Suction pads and article holding devices

Abstract

To provide a suction pad and an article-holding device capable of improving suction properties over articles.SOLUTION: A suction pad (1) comprises: a vacuum part (2) including one end (2a) to be connected to a pad attachment (102); a suction part (3) comprising a first suction part (3a), which is connected to the other end (2b) of the vacuum part (2) and increases in diameter outward from the vacuum part (2), and a second suction part (3b), which is folded back from the first suction part (3a) toward the pad attachment (102) side and increases in diameter outward from the first suction part (3a); and a shape maintenance part (4) for maintaining a shape of the second suction part (3b) when an article is not suction-held.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a suction pad and an article holding device.

Background Art

[0002] In recent years, in factories, warehouses, etc., for example, in order to efficiently sort and separate a large variety and quantity of articles by destination, a picking device (transfer device) has been used. Such a picking device includes a suction pad for sucking an article (the object to be sucked), and is configured to transfer the article to a desired position while sucking the article with the suction pad.

[0003] Regarding this type of suction pad, Patent Document 1 discloses a suction pad provided with an elastic valve-shaped portion separated by a plurality of recesses at a contact portion that contacts an article.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the above-described conventional suction pad, there is room for improvement in the suction property with respect to an article.

[0006] An object of the present disclosure is to provide a suction pad and an article holding device capable of improving the suction property with respect to an article.

Means for Solving the Problems

[0007] To solve the above problems, an adsorption pad according to one aspect of the present disclosure is an adsorption pad attached to a pad mounting portion provided with a suction port of an article holding device for holding an article, comprising: a bellows-shaped suction portion having one end 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 to an article, having a first adsorption 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 adsorption portion folded back from the first adsorption portion toward the pad mounting portion and expanding in diameter as it moves away from the first adsorption portion; and a shape-retaining portion connected to the second adsorption portion side of the adsorption portion and arranged around the suction portion, which maintains the shape of the second adsorption portion when the article is not adsorbed.

[0008] Furthermore, an article holding device according to one aspect of the present disclosure is an article holding device having a pad mounting portion provided with a suction port, comprising: a bellows-shaped suction portion having one end connected to the pad mounting portion; an adsorption portion having a first adsorption portion connected to the other end of the suction portion opposite to the one end and adsorbing to an article, having a first adsorption 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 adsorption portion folded back from the first adsorption portion toward the pad mounting portion and expanding in diameter as it moves away from the first adsorption portion; and a shape-retaining portion connected to the second adsorption portion side of the adsorption portion and arranged around the suction portion, which maintains the shape of the second adsorption portion when the article is not adsorbed. [Effects of the Invention]

[0009] According to one aspect of this disclosure, it is possible to provide an adsorption pad and an article holding device that can improve the adsorption properties to an article. [Brief explanation of the drawing]

[0010] [Figure 1] A perspective view showing an example of the main components of an suction pad and an article holding device using the same according to Embodiment 1 of this disclosure. [Figure 2] This is a cross-section end view illustrating an example of the main components of the suction pad described above. [Figure 3]This is a cross-section end view illustrating an example of the operation of the suction pad described above. [Figure 4] This is a cross-section end view illustrating another example of the operation of the suction pad described above. [Figure 5] This is a cross-section end view illustrating an example of the main components and operation of the suction pad and pad mounting portion according to Embodiment 2 of the present disclosure. [Figure 6] Figure 5 is a cross-section end view illustrating an example of the main component configuration and operation of a modified version of the pad mounting section shown in Figure 5. [Figure 7] This is a cross-section end view illustrating examples of the main components of the suction pad according to modified examples 1 and 2. [Modes for carrying out the invention]

[0011] [Embodiment 1] Embodiment 1 of this disclosure will be described below with reference to Figures 1 to 4. In the following description, the suction pad and article holding device of this disclosure will be illustrated by applying them to a transfer device (picking device), such as a 5-axis robot, for transferring an article to a desired position. However, the following description is just one example of the suction pad and article holding device related to this disclosure, and the technical scope of this disclosure is not limited to the illustrated example.

[0012] (Configuration of the article holding device) First, an example of the configuration of the suction pad 1 of this embodiment 1 will be described with reference to Figures 1 and 2. Figure 1 is a perspective view showing an example of the main components of the suction pad 1 and the article holding device 100 using the same according to Embodiment 1 of this disclosure. Figure 2 is a cross-section end view illustrating the example of the main components of the suction pad 1.

[0013] As shown in Figure 1, the article holding device 100 of this embodiment 1 comprises a base portion 101 and a pad mounting portion 102. Furthermore, as shown in Figure 1, the article holding device 100 is provided with a plurality of suction pads 1, for example, three. Each of these three suction pads 1 is attached to the base portion 101 via the pad mounting portion 102. Each of the three pad mounting portions 102 is provided with a suction port 102a for drawing in air and a cylindrical mounting member 102b. The article holding device 100 also includes a vacuum pump (not shown) configured to draw in air through the suction port 102a.

[0014] The suction portion of the suction pad 1, described later, is fitted to the outer circumferential surface of the mounting member 102b, which protrudes from the surface of the pad mounting portion 102 on the opposite side of the base portion 101, thereby attaching the suction pad 1 to the mounting member 102b. In the article holding device 100, vacuum is drawn from the suction port 102a corresponding to the suction pad 1 pressed against the article, causing the suction pad 1 to elastically deform and adsorb and hold the article.

[0015] Furthermore, the base portion 101 constitutes the base of the picking head of the picking device. The base portion 101 has a hole 103a through which a tilt shaft provided in a tilt mechanism (not shown) is inserted, and a support portion 103 for rotatably supporting the tilt shaft is provided on the opposite side from the pad mounting portion 102 in the hole 103a.

[0016] Furthermore, a rotating mechanism (not shown) having a rotating shaft for rotating the picking head is connected to the base 101 via the tilt shaft. The article holding device 100 is equipped with a 5-axis robot (5 axes: XYZ axis + rotation axis of the picking head + tilt axis of the picking head), and is configured to appropriately change the position of the three suction pads 1 with the 5-axis robot, thereby picking an article appropriately with at least one suction pad 1, and further holding and transferring the article.

[0017] (Composition of the suction pad) As shown in Fig. 2, the suction pad 1 of the first embodiment includes a suction part 2, a suction part 3, and a shape holding part 4. Further, when the suction pad 1 is not sucking an article (when not sucking the article), the shape holding part 4 of the suction pad 1 described later is configured not to contact the pad mounting part 102. In other words, in the suction pad 1, the shape holding part 4 is in a floating state with respect to the pad mounting part 102 when the article is not being sucked.

[0018] (Configuration of the suction part) The suction part 2 is made of an elastically deformable resin material such as silicon resin, for example. Further, the suction part 2 is formed in a bellows shape, for example, and a ring-shaped one end 2a is connected to the pad mounting part 102. Specifically, in the suction part 2, as described above, one end 2a is fitted to the outer peripheral surface of the mounting member 102b from the outside, and the suction part 2 is connected to the pad mounting part 102, whereby the suction pad 1 is attached to the pad mounting part 102.

[0019] In the suction part 2, a circular opening 2c is formed in a ring-shaped other end 2b on the opposite side of the pad mounting part 102 in a plan view as seen from the pad mounting part 102 side. The opening 2c serves as an air suction port in the suction pad 1.

[0020] (Configuration of the suction part) The suction part 3 is made of an elastically deformable resin material such as silicon resin, for example, and is configured to be connected to the other end 2b of the suction part 2 on the opposite side of the one end 2a. Specifically, as shown in Fig. 2, the suction part 3 is connected to the other end 2b of the suction part 2 and has a first suction part 3a that expands in diameter as it moves away from the suction part 2, and a second suction part 3b that is folded back toward the pad mounting part 102 side from the first suction part 3a and expands in diameter as it moves away from the first suction part 3a.

[0021] In other words, the suction part 3 is composed of the first suction part 3a and the second suction part 3b, and has a folding part 3c that is folded back toward the pad mounting part 102 side, for example, at the lower end position of the suction pad 1.

[0022] In the suction portion 3, both the first suction portion 3a and the second suction portion 3b are made of an elastically deformable material. The folded portion 3c is configured in a ring shape when no article is being suctioned. On the other hand, when an article is being suctioned, the folded portion 3c can change its shape from a ring shape as appropriate in accordance with the elastic deformation of the first suction portion 3a and / or the second suction portion 3b (see, for example, Figure 4 shown below).

[0023] Furthermore, in the suction section 3, an opening 3d is formed at the end of the folded section opposite to the pad mounting section 102. This opening 3d is sequentially connected to the opening 2c of the suction section 2 and the suction port 102a of the pad mounting section 102, allowing the item to be sucked in when the item is being suctioned.

[0024] (Configuration of the shape-retaining part) The shape-retaining part 4 is constructed, for example, using the same material as the suction part 3. Furthermore, the shape-retaining part 4 is positioned around the suction part 2 and is configured to maintain the shape of the second suction part 3b when no object is being adsorbed. This shape-retaining part 4 may be configured to have higher rigidity than the suction part 3.

[0025] Specifically, the shape-retaining portion 4 is constructed using, for example, the same elastically deformable resin material as the suction portion 3, such as silicone resin, and is integrally formed with the suction portion 3. As shown in Figure 2, one end 4a of the ring shape of the shape-retaining portion 4 is connected to the second suction portion 3b of the suction portion 3. The shape-retaining portion 4 is also designed to decrease in diameter as it moves away from the second suction portion 3b. The other end 4b of the shape-retaining portion 4 is formed in a ring shape with a predetermined thickness to provide the shape-retaining portion 4 with higher rigidity than the suction portion 3.

[0026] Furthermore, in the shape-retaining portion 4, the other end 4b, which is its tip, is positioned away from the pad mounting portion 102 when the article is not being held. As a result, as described above, the shape-retaining portion 4 is in a floating state without contacting the pad mounting portion 102 when the article is not being held, and the suction portion 3 can be elastically deformed more easily in accordance with the article when the article is being held.

[0027] In the above description, the case in which the shape-retaining part 4 is constructed using the same material as the suction part 3 was described. However, the shape-retaining part 4 of this disclosure is not limited in any way as long as it can maintain the shape of the second suction part 3b when the article is not being adsorbed, and the shape-retaining part 4 may be constructed using a different material than the suction part 3. Specifically, the shape-retaining part 4 may be constructed using a material such as a metal material.

[0028] However, it is preferable to configure the shape-holding part 4 to have higher rigidity than the suction part 3, because the shape-holding part 4 can reliably maintain the shape of the suction part 3 in the initial shape illustrated in Figure 2 when the suction part 3 is not holding an article. In other words, after the suction part 3 elastically deforms to hold an article, the suction state of the article is released. In this case, the shape-holding part 4 is preferable because, due to its higher rigidity than the suction part 3, it can reliably restore the shape of the second suction part 3b, and consequently the shape of the suction part 3, to its shape before suction (initial shape).

[0029] (Example of suction pad operation) Next, with reference to Figures 3 and 4, a specific example of the operation of the picking head equipped with the suction pad 1 of this embodiment 1 will be described. Figure 3 is a cross-section end view illustrating an example of the operation of the suction pad 1. Figure 4 is a cross-section end view illustrating another example of the operation of the suction pad 1.

[0030] As shown in Figure 3, in the suction pad 1, the suction part 3 is adsorbed onto the rectangular parallelepiped-shaped article B1 such that its opening 3d includes the top surface of the article B1. In this case, the first suction part 3a and the second suction part 3b of the suction part 3 elastically deform along the left and right sides of the article B1 so as to adhere closely to each side. Then, in the suction pad 1, as indicated by arrow F1 in Figure 3, the suction part 3 is able to pick up the article B1 by drawing a vacuum from the opening 3d.

[0031] As shown in Figure 4, in the suction pad 1, the suction part 3 is adsorbed onto the rectangular parallelepiped-shaped article B2 such that its opening 3d includes the top and left sides of the article B2. In this case, the first suction part 3a and the second suction part 3b of the suction part 3 elastically deform along the top and left sides of the article B2 so as to be in close contact with those surfaces. Then, in the suction pad 1, as shown by arrow F2 in Figure 4, the suction part 3 is able to adsorb the article B2 by vacuum suction from the opening 3d, and the article B2 can be pulled upward.

[0032] Furthermore, in the example shown in Figure 4, the first suction part 3a and the second suction part 3b adhere to the top and left side surfaces of the article B2, so the outer shape of the suction pad 1 is tilted relative to the pad mounting part 102. However, in the suction pad 1 of this embodiment 1, the shape-holding part 4 is floating relative to the pad mounting part 102, so the other end 4b of the shape-holding part 4 is configured to displace in accordance with the elastic deformation of the suction part 3, as shown by the diagonally downward arrow H in Figure 4. Moreover, this displacement of the shape-holding part 4 can be performed without hindering the elastic deformation of the suction part 3 (i.e., the suction operation of the article B2).

[0033] Thus, the suction pad 1 has a larger suction surface due to the configuration of the suction part 3, and the contact area with the item B2 is increased, but as a result it becomes more difficult to return to its original shape after elastic deformation. For this reason, the shape-retaining part 4, which is arranged around the suction part 2, is configured to pull the end of the second suction part 3b inward, and this pulling force acts as a restoring force, so even if the suction part 3 undergoes elastic deformation it is easier to return to its original shape.

[0034] As described above, the suction pad 1 of this embodiment 1 includes a bellows-shaped suction section 2, one end 2a of which is connected to a pad mounting section 102. The suction pad 1 also includes a suction section 3 that is connected to the other end 2b of the suction section 2 opposite to the one end 2a and adheres to an article. The suction section 3 includes a first suction section 3a connected to the other end 2b of the suction section 2 and expanding in diameter as it moves away from the suction section 2, and a second suction section 3b that is folded back from the first suction section 3a toward the pad mounting section 102 and also expanding in diameter as it moves away from the first suction section 3a. The suction pad 1 also includes a shape-retaining section 4 connected to the second suction section 3b side of the suction section 3 and arranged around the suction section 2, which maintains the shape of the second suction section 3b when the article is not adhered to it. Furthermore, the article holding device 100 of this embodiment 1 includes the suction pad 1 and a pad mounting section 102 provided with a suction port 102a.

[0035] With the above configuration, in the suction pad 1 and article holding device 100 of this embodiment 1, the suction part 3 can easily elastically deform according to the article, as shown in Figures 3 and 4, and can easily adsorb the article. As a result, the suction pad 1 and article holding device 100 of this embodiment 1 can improve the suction performance to articles.

[0036] Furthermore, in the suction pad 1 of this embodiment 1, the shape-retaining portion 4 is in a floating state relative to the pad mounting portion 102 when no article is attached. Therefore, when an article is attached, the suction portion 3 can more easily elastically deform in accordance with the article, thereby making it easier to attach the article. As a result, the suction pad 1 of this embodiment 1 can further improve the suction performance to articles.

[0037] Furthermore, in the suction pad 1 of this embodiment 1, the shape-retaining portion 4 is provided so that its diameter decreases as it moves away from the second suction portion 3b, making it easy to miniaturize the shape-retaining portion 4 and, consequently, the suction pad 1. In addition, since the shape-retaining portion 4 has a reduced diameter shape as described above, the rigidity of the shape-retaining portion 4 itself can also be increased.

[0038] [Embodiment 2] Embodiment 2 of this disclosure will be described below. For the sake of clarity, components having the same function as those described in Embodiment 1 will be denoted by the same reference numerals, and their descriptions will not be repeated.

[0039] Figure 5 is a cross-section end view illustrating an example of the main components and operation of the suction pad 1 and pad mounting portion 102 according to Embodiment 2 of this disclosure. In Figure 5, the main difference between Embodiment 2 and Embodiment 1 is that a conductive ring 4c is provided at the other end 4b of the shape-holding portion 4.

[0040] In Figure 5, the suction pad 1 of this embodiment 2 has a ring 4c as a conductive member provided on the other end 4b side of the shape-retaining portion 4. As will be described later, this ring 4c is configured to be detachable from the pad mounting portion 102 in accordance with the displacement of the shape-retaining portion 4 due to the elastic deformation of the suction portion 3.

[0041] Furthermore, in the article holding device 100 of this second embodiment, the detection member 102c is provided on the surface of the pad mounting portion 102 on the suction pad 1 side. A conductive material, such as copper wire, that can electrically conduct electricity with the ring 4c is used for this detection member 102c.

[0042] Furthermore, a detector (not shown) for detecting resistance is connected to the detection member 102c. In addition, in the article holding device 100 of this second embodiment, a control unit (not shown) is provided for the detector. The control unit is configured to detect whether or not the shape holding unit 4 has come into contact with the detection member 102c by detecting a change in resistance from the detector.

[0043] Specifically, when an item is not being held, as shown in Figure 2, the shape-holding part 4 is floating relative to the pad mounting part 102. In this case, the ring 4c is not in contact with the detection member 102c. Therefore, in the item holding device 100 of this embodiment 2, the control unit detects that the detection result of the detector has not deviated from a predetermined initial value. Then, in the pad mounting part 102 of this embodiment 2, the control unit determines, based on the detection result, that the ring 4c and the detection member 102c are not in contact, and thus determines that the suction pad 1 is not holding an item.

[0044] Furthermore, in the article holding device 100 of this second embodiment, if the control unit determines that an article is not being held, the control unit can operate the base 101 so that the article can be held by the suction pad 1.

[0045] On the other hand, when an article is being held in place, as shown in Figure 5, for example, the second suction part 3b exerts an upward pulling force on the upper surface of the article B3. As a result, in the suction pad 1, the suction part 3 holds the article B3 in place by vacuuming the opening 3d, making it possible to pull the article B3 upward. Also, in this case, as shown in Figure 5, the shape-holding part 4 is displaced toward the pad mounting part 102 in accordance with the upward elastic deformation of the suction part 3, and the ring 4c comes into contact with the detection member 102c at locations indicated by T1 and T2 in Figure 5, for example.

[0046] As a result, in the article holding device 100 of this embodiment 2, the control unit detects that the detection result of the detector has changed from a predetermined initial value. In other words, the control unit determines that the resistance value detected by the detector changes from the initial value when the ring 4c comes into contact with the detection member 102c. Then, in the article holding device 100 of this embodiment 2, the control unit determines, based on the detection result, that the ring 4c and the detection member 102c are in contact, and thus determines that the suction pad 1 is holding the article.

[0047] Furthermore, in the article holding device 100 of this second embodiment, the control unit stops the operation of the base 101, thereby stopping the lifting and lowering movement of the suction pad 1, for example, to approach the article. Furthermore, since the control unit has determined that the suction pad 1 is holding the article, it starts vacuuming from the suction port 102a, enabling the suction operation of the suction pad 1 to begin holding the article.

[0048] With the above configuration, this second embodiment achieves the same effects as the first embodiment.

[0049] Furthermore, in the suction pad 1 of this second embodiment, a detachable ring 4c is provided on the pad mounting portion 102 of the shape-retaining portion 4, making it possible to detect whether or not the suction portion 3 has come into contact with an item. This allows for accurate determination of whether or not the suction portion 3 has picked up an item.

[0050] Furthermore, in the article holding device 100 of this second embodiment, the pad mounting portion 102 is provided with a detection member 102c that detects contact with the shape holding portion 4. This allows detection of displacement of the shape holding portion 4 to make contact, and enables detection of whether or not the suction portion 3 has come into contact with the article. As a result, it is possible to accurately determine whether or not the suction portion 3 has picked up the article.

[0051] As described above, in this embodiment 2, the shape-holding part 4 changes its position in response to the elastic deformation of the suction part 3, and the shape-holding part 4 functions as an indirect means of detecting contact between the suction pad 1 and the article. As a result, in this embodiment 2, a less expensive article holding device 100, and consequently a less expensive picking device, can be easily constructed compared to a case where an imaging means such as a camera is installed to detect contact between the suction pad 1 and the article.

[0052] Furthermore, in the article holding device 100 of this second embodiment, the operation of the pad mounting part 102 (i.e., the picking head) is stopped after it is determined that the suction pad 1 has come into contact with an article. This prevents excessive contact of the suction pad 1 with the article, and thus reduces the occurrence of damage to the article due to excessive contact.

[0053] However, depending on the shape and material of the item, after determining that the suction pad 1 has made contact with the item, the suction pad 1 may be moved a predetermined distance (for example, a few millimeters) toward the item. In this case, the suction performance of the suction pad 1 on the item can be improved, making it easier to transfer relatively heavy items.

[0054] In addition to the above explanation, a configuration may also be used to detect whether or not there is contact between the detection member 102c and the ring 4c by using changes in electrical characteristics other than changes in resistance, such as changes in the value of power supplied to the detection member 102c (voltage value and / or current value) or changes in the dielectric constant of the detection member 102c.

[0055] In addition to the above description, for example, a detection member that detects the proximity of the shape-holding part 4 using an electromagnetic method may be provided on the pad mounting part 102. Alternatively, a sensor element such as a proximity sensor or pressure sensor may be installed as a detection member on the pad mounting part 102.

[0056] [Modified version of Embodiment 2] A modified example of Embodiment 2 of this disclosure is described below. For the sake of convenience, components having the same function as those described in Embodiment 2 will be denoted by the same reference numerals, and their descriptions will not be repeated.

[0057] Figure 6 is a cross-section end view illustrating an example of the main components and operation of a modified version of the pad mounting section 102 shown in Figure 5. In Figure 6, the main difference between the modified version of this embodiment 2 and embodiment 2 is the addition of a lateral detection member 102d that detects the lateral displacement of the suction pad 1.

[0058] As shown in Figure 6, in this modified article holding device 100, a cylindrical lateral detection member 102d is provided on the pad mounting portion 102. Similar to the detection member 102c, a conductive material capable of electrically conducting with the ring 4c, such as copper wire, is used for this lateral detection member 102d. Furthermore, similar to the mounting member 102b, the lateral detection member 102d is provided so as to protrude on the side opposite to the base and is configured to contact the outer circumferential surface of the suction portion 2. In this modified article holding device 100, as shown in Figure 6, it is possible to detect, for example, when the suction pad 1 comes into contact with the side wall of a container containing an article.

[0059] Specifically, when the suction pad 1 comes into contact with the side wall of the container, a force acts on the suction pad 1 from the side wall, as shown by arrow F3 in Figure 6, causing the suction pad 1 to elastically deform. In other words, the suction pad 1 elastically deforms in a lateral direction perpendicular to the vertical direction, which is the mounting direction to the pad mounting portion 102, i.e., in the left-right direction of the drawing. As a result, the shape-holding portion 4 of the suction pad 1 is displaced due to the elastic deformation in the left-right direction, as shown by arrow F4 in Figure 6, and the ring 4c comes into contact with the lateral detection member 102d. Consequently, in the article holding device 100 of this modified example, the control unit can determine that the suction pad 1 has come into contact with the side wall, etc., before the suction portion 3 picks up an article.

[0060] Furthermore, in the modified article holding device 100, the control unit determines that an abnormal operation has occurred when it detects that the suction pad 1 has come into contact with the side wall or the like. In the modified article holding device 100, the control unit can then easily notify a display unit (not shown) of the occurrence of an abnormal operation, stop the operation of the article holding device 100 (picking device), or continue the article picking operation by the suction pad 1 without stopping the operation of the article holding device 100 (picking device).

[0061] [Examples of adhesive pads] Modified examples of the suction pad 1 of this disclosure are described below. For the sake of clarity, components having the same function as those described in Embodiment 1 are denoted by the same reference numerals, and their descriptions are not repeated.

[0062] Figure 7 is a cross-section end view illustrating the main component configuration examples of the suction pads 11 and 21 according to Modified Examples 1 and 2. In Figure 7, 101, the main difference between Modified Example 1 and Embodiment 1 is that the protrusion dimension toward the pad mounting portion 102 side of the shape-retaining portion 14 has been reduced. Also, in Figure 7, 102, the main difference between Modified Example 2 and Embodiment 1 is that only the end portion 24a of the second suction portion 3b is provided in the shape-retaining portion 24.

[0063] As shown in Figure 7, 101, in the modified example 1 of the suction pad 11, the shape-retaining portion 14 has one ring-shaped end 14a connected to the second suction portion 3b side of the suction portion 3. Furthermore, the shape-retaining portion 14 is designed to decrease in diameter as it moves away from the second suction portion 3b, and the other end 14b is formed in a ring shape with a predetermined thickness in order to impart higher rigidity to the shape-retaining portion 14 than to the suction portion 3.

[0064] Furthermore, in the suction pad 11 of Modified Example 1, the shape-retaining portion 14 differs from that of Embodiment 1 in that its vertical dimension is approximately half the vertical dimension of the suction portion 2. In this way, in the suction pad 11 of Modified Example 1, the dimension of the shape-retaining portion 14 is shortened, which suppresses the inhibition of elastic deformation in the suction portion 3 due to contact with the pad mounting portion 102.

[0065] As shown in Figure 7, 102, in the modified example 2 of the suction pad 21, the shape-retaining portion 24 does not decrease in diameter as it moves away from the second suction portion 3b, and its end 24a is connected to the second suction portion 3b side of the suction portion 3. The end 24a is formed in a ring shape with a predetermined thickness in order to impart higher rigidity to the shape-retaining portion 24 than to the suction portion 3.

[0066] Furthermore, in the suction pad 21 of the modified example 2, the shape-retaining portion 24 is composed only of the end portion 24a that connects the ends of the second suction portion 3b, thus simplifying the structure of the suction pad 21.

[0067] 〔summary〕 A suction pad according to a first aspect of the present disclosure is a suction pad attached to a pad mounting portion provided with a suction port of an article holding device for holding an article, comprising: a bellows-shaped suction portion having one end connected to the pad mounting portion; a suction portion connected to the other end of the suction portion opposite to the one end and adhering to an article, comprising: a first suction portion connected to the other end of the suction portion and having a diameter that expands 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 having a diameter that expands as it moves away from the first suction portion; and a shape-retaining portion connected to the second suction portion side of the suction portion and arranged around the suction portion, which maintains the shape of the second suction portion when the article is not adhering to it.

[0068] According to the above configuration, a suction part having a first suction part and a second suction part is provided with respect to the suction port of the article holding device. Furthermore, since the shape-retaining part maintains the shape of the second suction part when the article is not being held, the suction part can easily elastically deform according to the article, and thus easily hold the article. This improves the suction performance to the article.

[0069] A second aspect of the present disclosure is the suction pad of the first aspect, wherein, when the article is not being suctioned, the shape-retaining portion may be positioned at a distance from the pad mounting portion.

[0070] According to the above configuration, the shape-retaining portion is in a floating state relative to the pad mounting portion when the article is not being held in place. Therefore, when the article is held in place, the suction portion can more easily elastically deform in accordance with the article, thereby enabling easier suction of the article. This further improves the suction properties to the article.

[0071] A third aspect of the present disclosure is a suction pad according to the first or second aspect, wherein the shape-retaining portion may be provided such that its diameter decreases as it moves away from the second suction portion.

[0072] With the above configuration, it is possible to easily miniaturize the shape-retaining part and, consequently, the suction pad.

[0073] A fourth aspect of this disclosure is a suction pad according to any of the first to third aspects, wherein the shape-retaining portion may have higher rigidity than the suction portion.

[0074] According to the above configuration, since the rigidity of the shape-holding part is higher than that of the suction part, the shape-holding part can reliably hold the suction part even when the suction part is not holding an object.

[0075] A fifth aspect of this disclosure is an adhesive pad according to any of the first to fourth aspects, wherein the shape-retaining portion may be provided with a detachable conductive member at the pad mounting portion.

[0076] With the above configuration, by using a conductive member, it becomes possible to detect whether or not the adsorption part has come into contact with an item. This allows for accurate determination of whether or not the adsorption part has adsorbed an item.

[0077] An article holding device according to a sixth aspect of the present disclosure is an article holding device having a pad mounting portion provided with a suction port, comprising: a bellows-shaped suction portion having one end connected to the pad mounting portion; an adsorption portion having a first adsorption portion connected to the other end of the suction portion opposite to the one end and adsorbing to an article, the first adsorption portion having a first adsorption 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 adsorption portion folded back from the first adsorption portion toward the pad mounting portion and expanding in diameter as it moves away from the first adsorption portion; and a shape-retaining portion connected to the second adsorption portion side of the adsorption portion and arranged around the suction portion, which maintains the shape of the second adsorption portion when the article is not adsorbed.

[0078] According to the above configuration, an article holding device can be constructed that can improve the suction properties to the article.

[0079] A seventh aspect of this disclosure is an article holding device according to the sixth aspect, wherein the pad mounting portion may be provided with a detection member for detecting proximity to or contact with the shape holding portion.

[0080] With the above configuration, the detection member can detect when the shape-holding part is displaced to approach or come into contact with an object, and can detect whether or not the suction part has come into contact with the object. This allows for accurate determination of whether or not the suction part has attracted an object.

[0081] This disclosure is not limited to the embodiments described above, and various modifications are possible within the scope of the claims. Configurations obtained by appropriately combining the technical means disclosed in each embodiment are also included in the technical scope of this disclosure. [Explanation of Symbols]

[0082] 1, 11, 21 Suction pads 2 Suction part 2a one end 2b Other end 3 Adsorption part 3a 1st suction part 3b 2nd suction part 4 Shape retention part 4c ring (conductive material) 100 Article holding device 102 Pad mounting area 102a Suction port 102c Detection member

Claims

1. A suction pad that is attached to a pad mounting section provided with a suction port of an article holding device for holding articles, A bellows-shaped suction section, one end of which is connected to the pad mounting section, A suction part that is connected to the other end of the suction part opposite to the aforementioned one end and adheres to an article, comprising: a first suction part connected to the other end of the suction part and having a diameter that expands as it moves away from the suction part; and a second suction part that is folded back from the first suction part toward the pad mounting part and has a diameter that expands as it moves away from the first suction part. A shape-retaining part is provided, which is connected to the second adsorption part side of the adsorption part and arranged around the suction part, and which maintains the shape of the second adsorption part when the article is not adsorbed, A suction pad equipped with this feature.

2. The suction pad according to claim 1, wherein when the article is not being adsorbed, the shape-retaining portion is positioned at a distance from the pad mounting portion.

3. The suction pad according to claim 1, wherein the shape-retaining portion is provided such that its diameter decreases as it moves away from the second suction portion.

4. The suction pad according to claim 1, wherein the shape-retaining portion has higher rigidity than the suction portion.

5. The suction pad according to any one of claims 1 to 4, wherein a detachable conductive member is provided in the shape-retaining portion of the pad mounting portion.

6. An article holding device having a pad mounting portion provided with a suction port, A bellows-shaped suction section, one end of which is connected to the pad mounting section, A suction part that is connected to the other end of the suction part opposite to the aforementioned one end and adheres to an article, comprising: a first suction part connected to the other end of the suction part and having a diameter that expands as it moves away from the suction part; and a second suction part that is folded back from the first suction part toward the pad mounting part and has a diameter that expands as it moves away from the first suction part. A suction pad comprising: a shape-retaining portion connected to the second suction portion side of the suction portion and arranged around the suction portion, which maintains the shape of the second suction portion when the article is not being adsorbed. An article holding device equipped with the following features.

7. The article holding device according to claim 6, wherein the pad mounting portion is provided with a detection member for detecting proximity to or contact with the shape holding portion.

Images