melon) is vacuum-sucked by the suction pad 20c.

[0035] Furthermore, the space surrounded by suction pad 20c and suction pad 20b, which have a bellows shape that suppresses impact and excessive pressure on the object (e.g., a melon), serves as decompression chamber 21c, thereby compacting the structure of suction device 1. In this case, suction pad 20c is arranged on the outer side of suction pad 20b so as to form a layer in the radial direction, which makes it possible to suitably achieve a compact structure for suction device 1.

[0036] 3, if the innermost suction pad 20a is used, the contact surface of the suction pad 20a may be small relative to the diameter of a large object (melon), and a suction force sufficient to grip the large object (melon) may not be generated. In contrast, if the suction pad 20c, which has the largest diameter, is used, a contact surface large enough relative to the diameter of the large object (melon) can be obtained, making it possible to grip the large object (melon). In this case, the diameter of the suction pad used to grip the object (melon) is 50 to 80% of the diameter of the object (melon), allowing the object (melon) to be gripped appropriately.

[0037] For fruits (e.g., apples) that are intermediate in size between the above-mentioned objects (tangerines and melons), suction pad 20b placed between suction pad 20a and suction pad 20c can be used. In this case, a vacuum is drawn through decompression path 11b that connects suction pad 20b and decompression chamber 21b defined by suction pad 20a.

[0038] In this way, the suction device 1 is provided with suction pads 20 (suction pad 20a, suction pad 20b, suction pad 20c) arranged in layers in the radial direction, and these suction pads define the decompression chamber 21. This structure allows the device to grip and transport a variety of objects (fruits) of different sizes without replacing the suction pads, despite its compact structure. Note that the suction pads 20 arranged in layers in the radial direction may have a three-layer structure as described in this embodiment, or a two- or four-layer structure.

[0039] The suction device 1 of this embodiment grasps the object (fruit) by vacuum-sucking it with the suction pad 20, and can transport the object (fruit) while maintaining that vacuum-sucked state.

[0040] The above-described suction device 1 has a compact structure, but is capable of gripping and transporting a variety of objects of different sizes with high productivity.

[0041] <Modification of the first embodiment> A modified example of the first embodiment will be described with reference to Fig. 4. The suction device 1 according to this modified example is different from the suction device in the first embodiment described above in that it further includes a sensor that detects the size of the target object, and an information processing device that controls vacuuming by the pressure reducing device and selects a pressure reducing path to be vacuumed using the pressure reducing device from among a plurality of pressure reducing paths based on the size of the target object detected by the sensor.

[0042] Here, the sensor is, for example, a camera that can detect the size of an object (fruit) from an image captured by the camera. Note that the sensor of the present disclosure is not intended to be limited to a camera, and any well-known sensor capable of detecting the size of an object (fruit) can be used.

[0043] Furthermore, the information processing device may be any electronic device with the processing capabilities for arithmetic and processing operations such as data acquisition, generation, and updating, including personal computers, servers, mainframes, and other electronic devices. That is, the information processing device may be configured as a computer having a processor such as a CPU or GPU, a main memory such as RAM or ROM, and an auxiliary memory such as an EPROM, a hard disk drive, or removable media. The removable media may be, for example, a USB memory or a disk recording medium such as a CD or DVD. The auxiliary memory stores an operating system (OS), various programs, various tables, and the like. Furthermore, the information processing device may appropriately use software as a service (SaaS), platform as a service (PaaS), or infrastructure as a service (IaaS) provided by a cloud server, without providing dedicated software, hardware, an OS, or the like for the adsorption device 1 according to this modification.

[0044] The information processing device selects a decompression path 11 connected to the decompression chamber 21 defined by the first suction pads, which is a suction pad among the plurality of suction pads (suction pad 20a, suction pad 20b, suction pad 20c) whose diameter is closest to the diameter of the object (fruit) detected by the sensor and smaller than the diameter of the object (fruit), so that the object (fruit) is vacuum-sucked by the first suction pad. The information processing device is configured to be able to acquire the diameter of the object (fruit) detected by the sensor, and stores the diameters of the plurality of suction pads (suction pad 20a, suction pad 20b, suction pad 20c) included in the suction device 1. Therefore, by comparing these diameters, the first suction pad can be identified.

[0045] Here, when the object is a relatively large fruit, it is advantageous to have a larger contact surface between the object and suction pad 20, since this can generate a strong suction force that is strong enough to grip a large object. Therefore, when the first suction pad is the suction pad (suction pad 20c) that is arranged in the outermost layer of multiple suction pads (suction pad 20a, suction pad 20b, suction pad 20c), it is possible to vacuum-suck the object using suction pads that are arranged more inward than the first suction pad.

[0046] However, in this case, the present inventor has newly discovered that if the above-mentioned object is vacuum-adsorbed using the suction pad (suction pad 20a) arranged in the innermost layer, the central part of the object (the stem or core of the fruit) will be vacuum-adsorbed, which may result in damage to the object (fruit).

[0047] Therefore, when the first suction pad is the suction pad (suction pad 20c) arranged in the outermost layer of the multiple suction pads (suction pad 20a, suction pad 20b, suction pad 20c), the information processing device further selects a pressure reduction path connected to the pressure reduction chamber defined by the second suction pad so that the object can also be vacuum-adsorbed by a second suction pad that is arranged more inward than the first suction pad and does not include the suction pad (suction pad 20a) arranged in the innermost layer.

[0048] Fig. 4 is a diagram illustrating an embodiment in which a relatively large fruit is gripped using a first suction pad and a second suction pad. In the embodiment illustrated in Fig. 4, among the multiple suction pads (suction pad 20a, suction pad 20b, suction pad 20c), suction pad 20c has a diameter that is closest to the diameter of the target object (fruit) and is smaller than the diameter of the target object (fruit). In other words, suction pad 20c serves as the first suction pad.

[0049] The suction pad 20c, which is the first suction pad, is the suction pad arranged in the outermost layer of the multiple suction pads (suction pad 20a, suction pad 20b, suction pad 20c). In this case, in the selection of the decompression path described above, the information processing device selects the decompression path 11c connected to the decompression chamber 21c defined by the first suction pad (suction pad 20c), and further selects a decompression path connected to a decompression chamber defined by the second suction pad. Here, the second suction pad is the suction pad 20b that is arranged more inward than the first suction pad (suction pad 20c) and does not include the suction pad (suction pad 20a) arranged in the innermost layer. In other words, the information processing device further selects the decompression path 11b connected to the decompression chamber 21b defined by the second suction pad (suction pad 20b).

[0050] In this case, the ends of the first suction pad 20c and the second suction pad 20b come into close contact with the object, sealing the opening end 22c of the decompression chamber 21c and the opening end 22b of the decompression chamber 21b, and the relatively large fruit shown in Figure 4 is vacuum-sucked by the first suction pad 20c and the second suction pad 20b.

[0051] This increases the contact area between the object and the suction pad 20, and preferably generates a strong suction force that can grip a large object. Furthermore, at this time, the decompression chamber 21a in the suction pad (suction pad 20a) arranged in the innermost layer is not evacuated, which preferably prevents the object (fruit) from being damaged.

[0052] The above-described suction device 1 also has a compact structure and is capable of gripping and transporting a variety of objects of different sizes with high productivity.

[0053] Second Embodiment The second embodiment will be described with reference to Fig. 5. Fig. 5 is a diagram showing a schematic configuration of a conveying device in this embodiment. The conveying device 100 according to this embodiment is a conveying device that uses the suction device 1 described in the description of the first embodiment.

[0054] The conveying device 100 according to this embodiment further includes a conveying unit 30 that conveys fruit vacuum-sucked by the suction pads 20, in addition to the configuration described in the first embodiment. The conveying unit 30 conveys the fruit vacuum-sucked by the suction pads 20 by moving the main body 10. The conveying unit 30 has rails 31 and rollers 32, and the rollers 32 slide on the rails 31 to move the main body 10. More specifically, the rollers 32 are installed in a pressure reducing device 12 connected to the upper end 10a of the main body 10, and the pressure reducing device 12 and the main body 10 connected thereto are moved by the rollers 32 sliding on the rails 31.

[0055] In a conveying device that uses a suction pad to vacuum-suck and grip and transport an object, if the object becomes misaligned during transport, the object may fall off the suction pad, potentially damaging the object, which significantly reduces productivity when gripping and transporting the object.

[0056] Therefore, the transport device 100 according to this embodiment further includes a locking portion 13 that restricts the posture of the suction pad 20 when the main body portion 10 is moved by the transporting portion 30.

[0057] More specifically, the locking portion 13 is made up of a rod-shaped member 131, a connecting ring 132, and a bushing 133, as shown in FIG.

[0058] Here, the rod-shaped member 131 is a member that connects the end of the suction pad 20c to the main body 10, and one end 131a thereof is joined to a connecting ring 132 fixed to the end of the suction pad 20c, and the other end 131b thereof is held by a pressure reducing device 12 connected to the upper end 10a of the main body 10.

[0059] The rod-shaped member 131 is inserted into a bush 133 disposed at the lower end 10b of the main body 10. The rod-shaped member 131 is configured to be movable in its axial direction, and at this time, the rod-shaped member 131 slides along the bush 133.

[0060] With this locking section 13, even if the suction pad 20c attempts to swing in its radial direction, the rod-shaped member 131 comes into contact with the lower end of the bush 133, thereby suppressing displacement of the rod-shaped member 131. As a result, the posture of the suction pad 20c is constrained by the rod-shaped member 131 that connects the connecting ring 132 fixed to the end of the suction pad 20c and the bush 133 arranged in the main body 10, i.e., by the locking section 13. Furthermore, because this locking section 13 is composed only of the rod-shaped member 131, the connecting ring 132, and the bush 133, a compact structure can be achieved without complicating the structure.

[0061] Furthermore, the above-described configuration also makes it possible to grip and transport a variety of objects of different sizes with high productivity, despite the compact structure. [Explanation of symbols]

[0062] 1...Adsorption device 10 Main body 11. Pressure reduction path 20. Suction pad 21. Decompression chamber 22 Open end

Claims

1. A suction device used to grip and transport a predetermined object, a main body portion configured to be connectable to a predetermined pressure reducing device and having a plurality of pressure reducing paths which are flow paths for air to be evacuated by the pressure reducing device; a plurality of decompression chambers connected to the plurality of decompression paths, respectively, and configured so that the spaces thereof can be decompressed; a plurality of suction pads provided in the plurality of decompression chambers, respectively, for vacuum-sucking the object; Equipped with The plurality of decompression chambers are configured to be layered in a radial direction by being arranged such that one decompression chamber surrounds the outside of the other decompression chamber, the plurality of suction pads are concentrically arranged such that the diameter of one suction pad is larger than the diameter of the other suction pad, and each is a bellows-shaped cylinder that is expandable and contractible in its axial direction, and its end comes into close contact with the object present in the axial direction, thereby vacuum-sucking the object; The decompression chamber is defined by the suction pad, and has an open end, one end of which is connected to the main body and the other end of which is sealed by the object, The suction pads are arranged in layers in the radial direction to define the plurality of decompression chambers. In the adsorption device, a sensor for detecting the size of the object; an information processing device that controls evacuation by the decompression device and selects a decompression path to be evacuated using the decompression device from among the plurality of decompression paths based on the size of the object detected by the sensor; the plurality of suction pads are arranged in three or more layers in the radial direction; The information processing device includes: selecting the decompression path connected to the decompression chamber defined by the first suction pad so that the object is vacuum-sucked by a first suction pad, the first suction pad being the suction pad whose diameter is closest to the diameter of the object detected by the sensor and smaller than the diameter of the object; When the first suction pad is an suction pad arranged in the outermost layer of the plurality of suction pads, the pressure reduction path connected to the pressure reduction chamber defined by the second suction pad is further selected so that the object can also be vacuum-sucked by a second suction pad that is arranged more inward than the first suction pad and does not include a suction pad arranged in the innermost layer. Adsorption device.

2. A suction device used to grasp and transport a predetermined object, a main body portion configured to be connectable to a predetermined pressure reducing device and having a plurality of pressure reducing paths which are flow paths for air to be evacuated by the pressure reducing device; a plurality of decompression chambers connected to the plurality of decompression paths, respectively, and configured so that the spaces thereof can be decompressed; a plurality of suction pads provided in the plurality of decompression chambers, respectively, for vacuum-sucking the object; Equipped with The plurality of decompression chambers are configured to be layered in a radial direction by being arranged such that one decompression chamber surrounds the outside of the other decompression chamber, the plurality of suction pads are concentrically arranged such that the diameter of one suction pad is larger than the diameter of the other suction pad, and each is a bellows-shaped cylinder that is expandable and contractible in its axial direction, and its end comes into close contact with the object present in the axial direction, thereby vacuum-sucking the object; The decompression chamber is defined by the suction pad, and has an open end, one end of which is connected to the main body and the other end of which is sealed by the object, The suction pads are arranged in layers in the radial direction to define the plurality of decompression chambers. A conveying device using a suction device, a conveying unit that conveys the object vacuum-sucked by the suction pad by moving the main body unit; the main body further includes a locking section that restricts the posture of the suction pad when the main body is moved by the transporting section, the locking section being formed by a rod-shaped member that connects an end of the suction pad to the main body. Conveying device.

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