Suction device

Abstract

This suction device (100) comprises: suctioning part attachment parts (74) to each of which is attached a suctioning part (3) that uses negative pressure to apply suction to an object (T); and a pressing part (4) that is provided separately from the suctioning parts (3) and presses against the outer surface (T1) of the object (T). The pressing part (4) is configured such that, when suction is to be applied to the object (T) by the suctioning parts (3), the pressing part (4) comes into contact with and presses against the outer surface (T1) of the object (T) in advance of the suctioning parts (3).

Description

Suction device

[0007] ,

[0006] , ,

[0001] This invention relates to a suction device comprising a suction part for sucking an object whose outer surface is deformed by negative pressure.

[0002] Conventionally, a suction device comprising a suction part for sucking an object whose outer surface is deformed by negative pressure is known. Such a suction device is disclosed, for example, in Japanese Patent Application Laid-Open No. 2019-10719.

[0003] Japanese Patent Application Laid-Open No. 2019-10719 discloses a suction device comprising a suction pad for sucking an object such as a retort pouch whose outer surface is deformed by negative pressure, and a leveling plate for leveling the outer surface of the object. The suction device is configured to contact and suck the object with the suction pad protruding downward from the leveling plate. Thereafter, the suction device presses the leveling plate against the object released from the suction pad to perform a leveling operation. Thus, when the outer surface of the object is sucked by the suction pad, it tends to be a relatively inclined surface (for example, a concave surface) that requires a leveling operation after suction.

[0004] Japanese Patent Application Laid-Open No. 2019-10719

[0005] In Japanese Patent Application Laid-Open No. 2019-10719, when the object is sucked by the suction pad, the outer surface of the object that requires a leveling operation after suction tends to be a relatively inclined surface (for example, a concave surface). Therefore, when the suction pad is brought into contact with the outer surface of the object during suction by the suction pad, it becomes difficult to suck the object by the suction pad, and there is a disadvantage that the transport performance, which is the performance of more surely sucking the object by the suction pad and making it difficult for the object to fall from the suction pad when sucking and transporting the object, deteriorates. Therefore, it is required to improve the transport performance of the object by the suction pad.

[0006] This invention has been made to solve the above problems, and one object of this invention is to provide a suction device capable of improving the transport performance when sucking and transporting an object by a suction part.

[0007] To solve the above problems, an adsorption device according to one aspect of this invention comprises an adsorption mounting section for attaching an adsorption section that adsorbs an object by negative pressure, and a pressing section provided separately from the adsorption section for pressing the outer surface of the object, wherein the pressing section is configured to contact and press the outer surface of the object before the adsorption section when the object is adsorbed by the adsorption section.

[0008] In one aspect of this invention, the suction device includes a pressing section, which is provided separately from the suction section and is configured to contact and press the outer surface of an object before the suction section does when the object is being suctioned by the suction section. This allows the pressing section to press the outer surface of the object before the suction section contacts the outer surface of the object, causing the portion of the object to be suctioned by the suction section to bulge into a convex shape. In other words, the object can be pre-deformed into a convex shape by the pressing section to facilitate suction by the suction section. This increases the reliability of suction by the suction section, thereby improving the portability when transporting an object by suction.

[0009] According to the present invention, as described above, the portability performance when an object is adsorbed and transported by the adsorption part can be improved.

[0010] This is a perspective view of an adsorption device according to one embodiment of the present invention, showing the state in which an object is adsorbed by the adsorption part. This is an exploded perspective view showing the overall configuration of the adsorption device according to one embodiment of the present invention. This is a partially broken side view showing the overall configuration of the adsorption device according to one embodiment of the present invention. This is a plan view of the adsorption device according to one embodiment of the present invention. This is a cross-sectional view of the adsorption device body along the line V-V in Figure 3. This is an enlarged view of part A in Figure 3. This is a cross-sectional view of the piping along the line VII-VII in Figure 3. This is a diagram for explaining the method of adsorbing and transporting an object using an adsorption device, showing the state in which the adsorption device is placed directly above the object. This is a diagram for explaining the method of adsorbing and transporting an object using an adsorption device, showing the state in which the object is pressed by the pressing part. This is a diagram for explaining the method of adsorbing and transporting an object using an adsorption device, showing the state in which the pressing part and the adsorption part are in contact with the object. This is a diagram for explaining the method of adsorbing and transporting an object using an adsorption device, showing the state in which the object is being transported and the state in which the adsorption of the object is released.

[0011] Hereinafter, one embodiment of the present invention will be described based on the drawings.

[0012] (Embodiment) An adsorption device 100 according to one embodiment of the present invention will be described with reference to Figures 1 to 11.

[0013] (Overall configuration of the adsorption device) The adsorption device 100 according to this embodiment shown in Figure 1 is configured to adsorb an object T whose outer surface T1 is deformable by negative pressure. The adsorption device 100 generates negative pressure in the adsorption section 3 using a vacuum pump 2 to adsorb the object T. The object T adsorbed by the adsorption device 100 is then transported to the target position.

[0014] In detail, the suction device 100 is fixed to the arm R1 at the tip of the transport robot R, which acts as a transport device. The transport robot R transports the object T that has been picked up by the suction device 100. For example, the suction device 100 is used to pick up the object T when the transport robot R transports the object T on a belt conveyor belt into a packaging container such as a cardboard box. Also, for example, the object T is a bagged item. Specifically, the object T is a bagged item containing snacks or similar items sealed with air. In addition, the object may be a bag containing powder, solid items such as rice, or liquids such as detergent.

[0015] As shown in Figures 1 to 3, the suction device 100 comprises a bracket 1, a vacuum pump 2, a suction unit 3 for adsorbing the object T, a pressing unit 4 for pressing the object T, a suction device body 5, a single common piping unit 6 (see Figure 3), and a plurality of branch piping units 70.

[0016] In each drawing, the direction in which the pressing part 4 extends is defined as the Z direction, with the direction of Z1 being the direction from the pressing part 4 towards the vacuum pump 2, and the opposite direction being the Z2 direction. The Z direction is also the direction in which the central axis C1 of the vacuum pump 2 extends. This central axis C1 of the vacuum pump 2 coincides with the central axis of the pressing part 4 and the central axis of the common piping section 6. In this embodiment, when the suction device 100 adsorbs an object T, the Z1 direction is upward and the Z2 direction is downward. That is, the suction device 100 approaches the object T from above and below to adsorb the object T. In each drawing, the two directions perpendicular to the Z direction and mutually perpendicular are defined as the X direction and the Y direction. Both the X direction and the Y direction are also directions along the side surface of the suction device body 5. In each drawing, the radial direction centered on the central axis C1 of the vacuum pump 2 is defined as the r direction. The r-direction is also the direction in which the multiple branch piping sections 70 extend.

[0017] As shown in Figure 2, the suction device body 5 has a rectangular parallelepiped lower part 5a extending in a direction perpendicular to the Z direction, and a rectangular parallelepiped side part 5b extending upward in the Z direction from the end of the lower part 5a, forming an L shape in side view. The suction device body 5 is fitted with a bracket 1, a vacuum pump 2, and piping 7 (multiple branched piping sections 70), which will be described later. The suction section 3 and the pressing section 4 are attached to the suction device body 5 via the piping 7. Multiple suction sections 3 are provided on the suction device 100. In one example, four suction sections 3 are provided. The pressing section 4 has a single configuration. The pressing suction mechanism 100a that presses and suctions the object T is composed of the piping 7, multiple suction section mounting sections 74 provided on the piping 7, and the single pressing section 4. The pressing suction mechanism 100a is a part that moves mechanically when pressed against the object T by the transport robot R. The pressure suction mechanism 100a can be removed from the suction device body 5 along with the pipe 7 by simply removing the pipe 7, and at the same time, all of the multiple suction parts 3 and the single pressure part 4 attached to the pipe 7 can be removed integrally from the suction device body 5 together with the pipe 7.

[0018] Referring to Figure 8, the pressing portion 4 of the suction device 100 in this embodiment is configured to contact and press the outer surface T1 of the object T before the suction portion 3 when the object T is being suctioned by the suction portion 3. The pressing portion 4 protrudes toward the object T side from the suction portion 3 so as to contact and press the outer surface T1 of the object T before the suction portion 3 when the object T is being suctioned by the suction portion 3. By contacting the object T before the suction portion 3, the pressing portion 4 presses the bag, which is the object T, before suction, causing the portion T2 of the outer surface T1 of the bag facing the suction portion 3 to inflate. When the pressure from the pressing portion 4 is released, the bag generally returns to its original shape before it inflated.

[0019] In this way, the suction device 100 positions the portion T2 of the outer surface T1 of the bag, which is the object T, that faces the suction portion 3 along the suction surface 3a of the suction portion 3, thereby increasing the reliability of the suction of the object T, whose outer surface T1 is deformed, by the suction portion 3. In short, the suction device 100 presses the object T with the pressing portion 4 before suction in order to eliminate the condition in which the outer surface T1 of the object T is relatively inclined with respect to the suction portion 3. As a result, the suction device 100 can more reliably suction the object T with the suction portion 3 and improve the portability when transporting the object T so that the object T does not fall during transport. Details of the suction portion 3 and the pressing portion 4 will be described later. The components of the suction device 100 will be described in order below.

[0020] (Bracket Configuration) The bracket 1 shown in Figure 3 is provided on the suction device body 5 and is configured to fix the suction device body 5 to the transport robot R that transports the suction device body 5. The bracket 1 is fixed to the transport robot R by bolts (screws) F1. The bracket 1 is also fixed to the suction device body 5 by bolts (screws) F2. The bracket 1 includes a pair of rectangular flat plate portions 10 facing each other in the Z direction and a connecting plate portion 11 that connects the ends of the flat plate portions 10. A vacuum pump 2 is positioned between the pair of flat plate portions 10.

[0021] The flat plate portion 10 on the Z1 direction side is in contact with the transport robot R, and a bolt F1 is attached to it. The flat plate portion 10 on the Z2 direction side is in contact with the upper surface of the lower part 5a of the suction device body 5, and a bolt F2 is attached to it. The flat plate portion 10 on the Z2 direction side is provided with a through hole 10a for arranging the vacuum pump 2. Inside the through hole 10a, a vacuum pump mounting portion 50 is arranged for detachably attaching the vacuum pump 2 to the suction device body 5. The connecting plate portion 11 is in contact with the side portion 5b of the suction device body 5 and is arranged along the side portion 5b. The bracket 1 is open around its periphery so that the vacuum pump 2 can be easily introduced and arranged between the pair of flat plate portions 10.

[0022] (Vacuum Pump Configuration) The vacuum pump 2 is a detachable pump that can be maintained and replaced. The vacuum pump 2 is installed in the suction device body 5 and is configured to generate negative pressure in the suction section 3. In other words, the vacuum pump 2 is the negative pressure source of the suction device 100. As an example, the vacuum pump 2 is a diaphragm-type vacuum pump that expands and contracts the pump chamber by elastically deforming the diaphragm. The vacuum pump 2 is configured to draw in air from the cap 20 located at the uppermost part of the vacuum pump 2. The cap 20 is connected to the gas outlet 54a that discharges gas from the suction device body 5. The vacuum pump 2 is formed in a cylindrical shape with its central axis C1 extending in the Z direction. As shown in Figure 4, the vacuum pump 2 is positioned so as to fit entirely between the pair of flat plate sections 10 of the bracket 1, so as not to protrude from between the pair of flat plate sections 10.

[0023] (Configuration of the suction part) The suction part 3 shown in Figure 3 is configured to adsorb an object T whose outer surface T1 (see Figure 1) is deformable by negative pressure. The suction part 3 has a relatively elongated shape that extends in the Z2 direction from the suction part mounting part 74 of the piping 7, which will be described later. Multiple suction parts 3 are provided as described above. The central axis C2 of each suction part 3 is positioned equidistant from the central axis C1 in a plan view (viewed from the Z direction). The suction part 3 includes a pad fixing device 30, a bellows 31, and a suction pad 32.

[0024] The bellows 31 and the suction pad 32 are integrally constructed. The pad fixing device 30 is configured to be detachable from the bellows 31. Although not shown in detail, the pad fixing device 30 and the bellows 31 each have female and male threads, and are fixed to each other by screwing them together.

[0025] The pad fixing device 30 has an L-shaped engagement groove 30a that engages with a pair of projections 74a (see Figure 2) of the suction part mounting portion 74, which will be described later. The pad fixing device 30 is configured to fix the suction part 3 to the pipe 7 by positioning the pair of projections 74a inside the L-shaped engagement groove 30a and moving the pair of projections 74a to the tip of the engagement groove 30a.

[0026] The bellows 31 is positioned between the pad fixing device 30 and the suction pad 32 in the Z direction. The bellows 31 is configured to tilt the suction pad 32 (suction surface 3a) along the outer surface T1 of the object T (see Figure 1) when the suction pad 32 comes into contact with the outer surface T1 and the outer surface T1 is inclined relative to the suction pad 32.

[0027] The suction pad 32 is the part that contacts the outer surface T1 of the object T and attracts the object T by negative pressure. When the suction pad 32 comes into contact with the outer surface T1, the opening 32a of the suction pad 32 is closed by the outer surface T1, causing it to elastically deform to conform to the shape of the outer surface T1 and to adhere tightly to the outer surface T1.

[0028] (Configuration of the pressing section) The pressing section 4 shown in Figure 3 is provided separately from the suction section 3 and is configured to press the outer surface T1 (see Figure 1) of the object T. The pressing section 4 has a relatively elongated shape and extends in the Z2 direction from the U-shaped pressing section mounting section 75 of the piping 7, which will be described later. The pressing section 4 is located directly below (on the Z2 side) of a single common piping section 6.

[0029] As shown in Figure 7, the pressing portion 4 is positioned between the multiple suction portions 3. The pressing portion 4 is located in the region RE surrounded by the multiple suction portions 3. In one example, the pressing portion 4 is located at the center of the four suction portions 3, and in a plan view (viewed from the Z direction), the entire pressing portion 4 is located inside the rectangular region RE formed by connecting the central axes C2 of the four suction portions 3. Note that in Figure 7, the hatching indicating the cross-sectional portion of the pipe 7 has been omitted to facilitate understanding of the drawing, but in reality, at least the reinforcing rib portion 72 constitutes the cross-sectional portion.

[0030] As shown in Figure 3, the pressing section 4 includes a pressing member 40, a biasing member 43, a pressing section body 44, and a lid member 45. In one example, the pressing member 40 and the pressing section body 44 are made of resin material and are relatively lightweight components.

[0031] The pressing member 40 is a member that contacts and presses against the object T. The pressing member 40 integrally includes a pad portion 41 having a circular pressing surface 4a in plan view and a rod portion 42 that supports the pad portion 41. The pressing surface 4a of the pressing portion 4 is formed in a flat shape. The area S1 of the pressing surface 4a of the pressing portion 4 is larger than the suction area S2 that suctions an object T with one suction portion 3 (S1 > S2). The end of the rod portion 42 on the Z2 direction side is connected to the center of the pad portion 41.

[0032] The pressing portion 4 protrudes toward the object T from the suction portion 3 so as to contact and press against the outer surface T1 of the object T before the suction portion 3 when the object T is being adsorbed by the suction portion 3. In other words, when the suction device 100 is not in contact with the outer surface T1 of the object T, the pressing surface 4a of the pressing member 40 is located toward the object T side, in the Z2 direction, than the suction surface 3a of the suction pad 32.

[0033] The biasing member 43 is a member that biases the pressing member 40 toward the object T. The pressing force exerted by the pressing member 40 against the object T is generated by the biasing force of the biasing member 43 and the weight of the pressing member 40. The biasing member 43 is in contact with the pressing member 40 from the Z1 direction side. For example, the biasing member 43 is a compression coil spring. As the biasing member 43 is a compression coil spring, the greater the amount of compression, the greater the biasing force. That is, as the pressing member 40 presses against the biasing member 43, the biasing force of the biasing member 43 increases as the suction part 3 gets closer to the object T (as it moves in the Z2 direction).

[0034] The pressing body 44 has a cylindrical shape extending in the Z direction. A biasing member 43 is housed in the pressing body 44. A portion of the pressing member 40 on the Z1 direction side is also housed in the pressing body 44. The pressing body 44 holds the pressing member 40 so that it can move forward and backward while protruding toward the object T. When the forward direction of the pressing member 40 is the Z2 direction, when the pressing surface 4a is not in contact with the outer surface T1 of the object T, the pressing member 40 is at its forward limit, and the protruding length L from the pressing body 44 is at its maximum.

[0035] The cover member 45 is attached to the pressing part body 44, thereby closing the opening at the Z1 direction end of the pressing part body 44. The cover member 45 is fixed to the pressing part body 44 by a bolt (screw) F3. The cover member 45 is provided with a male threaded portion 45a that protrudes in the Z1 direction. The male threaded portion 45a is passed through a through hole 75a (see Figure 6) of the U-shaped pressing part mounting portion 75, which will be described later, and is screwed into a nut N located inside the pressing part mounting portion 75. By screwing the male threaded portion 45a into the nut N, the pressing part 4 is fixed to the piping 7 from the Z2 direction side.

[0036] As described above, since the pressing portion 4 includes a biasing member 43 which is a compression coil spring that biases the pressing member 40, the pressing portion 4 is configured to be relatively movable relative to the suction device body 5 on the side opposite to the object T (Z1 direction side) while in contact with the object T and generating a pressing force to press the object T. In detail, when the object T is pressed, the pressing member 40 moves relative to the suction device body 5 on the side opposite to the object T side against the biasing force of the biasing member 43 due to the reaction force from the object T, thereby bringing the pressing surface 4a of the pressing member 40 closer to the pressing portion body 44, and reducing the protruding length L from the pressing portion body 44 to the pressing surface 4a. The suction portion 3 contacts the object T with the pressing portion 4 moved relative to the suction device body 5 on the side opposite to the object T side. In short, the suction portion 3 contacts the object T with the length of the pressing portion 4 in the Z direction reduced.

[0037] (Configuration of the Adsorption Device Body) As shown in Figure 3, the adsorption device body 5 includes a vacuum pump mounting section 50, an internal space 51a through which gas flows, a main pipe 51 and branch pipes 52, a gas inlet 53 for introducing gas from the adsorption section 3 into the internal space 51a, and a gas discharge section 54 having a gas outlet 54a. The adsorption device body 5 also includes an atmospheric release valve 55, a pressure sensor 56, an input display section 57, a wiring connection section 58, and a microcontroller 59.

[0038] The vacuum pump mounting section 50 is to which the vacuum pump 2 is detachably attached. The vacuum pump mounting section 50 is configured to maintain the attachment state of the vacuum pump 2 to the suction device body 5 by engaging with the vacuum pump 2. As an example, the vacuum pump mounting section 50 is a snap-fit ​​that secures the vacuum pump 2 so that it does not come off once attached. The vacuum pump 2 can be easily removed from the vacuum pump mounting section 50. In addition to the snap-fit, or instead of the snap-fit, the vacuum pump may also be configured to be secured by bolts.

[0039] The internal space 51a is a sealed space formed inside the main pipe 51. The main pipe 51 is a pipe member located between the gas inlet 53 and the gas outlet 54a. The internal space 51a of the main pipe 51 connects the gas inlet 53 and the gas outlet 54a. The internal space 51a of the main pipe 51 is connected to the atmospheric release valve 55 and the pressure sensor 56 via the branch pipe 52.

[0040] More specifically, as shown in Figure 5, the internal space 51a of the main pipe 51 is connected to the atmospheric release valve 55 via a tube 52a connected to the branch pipe 52. The internal space 51a of the main pipe 51 is also connected to the pressure sensor 56 via a tube 52b connected to the branch pipe 52. The gas inlet 53 is located on the central axis C1. A pipe 7 is connected to the gas inlet 53 from the Z2 direction side, and gas is introduced from the pipe 7.

[0041] Referring again to Figure 3, the gas discharge section 54 includes a gas outlet 54a positioned on the central axis C1, a slit hole 54b communicating with the gas outlet 54a from the downstream side, and a check valve 54c that closes the slit hole 54b. The slit hole 54b is part of the internal space 51a of the main pipe 51. The check valve 54c prevents backflow of gas from the vacuum pump 2 to the internal space 51a of the main pipe 51 via the gas outlet 54a.

[0042] Specifically, a cap 20 of the vacuum pump 2 is connected to the gas outlet 54a from the Z1 direction side, and gas is discharged to the vacuum pump 2. The check valve 54c is provided between the gas outlet 54a and the slit hole 54b. The check valve 54c has a compression coil spring 540 and a valve body 541. The valve body 541 is always biased by the compression coil spring 540 toward a position closing the slit hole 54b. The slit hole 54b is disposed on the gas inlet 53 side (Z2 direction side) of the valve body 541. The slit hole 54b is closed by the valve body 541 when the vacuum pump 2 stops. As a result, the negative pressure in the internal space 51a of the main pipe 51 is maintained. When the vacuum pump 2 is driven, the valve body 541 is moved toward the gas outlet 54a side (Z1 direction side) against the biasing force of the compression coil spring 540 by the negative pressure generated by the vacuum pump 2. For this reason, when the vacuum pump 2 is driven, the state where the slit hole 54b is closed by the valve body 541 is released and the slit hole 54b communicates with the gas outlet 54a. As a result, gas is discharged from the gas outlet 54a to the vacuum pump 2.

[0043] The atmosphere release valve 55 shown in FIG. 3 is configured to release the internal space 51a of the main pipe 51 to the atmosphere. Specifically, the atmosphere release valve 55 is a solenoid valve, and releases the negative pressure in the internal space 51a of the main pipe 51 by communicating the internal space 51a of the main pipe 51 with the external space. As a result, the adsorption of the object T (see FIG. 1) by the adsorption unit 3 is released. The pressure sensor 56 is configured to detect the pressure in the internal space 51a of the main pipe 51. The detected value of the pressure sensor 56 is used for drive control such as adjustment of the motor rotation speed of the vacuum pump 2.

[0044] As shown in FIG. 2, the input display unit 57 has a setting button 57a for setting the motor rotation speed of the vacuum pump 2 and the like, a determination button 57b for determining the content set by the setting button 57a, a display unit 57c on which the set motor rotation speed and the like are displayed, and an indicator 57d indicating various states of the adsorption device 100. A wiring 58a connecting the adsorption device 100 and the transfer robot R is connected to the wiring connection unit 58.

[0045] The microcomputer 59 shown in FIG. 3 is a control unit including a CPU (Central Processing Unit) and a storage device such as a flash memory. The microcomputer 59 controls the driving of the vacuum pump 2 and the atmosphere release valve 55. The microcomputer 59 releases the adsorption of the object T by the adsorption unit 3 by releasing the atmosphere in the internal space 51a by the atmosphere release valve 55 based on the adsorption release signal received from the transfer robot R via the wiring connection unit 58.

[0046] (Configuration of the common piping part and the branch piping part) As shown in FIG. 3, the single common piping part 6 is arranged on the central axis C1 and extends linearly in the Z direction along the central axis C1. The common piping part 6 is configured as a part of the main pipe 51 of the adsorption device main body 5. Specifically, the common piping part 6 is constituted by a cylindrical pipe part on the Z2 direction side of the main pipe 51, and a gas inlet 53 is provided.

[0047] The plurality of branch piping parts 70 branch from the single common piping part 6 and are each connected to the adsorption part 3 and extend in a direction intersecting the adsorption direction (Z direction) by the adsorption part 3. Each branch piping part 70 extends linearly radially (r direction) from the single common piping part 6 in a plan view (viewed from the Z direction). In the circumferential direction of the single common piping part 6, the plurality of branch piping parts 70 are arranged at an equal angular pitch. The adsorption device 100 is configured to supply negative pressure to the adsorption part 3 by the vacuum pump 2 via the single common piping part 6 and the plurality of branch piping parts 70. Although it is an example, the number of the branch piping parts 70 is four, which is the same as the number of the adsorption parts 3.

[0048] The plurality of branch piping parts 70 are provided in a pipe 7 separate from the main pipe 51 of the adsorption device main body 5 where the single common piping part 6 is provided. Although it is an example, the pipe 7 is formed of a resin material and is a relatively lightweight member. In addition to the plurality of branch piping parts 70, the pipe 7 is provided with a cylindrical part 71, a reinforcing rib part 72, an adsorption device main body attachment part 73, an adsorption part attachment part 74, and a pressing part attachment part 75.

[0049] The cylindrical portion 71 has a cylindrical shape that protrudes upward (in the Z1 direction) from the central part of the pipe 7. The cylindrical portion 71 is fitted into the single common piping section 6 of the main pipe 51 from the Z2 direction side. As a result, the pipe 7 is positioned so that its central axis coincides with that of the single common piping section 6. That is, the central axes of both the pipe 7 and the single common piping section 6 coincide with the central axis C1.

[0050] The reinforcing rib portion 72 is formed in an arc shape extending in the circumferential direction of the central axis C1 so as to connect adjacent branch piping portions 70. The suction device body mounting portion 73 is configured for attaching the piping 7 to the suction device body 5 by bolts (not shown). Multiple suction device body mounting portions 73 are provided at equal angular pitches in the circumferential direction of the central axis C1. The suction device body mounting portion 73 has a cylindrical shape that protrudes upward (in the Z1 direction) toward the lower part 5a of the suction device body 5. The piping 7 is fixed to the suction device body 5 from the Z2 direction side by screwing bolts (not shown) attached to the suction device body mounting portion 73 into the suction device body 5.

[0051] The suction part mounting section 74 shown in Figure 2 is configured for attaching the suction part 3 to the pipe 7. Multiple suction part mounting sections 74 are provided around the cylindrical section 71. As an example, there are four suction part mounting sections 74, the same number as the branch pipe section 70. The multiple suction part mounting sections 74 are arranged at equal angular pitches in the circumferential direction of the central axis C1. In a plan view (viewed from the Z direction), the suction part mounting sections 74 protrude in the Z2 direction from the radial (r direction) outer end 70a of each branch pipe section 70. The suction part mounting section 74 has a pair of projections 74a that protrude in a direction perpendicular to the Z direction. The suction part 3 is fixed to the pipe 7 from the Z2 direction side by engaging with the pair of projections 74a.

[0052] The pressing part mounting portion 75 shown in Figures 3 and 6 is configured for attaching the pressing part 4 to the pipe 7. The pressing part mounting portion 75 is positioned on the central axis C1. The pressing part mounting portion 75 protrudes downward (in the Z2 direction) from the central part of the pipe 7. In a side view (viewed from a direction perpendicular to the Z direction), the pressing part mounting portion 75 is formed in a U shape. A nut N is positioned inside the U-shaped pressing part mounting portion 75. The U-shaped pressing part mounting portion 75 has a through hole 75a extending in the Z direction directly below the nut N. The pressing part 4 is fixed to the pipe 7 from the Z2 direction side by screwing it onto the nut N through the through hole 75a.

[0053] (Method for adsorbing and transporting an object using an adsorption device) Referring to Figures 8 to 11, each step of the method for adsorbing and transporting an object T using an adsorption device 100 will be described in order.

[0054] As shown in Figure 8, the method for suction and transport of an object T first includes the step of positioning the suction device 100 directly above the object T using a transport robot R. In this case, although it is just one example, the pressing part 4 is positioned opposite the center of the object T in a plan view. In the state shown in Figure 8 before the suction device 100 contacts the object T, the pressing part 4 protrudes further toward the object T (towards the Z2 direction) than the suction part 3. Then, from this state, the suction device 100 is moved toward the object T by the transport robot R. That is, the suction device 100 is lowered.

[0055] Next, as shown in Figure 9, the method for adsorbing and conveying the object T includes a step of bringing the pressing part 4 into contact with the object T before the adsorption part 3 and pressing it. As a result of pressing the bag, which is the object T, the portion T2 of the outer surface T1 of the bag facing the adsorption part 3 bulges, and portion T2 takes on a shape that conforms to the adsorption surface 3a of the adsorption part 3. In short, the outer surface T1 takes on a shape that is easily adsorbed by the adsorption part 3. In this way, the adsorption device 100 of this embodiment has a high degree of reliability in adsorbing the object T by the adsorption part 3. Furthermore, during pressing, the reaction force from the object T brings the pressing surface 4a closer to the pressing part body 44 against the biasing force of the biasing member 43, so that the protruding length L of the pressing member 40 from the pressing part body 44 gradually decreases. Also, as the adsorption part 3 gets closer to the object T (as it moves in the Z2 direction), the biasing force of the biasing member 43 gradually increases, and the pressing force of the pressing part 4 pressing the object T increases.

[0056] In Figure 9, an object in an unpressed state, not being pressed by the pressing part, is represented by a dashed line. Now, let's consider a comparative example suction device that has the same configuration as the suction device 100 except that it does not have a pressing part. As shown in Figure 9, in the comparative example suction device, the outer surface of the object, shown by the dashed line, is significantly inclined with respect to the suction surface of the suction part. Since the comparative example suction device does not have a pressing part, it is necessary to bring the suction part into contact with this significantly inclined outer surface to adsorb the object. In other words, it is necessary to bring the suction part into contact with an outer surface that does not follow the suction surface of the suction part to adsorb the object. For this reason, compared to the suction device 100 of this embodiment which has a pressing part 4, the comparative example suction device has lower reliability in adsorbing the object by the suction part.

[0057] Next, we will return to the description of the suction device 100 of this embodiment. As shown in Figure 10, the method for suction and transport of the object T includes the step of pressing the object T with the pressing unit 4, driving the vacuum pump 2 to suction the object T with the suction unit 3. With the pressing surface 4a and the suction surface 3a in contact with the object T, the outer surface T1 of the object T becomes flat (approximately flush) at all contact points of the pressing surface 4a and the multiple suction surfaces 3a.

[0058] Next, as shown in Figure 11, the method for adsorbing and transporting the object T includes a step of lifting and transporting the adsorption device 100 together with the object T using a transport robot R. In this transport step, since the object T is reliably adsorbed by the adsorption part 3 by using the pressing part 4 in the previous step, it is not possible for the slight gap between the adsorption surface 3a and the outer surface T1 of the object T to widen due to the weight of the object T during transport, and for gas to enter the inside of the adsorption part 3 which is held by negative pressure. In other words, the adsorption device 100 will not drop the adsorbed object T during transport. Thus, the adsorption device 100 of this embodiment has high portability of the object T.

[0059] The suction device 100 releases the negative pressure in the suction part 3 and releases the suction of the object T by switching the atmospheric release valve 55 from a closed state to an open state after the object reaches a predetermined position where the packaging container D or the like is located. In this embodiment, the object may include not only objects whose outer surface is deformed by pressure, but also objects whose outer surface is not deformed by pressure. For example, the suction device can also be used to adsorb objects when transporting objects whose outer surface is deformed by pressure and objects whose outer surface is not deformed by pressure to a packaging container such as a cardboard box, when both are mixed on the belt conveyor.

[0060] (Effects of the Embodiment) In this embodiment, the following effects can be obtained.

[0061] In this embodiment, as described above, a pressing part 4 is provided separately from the suction part 3 and is configured to contact and press the outer surface T1 of the object T before the suction part 3 when the object T is being adsorbed by the suction part 3. This allows the pressing part 4 to press the outer surface T1 of the object T before the suction part 3 contacts the outer surface T1 of the object T, which deforms, causing the portion T2 of the object T that will be adsorbed by the suction part 3 to bulge into a convex shape. In other words, the object T can be deformed into a convex shape that is easier for the suction part 3 to adsorb in advance by the pressing part 4. This increases the reliability of the object T being adsorbed by the suction part 3, and thus improves the portability when the object T is adsorbed and transported by the suction part 3.

[0062] In this embodiment, the pressing portion 4 protrudes toward the object T from the suction portion 3 so as to contact and press the outer surface T1 of the object T before the suction portion 3 when the object T is being attracted to the object T by the suction portion 3. This allows the pressing portion 4 to be positioned closer to the object T than the suction portion 3, so that the object T can be effectively pressed by the pressing portion 4 before the suction portion 3 contacts the object T. Furthermore, regardless of the shape of the outer surface T1 of the object T, the pressing portion 4 can be easily brought into contact with the outer surface T1 of the object T before the suction portion 3.

[0063] In this embodiment, the object T is a bag, and the pressing part 4 is configured to press the bag and inflate the portion T2 on the outer surface T1 of the bag that faces the suction part 3. This makes it possible to inflate the portion T2 on the outer surface T1 of the bag that faces the suction part 3, which is prone to deformation into a concave shape during suction and is difficult to suction, into a convex shape, so that the outer surface T1 of the bag can be easily suctioned by the suction part 3. As a result, the portability performance of the bag by the suction part 3, which is prone to deformation of the outer surface T1, can be easily improved.

[0064] In this embodiment, as described above, the suction device body 5 to which the suction part 3 and the pressing part 4 are attached is further provided. The pressing part 4 is configured to be movable relative to the suction device body 5 on the side opposite to the object T while in contact with the object T and generating a pressing force to press the object T. The suction part 3 is configured to contact the object T while the pressing part 4 is moved relative to the suction device body 5 on the side opposite to the object T. As a result, when the suction part 3 approaches the object T while the pressing part 4 is in contact with the object T, the pressing part 4 moves further toward the object T together with the suction part 3, which can prevent the pressing force of the pressing part 4 from becoming too large and can also prevent the pressing part 4 from digging into the object T. As a result, damage to the object T by the pressing part 4 can be prevented.

[0065] In this embodiment, as described above, the pressing section 4 includes a pressing member 40 that contacts and presses against the object T, a biasing member (compression coil spring) 73 that biases the pressing member 40 toward the object T, and a pressing section body 44 that houses the biasing member 43 and holds the pressing member 40 so that it can move back and forth in a state where it protrudes toward the object T. The pressing member 40 is configured such that when the object T is pressed, the reaction force from the object T causes it to move relative to the suction device body 5 on the side opposite to the object T, against the biasing force of the biasing member 43, thereby bringing the pressing surface 4a of the pressing member 40 closer to the pressing section body 44, and reducing the protruding length from the pressing section body 44 to the pressing surface 4a. As a result, the biasing member (compression coil spring) 73 can more reliably generate the pressing force applied by the pressing member 40 to the object T. Therefore, when the suction part 3 is brought closer to the object T, the pressing member 40 is pushed back by the reaction force from the object T, which can suppress the reduction in the bulge of the object T being pressed by the pressing member 40. In addition, when the pressing member 40 is in contact with the object T and approaches the pressing part body 44 on the opposite side from the object T, the biasing member (compression coil spring) 73 can be compressed to increase the biasing force (pressing force) to some extent. This makes it easier to deform the outer surface T1 of the object T, even if the contents of the object T are solid or granular materials that are difficult to deform.

[0066] In this embodiment, as described above, multiple suction parts 3 are provided, and the pressing part 4 is positioned between the multiple suction parts 3. As a result, when the object T is pressed by the pressing part 4, the area around the pressed point on the object T can be inflated. Since multiple suction parts 3 with the pressing part 4 in between are positioned around the pressed point on the object T, the object T can be stably adsorbed by the multiple suction parts 3.

[0067] In this embodiment, as described above, the pressing portion 4 is positioned in the region RE surrounded by the multiple suction portions 3. As a result, when the object T is pressed by the pressing portion 4, the area around the pressing point on the object T where the multiple suction portions 3 are located can be expanded, allowing the object T to be more stably adsorbed by the multiple suction portions 3.

[0068] In this embodiment, as described above, the pressing surface 4a of the pressing part 4 is formed in a flat shape. As a result, the object T can be pressed with a uniform pressing force by the flat pressing surface 4a, so that the area around the pressing point of the object T can be bulged in a balanced manner.

[0069] In this embodiment, as described above, the area S1 of the pressing surface 4a of the pressing part 4 is larger than the adsorption area S2 of the adsorption part 3 that adsorbs the object T. This allows for a relatively large pressing surface 4a of the pressing part 4, thereby suppressing localized pressure on the object T and preventing significant deformation of the object T's shape.

[0070] In this embodiment, as described above, the suction unit 3 is provided in multiple locations and further comprises a single common piping section 6 and a plurality of branched piping sections 70 that branch off from the single common piping section 6, each connected to the suction unit 3 and extending in a direction intersecting the suction direction of the suction unit 3. The suction unit 3 is configured to receive negative pressure via the single common piping section 6 and the plurality of branched piping sections 70. This allows the negative pressure source (vacuum pump 2) that generates negative pressure to attract the object T by the suction unit 3 to be a single configuration, even when multiple suction units 3 are provided, thanks to the single common piping section 6 and the plurality of branched piping sections 70.

[0071] In this embodiment, as described above, the pressing portion 4 is positioned directly below a single common piping portion 6. This allows the pressing portion 4 to be positioned directly below the common piping portion 6, which is surrounded by multiple suction portions 3 connected to multiple branch piping portions 70. As a result, when the object T is pressed by the pressing portion 4, the area around the pressing point on the object T where the multiple suction portions 3 are located can be expanded, allowing the object T to be stably adsorbed by the multiple suction portions 3.

[0072] In this embodiment, as described above, the suction device body 5 to which the suction part 3 and the pressing part 4 are attached, and a vacuum pump 2 provided on the suction device body 5 for generating negative pressure in the suction part 3, further comprising a vacuum pump mounting part 50 to which the vacuum pump 2 is detachably attached. As a result, the vacuum pump 2 can be attached to the suction device body 5 by the vacuum pump mounting part 50. Therefore, compared to the case where the vacuum pump and the suction device body are connected via a hose or the like because the vacuum pump cannot be attached to the suction device body, the number of components that supply air, such as hoses, can be reduced and the device configuration can be simplified.

[0073] In this embodiment, as described above, the suction device body 5 to which the suction part 3 and the pressing part 4 are attached, and the suction device body 5 is further provided with a bracket 1 that fixes the suction device body 5 to a transport robot R that transports the suction device body 5. As a result, the transport robot R can easily transport the object T that has been reliably picked up by the suction part 3 of the present invention together with the suction device body 5, thereby easily improving the portability performance.

[0074] (Variations) The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than the description of the embodiments above, and all modifications (variations) are further included in the meaning and scope equivalent to the claims.

[0075] For example, in the above embodiment, an example was shown where the object whose outer surface deforms is a bag, but the present invention is not limited to this, and the object is not limited to a bag as long as the outer surface of the object deforms to conform to the suction surface when pressed. For example, the object may be a food product itself whose outer surface deforms.

[0076] Furthermore, although the above embodiment shows an example in which the pressing portion protrudes toward the object side than the suction portion while the suction device is not in contact with the object, the present invention is not limited to this. In the present invention, if the pressing portion contacts and presses the outer surface of the object before the suction portion while the suction device is not in contact with the object, the pressing portion does not need to protrude toward the object side than the suction portion. More specifically, if the pressing portion contacts and presses the outer surface of the object before the suction portion while the suction device is not in contact with the object, the pressing surface of the pressing portion may be located at the same position as the suction surface of the suction portion, or on the Z1 side of the suction surface, in the Z direction. In this case, while the suction device is not in contact with the object, the Z-direction separation distance between the pressing portion and the outer surface of the object opposite the pressing portion is smaller than the Z-direction separation distance between the suction portion and the outer surface of the object opposite the suction portion. The suction device is positioned by a transport device (transport robot) at a position that has the above-described distance relationship with respect to the object.

[0077] Furthermore, although the above embodiment shows an example in which four adsorption parts are provided, the present invention is not limited thereto. In the present invention, one, two, three, or five or more adsorption parts may be provided.

[0078] Furthermore, although the above embodiment shows an example in which only one pressing portion is provided, the present invention is not limited thereto. In the present invention, multiple pressing portions may be provided.

[0079] Furthermore, although the above embodiment shows an example in which the common piping section and the branch piping section are provided on separate components, the present invention is not limited thereto. In the present invention, the common piping section and the branch piping section may be provided on the same component.

[0080] Furthermore, although the above embodiment shows an example in which the pressing surface of the pressing part is formed in a flat shape, the present invention is not limited thereto. In the present invention, the pressing surface of the pressing part may be formed in a convex shape (for example, a convex curved surface (spherical surface) shape) or a concave shape (for example, a concave curved surface shape).

[0081] Furthermore, although the above embodiment shows an example in which the pressing surface of the pressing part is formed in a circular shape in a plan view, the present invention is not limited to this. In the present invention, the pressing surface of the pressing part may be formed in a rectangular, triangular, elliptical, or oblong shape in a plan view.

[0082] Furthermore, although the above embodiment shows an example in which the pressing member of the pressing portion is formed from a resin material, the present invention is not limited thereto. In the present invention, the pressing member of the pressing portion may be formed from a metal material or the like.

[0083] Furthermore, although the above embodiment shows an example in which the piping is formed from a resin material, the present invention is not limited thereto. In the present invention, the piping may be formed from a metal material or the like.

[0084] Furthermore, although the above embodiment shows an example in which the biasing member of the pressing portion is made of a compression coil spring, the present invention is not limited thereto. In the present invention, the biasing member of the pressing portion may be made of an elastic material such as rubber.

[0085] Furthermore, although the above embodiment shows an example in which the pressing portion is equipped with a biasing member, the present invention is not limited thereto. In the present invention, the pressing portion does not need to be equipped with a biasing member. In this case, the pressing force exerted by the pressing member on the object is generated by the weight of the pressing member itself.

[0086] Furthermore, although the above embodiment shows an example in which a vacuum pump mounting portion is provided on the suction device body so that the vacuum pump can be directly attached to the suction device body, the present invention is not limited to this. In the present invention, the vacuum pump may be attached to a configuration different from that of the suction device body. In this case, for example, the vacuum pump and the suction device body are connected by an elastically deformable tube.

[0087] Furthermore, although the above embodiment shows an example in which the adsorption device body is configured to be able to accommodate only one vacuum pump, the present invention is not limited to this. In the present invention, the adsorption device body may be configured to be able to accommodate multiple vacuum pumps.

[0088] Furthermore, although the above embodiment shows an example where the vacuum source of the adsorption device is a vacuum pump, the present invention is not limited to this. In the present invention, the vacuum source of the adsorption device may be a pressure pump and an ejector, etc.

[0089] Furthermore, although the above embodiment shows an example in which the pressing portion is arranged in a region surrounded by multiple suction portions, the present invention is not limited to this. In the present invention, the pressing portion may be arranged outside the region surrounded by the multiple suction portions.

[0090] Furthermore, although the above embodiment shows an example in which the pressing portion is positioned between multiple suction portions, the present invention is not limited to this. In the present invention, the pressing portion may be positioned outside the positions between multiple suction portions.

[0091] Furthermore, although the above embodiment shows an example in which the pressing portion is located directly below a single common piping section, the present invention is not limited to this. In the present invention, the pressing portion may be located at a position away from directly below a single common piping section.

[0092] Furthermore, although the above embodiment shows an example in which the area of ​​the pressing surface is larger than the adsorption area of ​​the adsorption part, the present invention is not limited to this. In the present invention, the area of ​​the pressing surface may be less than or equal to the adsorption area of ​​the adsorption part.

[0093] Furthermore, in the above embodiment, an example was shown in which the suction device is configured such that when the pressing part is in contact with the object and the suction part is brought closer to the object, the length of the pressing part is reduced while bringing the suction part closer to the object. However, the present invention is not limited to this. In the present invention, when the pressing part is in contact with the object and the suction part is brought closer to the object, the suction device may be configured such that the length of the pressing part is not changed, and the pressing part is slid upward relative to the suction part to bring the suction part closer to the object.

[0094] Furthermore, although the above embodiment shows an example in which the pressing part is attached to the pipe by screwing, the present invention is not limited to this. In the present invention, the pressing part may be attached to the pipe by engagement, magnetic attraction, or the like.

[0095] 1 Bracket 2 Vacuum pump 3 Suction part 4 Pressing part 4a Pressing surface 5 Suction device body 6 Common piping part 40 Pressing member 43 Biasing member 44 Pressing part body 50 Vacuum pump mounting part 70 Branch piping part 74 Suction part mounting part 100 Suction device R Transport robot (transport device) RE Area (surrounded by multiple suction parts) S1 Area (of the pressing surface of the pressing part) S2 Suction area (of the suction surface of the suction part) T Object T1 Outer surface (of the object) T2 Part (of the outer surface facing the suction part)

Claims

1. An adsorption device comprising: an adsorption mounting section for attaching an adsorption section that adsorbs an object by negative pressure; and a pressing section provided separately from the adsorption section for pressing the outer surface of the object, wherein the pressing section is configured to contact and press the outer surface of the object before the adsorption section when the object is adsorbed by the adsorption section.

2. The suction device according to claim 1, wherein the pressing portion protrudes toward the object ahead of the suction portion so as to contact and press the outer surface of the object before the suction portion when the object is adsorbed by the suction portion.

3. The suction device according to claim 1, wherein the object is a bag, and the pressing part is configured to press the bag and inflate the portion of the outer surface of the bag that faces the suction part.

4. The suction device according to claim 1, further comprising a suction device body to which the suction portion and the pressing portion are attached, wherein the pressing portion is configured to be movable relative to the suction device body on the side opposite to the object side while in contact with the object and generating a pressing force to press the object, and the suction portion is configured to contact the object while the pressing portion is moved relative to the suction device body on the side opposite to the object side.

5. The suction device according to claim 4, wherein the pressing portion includes a pressing member that contacts and presses against the object, a biasing member that biases the pressing member toward the object, and a pressing portion body that houses the biasing member and holds the pressing member so that it can move back and forth in a state that it protrudes toward the object, and the pressing member is configured such that when the object is pressed, the pressing member moves relative to the suction device body on the side opposite to the object side against the biasing force of the biasing member due to a reaction force from the object, thereby bringing the pressing surface of the pressing member closer to the pressing portion body, and thereby reducing the protruding length from the pressing portion body to the pressing surface.

6. The suction device according to claim 1, wherein a plurality of suction portions are provided, and the pressing portion is positioned between the plurality of suction portions.

7. The adsorption device according to claim 6, wherein the pressing portion is located in the region surrounded by the plurality of adsorption portions.

8. The pressing surface of the pressing portion is formed in a flat surface shape, as described in claim 1.

9. The adsorption device according to claim 8, wherein the area of ​​the pressing surface of the pressing portion is larger than the adsorption area of ​​the adsorption portion for adsorbing the object.

10. The adsorption device according to claim 1, wherein the adsorption units are provided in multiple quantities, and further comprises a single common piping section and a plurality of branched piping sections that branch off from the single common piping section, each connected to the adsorption unit and extending in a direction intersecting the adsorption direction by the adsorption unit, and is configured to supply negative pressure to the adsorption unit via the single common piping section and the plurality of branched piping sections.

11. The suction device according to claim 10, wherein the pressing portion is located directly below the single common piping portion.

12. The suction device according to claim 1, further comprising: a suction device body to which the suction portion and the pressing portion are attached; and a vacuum pump provided on the suction device body for generating negative pressure in the suction portion, wherein the suction device body includes a vacuum pump mounting portion to which the vacuum pump is detachably attached.

13. The suction device according to claim 1, further comprising: a suction device body to which the suction portion and the pressing portion are attached; and a bracket provided on the suction device body for fixing the suction device body to a transport device that transports the suction device body.

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