JP7287027B2 - Holding mechanism and transport device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a holding mechanism and a conveying device, and more particularly to a holding mechanism and a conveying device used for holding and conveying articles.

2. Description of the Related Art Conventionally, a conveying apparatus disclosed in Patent Document 1, for example, has been proposed for conveying various articles. The conveying device of Patent Document 1 includes a plurality of nozzles that attract and hold an article attraction surface, an expansion/contraction mechanism that moves the nozzles in a plane parallel to the attraction surface, and a robot that moves these. Patent Literature 1 discloses a configuration including one external gear and three partial internal gears that are part of the internal gear as an expansion/contraction mechanism that moves the nozzle in conjunction.

Each partial internal gear is provided so as to mesh with the external gear, extends radially evenly from the side of the external gear, and has a nozzle attached to its tip. In Patent Literature 1, by rotating the external gear, each partial internal gear rotates, making it possible to change the position of the nozzle attached to the partial internal gear.

JP 2019-5869 A

In the configuration of Patent Document 1, when the expansion/reduction mechanism and the nozzle are viewed from above, an equilateral triangular suction area is formed by connecting the three installation locations of the nozzle. In such a configuration, even if the partial internal gear and the nozzle are moved by rotating the external gear to expand or contract the suction area, the shape of the suction area is maintained in an equilateral triangular shape. Therefore, if there are various variations in the shape of the surface on which the article is sucked, the nozzle protrudes from the suction surface of the article, or the nozzle separates from the outer edge of the suction surface, which tends to cause poor suction. be. For this reason, there is a problem that a plurality of units each having an expansion/reduction mechanism and a nozzle are prepared, and the number of times such a plurality of units are exchanged increases, which increases the load for transportation and reduces the transportation efficiency.

Here, as an expansion/contraction mechanism, Patent Document 1 also discloses a configuration in which four telescopic mechanisms are arranged radially evenly, and a nozzle is attached to the tip of each telescopic mechanism. According to such a configuration, it is possible to deal with variations in the shape of the surface on which the article is adsorbed. .

SUMMARY OF THE INVENTION It is an object of the present invention to provide a holding mechanism and a conveying device that can easily cope with changes in the shape of a surface on which an article is attracted while simplifying the structure. one of the purposes.

A holding mechanism according to one aspect of the present invention includes a hand unit having a plurality of suction units that suck an article, and an interlocking mechanism that supports the suction positions of the plurality of suction units so that the suction positions can be adjusted. A holding mechanism that uses a plane surrounding a suction position of the suction part as a suction area for an article, wherein the suction area is provided in a shape having widths in a first direction and a second direction that intersect each other, and the hand part is A plurality of the interlocking mechanisms are arranged side by side, and the interlocking mechanism interlocks and displaces the plurality of the sucking portions by an operation force applied to a part thereof, and when the width of the sucking area in the first direction is reduced, the While the width is expanded, the width in the second direction is reduced when the width in the first direction is expanded, and the interlocking mechanism is in the same form in a plurality of the hand parts, and in a different form. The attraction part is displaced so as to be selectable .

According to one aspect of the present invention, there is provided a conveying apparatus including: the holding mechanism; and a moving mechanism that moves the holding mechanism so that the sucked and held article can be conveyed.

According to the present invention, by applying an operating force to one interlocking mechanism, it is possible to change the width of the adsorption area in the two intersecting directions as described above, thereby imparting variation to the shape of the adsorption area. can. As a result, even if the shape of the surface on which the article is to be sucked changes, it is possible to easily form the suction area corresponding to such a change, while avoiding the structure of the hand portion from becoming complicated and heavy. As a result, it is possible to reduce the number of hand units to be prepared and the number of times the hand units are exchanged, thereby suppressing the burden associated with transportation and improving the transportation efficiency.

1 is a schematic perspective view of a holding mechanism according to a first embodiment; FIG. 1 is a front view of a holding mechanism and an article to be held according to a first embodiment; FIG. 4 is a bottom view of the holding mechanism according to the first embodiment; FIG. 4 is a bottom view similar to FIG. 3 showing an example in which the form of the interlocking mechanism is changed from the state of FIG. 3; FIG. FIG. 4 is an explanatory diagram of a hand portion viewed from above just before picking up an article; FIG. 6 is an explanatory diagram similar to FIG. 5 showing an example of a problem immediately before picking up another article; FIG. 6 is an explanatory view similar to FIG. 5 showing the hand part just before picking up another article from above; FIG. 11 is a schematic perspective view of a holding mechanism according to a second embodiment; It is a bottom view of a holding mechanism according to a second embodiment. FIG. 10 is a bottom view similar to FIG. 9 showing an example in which the form of the interlocking mechanism is changed from the state of FIG. 9; FIG. 10 is a bottom view similar to FIG. 9 showing another example in which the form of the interlocking mechanism is changed from the state of FIG. 9; FIG. 11 is a plan view of a hand portion according to a modification; 13 is a plan view similar to FIG. 12 showing an example in which the form of the interlocking mechanism is changed from the state of FIG. 12; FIG. FIG. 10 is a plan view of the hand portion showing another example in which the form of the interlocking mechanism is changed;

BEST MODE FOR CARRYING OUT THE INVENTION Below, embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the present invention is not limited to the following embodiments, and can be modified appropriately without changing the gist of the invention. In the following diagrams, part of the configuration may be omitted for convenience of explanation. In the following description, unless otherwise specified, "up", "down", "left", "right", "front", and "back" are based on directions indicated by arrows in each drawing. However, the orientation of each configuration is merely an example, and can be changed to any orientation.

[First embodiment]
1 is a schematic perspective view of a holding mechanism according to a first embodiment; FIG. 2 is a front view of a holding mechanism and an article to be held according to the first embodiment, and FIG. 3 is a bottom view of the holding mechanism according to the first embodiment. The holding mechanism 1 shown in FIGS. 1 to 3 includes a single hand portion 10 that sucks and holds an article W (not shown in FIGS. 1 and 3). The hand unit 10 includes a plurality of (six in this embodiment) suction units 11, an interlocking mechanism 12 that supports all of the plurality of suction units 11, and a single drive source 13 that applies an operating force to the interlocking mechanism 12. It has

Here, the article W held by the holding mechanism 1 of the present embodiment is, for example, a container in which cooked foods such as box lunches and side dishes are stored. The article W of the present embodiment is formed in the shape of a tray or box and has a configuration in which the open upper portion is closed with a lid or a cover or the like.

Each suction unit 11 includes a suction pad 15 formed in a bellows shape or a suction cup shape, and a holder 16 that supports the suction pad 15 from above and vertically penetrates the interlocking mechanism 12 . A hose (none of which is shown) communicating with a suction source such as a vacuum pump is connected to the upper end of the holder 16. Suction through these hoses creates a negative pressure on the suction surface, which is the lower surface of the suction pad 15, to remove the article. The upper surface of W can be held by suction. Therefore, the suction pad 15 becomes the suction position for the article W in the suction portion 11 .

The interlocking mechanism 12 is configured by a pantograph structure that connects a plurality of (six in this embodiment) link members in a relatively rotatable manner. Specifically, the interlocking mechanism 12 includes two first links (link members) 21 that form an X shape and are connected to each other at the central position in the extending direction. Further, the interlocking mechanism 12 includes two second links (link members) 22 connected to one end (right end) in the horizontal direction of the first link 21 and two links (link members) 22 connected to the other end (left end). and a third link (link member) 23 of the book. Also, the two second links 22 are connected to each other, and the two third links 23 are also connected to each other.

A bearing 24 composed of a slide bearing is provided at the connection position of each of the links 21 to 23 described above, and the links are connected through the bearing 24 so as to be relatively rotatable. Specifically, each of the first links 21 is relatively rotatably connected via a bearing 24 at the central position in the extending direction. One end (left end) of each second link 22 is connected to the right end of the first link 21 via a bearing 24 so as to be relatively rotatable, and the other ends (right ends) are connected to each other via a bearing 24 . are connected so as to be able to rotate relative to each other. One end (right end) of each third link 23 is connected to the left end of the first link 21 via a bearing 24 so as to be relatively rotatable, and the other ends (left ends) are connected to each other via a bearing 24 . are connected so as to be able to rotate relative to each other. In the hand portion 10 of the present embodiment, the bearings 24 are provided at seven locations.

A bearing 24 that connects the two first links 21 is arranged at the center position of the interlocking mechanism 12 in a top view, and a cylindrical support shaft 26 is provided therethrough. The support shaft 26 is connected to a chuck (none of which is shown) or the like in the movement mechanism, and the hand section 10 is movably supported by the movement mechanism through such connection. Here, the movement mechanism can be a mechanism combining a cylinder, a direct-acting motor, a linear motor, a feed screw structure, or the like, or can be configured by an articulated robot or the like. By driving the moving mechanism, the article W sucked and held by the holding mechanism 1 can be conveyed, and a conveying apparatus including the moving mechanism and the holding mechanism 1 can be configured.

The holders 16 of the adsorption portion 11 are provided so as to pass through the six bearings 24 other than the bearings 24 through which the support shafts 26 pass. Therefore, the suction portion 11 is provided at the relative rotation center position of each of the links 21-23.

The drive source 13 is provided below the interlocking mechanism 12 and at a position surrounded by the adsorption section 11 . The drive source 13 includes a cylinder body 27 supported on the lower end side of a support shaft 26, and an output shaft 28 (not shown in FIG. 1) that advances and retreats from the cylinder body 27 in the left-right direction. The tip of the output shaft 28 is connected to the rightmost holder 16 by a connecting member 29 (not shown in FIG. 3). The connecting member 29 is formed in a tubular shape and the holder 16 is inserted therethrough.

By moving the output shaft 28 in the left-right direction, the drive source 13 can apply an operating force to the rightmost bearing 24 that is part of the interlocking mechanism 12 via the holder 16 . In other words, the drive source 13 can apply an operating force to the relative rotation center position of the two second links 22 .

When the hand portion 10 is used to convey the article W, the hand portion 10 is moved above the article W via a moving mechanism (not shown) and then positioned. Due to such positioning, the suction unit 11 is arranged at a position spaced apart from the upper surface of the article W. As shown in FIG. After that, the entire hand portion 10 including the suction portion 11 is lowered, and the descent of the hand portion 10 is stopped at a height position where the suction pad 15 of the suction portion 11 comes into contact with the upper surface of the article W. When the suction pad 15 is brought into contact with the upper surface of the article W, the suction pad 15 of the suction unit 11 communicating with a suction source (not shown) generates a negative pressure and the upper surface of the article W is held by suction. After the article W is sucked and held, the moving mechanism is driven to raise the hand unit 10 and the article W, and then the article W is transferred to a predetermined destination.

Next, the operation of the interlocking mechanism 12 will be described with reference to FIGS. 3 and 4. FIG. 4 is a bottom view similar to FIG. 3 showing an example in which the form of the interlocking mechanism is changed from the state of FIG. 3. FIG. The interlocking mechanism 12 shown in FIGS. 3 and 4 has a different form (interlocking position). In the following description, the form shown in FIG. 3 is called the first form, and the form shown in FIG. 4 is called the second form.

3 and 4, the rectangular plane surrounding all the six suction pads 15 is defined as a suction area (indicated by broken lines) for the article W (see FIG. 2), and in the first embodiment shown in FIG. is denoted by A1, and in the second embodiment shown in FIG. 4, the adsorption region is denoted by A2. The adsorption areas A1 and A2 are formed in a rectangular shape with sides extending in the front-rear and left-right directions, and have widths in two intersecting directions, the front-rear direction (first direction) and the left-right direction (second direction). provided in

In the first form shown in FIG. 3, the installation locations of the six suction pads 15 are generally set at positions corresponding to the vertices of a regular hexagon. The suction area A1 is formed in a substantially square shape with a lateral width slightly larger than a longitudinal width.

When the output shaft 28 of the driving source 13 is moved rightward from the first mode, the links 21 to 23 of the interlocking mechanism 12 are rotated, and the interlocking mechanism 12 is transformed into the second mode shown in FIG. will come to Specifically, the rightmost suction pad 15 (suction portion 11) is displaced to the right, so that the two second links 22 rotate so that the relative angle between them decreases. Then, the suction pad 15 at the position where the second link 22 and the first link 21 are connected moves in the front-rear direction toward each other, and both of the two first links 21 rotate.

Due to this rotation, the suction pad 15 at the connecting position of the first link 21 and the third link 23 also moves in the front-to-rear direction to approach each other. Rotate. When the two third links 23 rotate, the leftmost suction pad 15 is displaced leftward. Thus, in the interlocking mechanism 12 , the position of the suction pads 15 can be adjusted by displacing the six suction pads 15 in conjunction with the operation force of one place by the drive source 13 .

The adsorption area A2 in FIG. 4 has a reduced width in the front-rear direction and an increased width in the left-right direction as compared with the adsorption area A1 in FIG. Therefore, the adsorption area A2 is formed in a rectangular shape whose width in the left-right direction is considerably larger than the width in the front-rear direction.

By moving the output shaft 28 of the drive source 13 leftward from the state of the second mode shown in FIG. 3 can be transformed back to the first form. Due to such deformation, the suction area A1 in FIG. 3 is formed, and compared with the suction area A2 in FIG. Therefore, in the present embodiment, by controlling the operation of the drive source 13, the form of the interlocking mechanism 12 is transformed into one of the first form and the second form, and each suction pad 15 is interlocked and displaced, Different shaped adsorption areas A1 and A2 can be selected.

Next, suction of an article W by the hand section 10 of the present embodiment will be described. FIG. 5 is an explanatory diagram of the hand portion viewed from above just before picking up an article. As shown in FIG. 5, a flat area on the upper surface of the article W is a suction surface W1 (illustrated by a chain double-dashed line in FIG. 5) that is sucked by the suction unit 11. As shown in FIG. Therefore, when the article W is to be sucked, all the suction pads 15 of the hand part 10 should be fitted without protruding from the suction surface W1 when viewed from above. If the suction pad 15 protrudes from the suction surface W1, the vacuum leaks and the suction force becomes insufficient or the suction becomes impossible. In addition, by arranging the suction pads 15 near the outer periphery of the suction surface W1, a large force can be secured to resist the force in the rotational direction acting when the article W is conveyed (during acceleration or deceleration), and the conveying speed can be increased. can respond. In the article W shown in FIG. 5, since the suction surface W1 is formed in a substantially square shape, the interlocking mechanism 12 is set to the first mode, and the position of the suction pad 15 is adjusted so as to form a substantially square suction area A1.

FIG. 6 is an explanatory diagram similar to FIG. 5 showing an example of a problem immediately before picking up another article. FIG. 7 is an explanatory view similar to FIG. 5 showing the hand part just before picking up another article from above. In the article W shown in FIG. 6, the suction surface W1 has a smaller width in the front-rear direction and a larger width in the left-right direction than the article W shown in FIG. Therefore, the width of the attraction surface W1 in the left-right direction is larger than that in the front-rear direction. When the object to be sucked is changed to the article W shown in FIG. 6, the suction pad 15 protrudes in the front-rear direction from the suction surface W1 when trying to suck it in the state of the suction area A1.

Therefore, as shown in FIG. 7, the interlocking mechanism 12 is changed to the second mode and the position of each suction pad 15 is adjusted so that the suction area A2 is formed in which the lateral width is considerably larger than the longitudinal width. As a result, even if the shape of the suction surface W1 of the article W changes, all the suction pads 15 can be accommodated within the area of the suction surface W1, thereby avoiding a decrease in the suction force. In addition, each suction pad 15 can be brought close to the outer periphery of the suction surface W1, and it is possible to support a high transfer speed by suctioning near the outer periphery of the suction surface W1.

According to the first embodiment described above, the suction areas A1 and A2 having different shapes can be formed, and the hand section 10 has a substantially square shape and a rectangular shape elongated to the left and right as variations of the suction areas. . Selection of the adsorption areas A1 and A2 can be made by simply changing the form of the single interlocking mechanism 12, so that the configuration of the hand unit 10 can be simplified and the weight thereof can be reduced, thereby suppressing an increase in equipment cost. be able to. In addition, the adsorption areas A1 and A2 can be changed with a single hand unit 10, the number of hand units 10 to be prepared and the number of exchanges of the hand units 10 can be reduced, the burden of transportation is reduced, and the efficiency of transportation is improved. can do.

In addition, since the sucking portions 11 are provided at the connecting positions of the links 21 to 23 in the interlocking mechanism 12 having a pantograph structure, the sucking portions 11 can be displaced in a coordinated manner easily and smoothly. Furthermore, by using a single drive source 13 and applying an operating force to one position that is the connection position between the second links 22, the six suction portions 11 can be easily displaced at the same timing.

In addition, in the first form of the interlocking mechanism 12 shown in FIG. 3, the suction area A3 is formed along a circle (perfect circle) in which all the six suction pads 15 are surrounded and all the suction pads 15 are positioned close to each other. can do. The suction area A3 is provided in a shape having the same width in the front-rear direction and the left-right direction. By making the suction area A3 circular, when the suction surface W1 of the article W is circular, the suction pads 15 are arranged along the outer periphery of the suction surface W1 so that the suction and holding can be performed satisfactorily.

[Second embodiment]
Next, a second embodiment of the present invention will be described with reference to FIGS. 8 to 11. FIG. In the following description, the same reference numerals may be used for components that are the same as or equivalent to those in the first embodiment, and the description may be omitted or simplified.

FIG. 8 is a schematic perspective view of a holding mechanism according to the second embodiment. FIG. 9 is a bottom view of the holding mechanism according to the second embodiment. As shown in FIG. 8, in the holding mechanism 1 of the second embodiment, a plurality of hand units 10 of the first embodiment are arranged side by side.

In the holding mechanism 1 according to the second embodiment, two hand parts 10 are arranged side by side in the front-rear direction. The holding mechanism 1 includes two cylindrical first connection portions 3 connected to the support shaft 26 of the hand portion 10, a connection frame 4 provided above the two first connection portions 3, and the connection frame 4. and a cylindrical second connection portion 5 provided on the upper surface. The second connecting portion 5 is connected to a chuck (none of which is shown) or the like in the moving mechanism, and the holding mechanism 1 including the two hand portions 10 is movably supported by the moving mechanism by such connection. It should be noted that each of the connecting portions 3 and 5 may be provided with a rotating mechanism for rotating around a central axis extending in the vertical direction so that each hand portion 10 and the holding mechanism 1 as a whole can be rotated.

8 and 9 illustrate a state in which the interlocking mechanisms 12 of the two hand units 10 are in the same form as the above-described first form (see FIG. 3). As shown in FIG. 9, since there are two hand parts 10, the suction area A4, which is a rectangular plane surrounding all the suction pads 15, is different from the suction area A1 of FIG. 3 in the first embodiment. It is expanded in the front-back direction compared to the .

10 is a bottom view similar to FIG. 9 showing an example in which the form of the interlocking mechanism is changed from the state of FIG. 9. FIG. FIG. 10 illustrates a state in which the interlocking mechanisms 12 of the two hand units 10 are in the same form as the above-described second form (see FIG. 4). In FIG. 10, a suction area A5 surrounding all the suction pads 15 has a rectangular shape with a width reduced in the front-rear direction and a width expanded in the left-right direction as compared with the suction area A4 in FIG.

11 is a bottom view similar to FIG. 9 showing another example in which the form of the interlocking mechanism is changed from the state of FIG. 9. FIG. FIG. 11 illustrates a state in which the interlocking mechanisms 12 of the two hand units 10 are in different forms. Specifically, one (rear) interlocking mechanism 12 of the two hand units 10 is in the first form, and the other (front) interlocking mechanism 12 is in the second form. The suction area A6 in FIG. 11 is formed in a trapezoidal shape whose lateral width gradually increases from the rear to the front.

According to the second embodiment, both of the interlocking mechanisms 12 of the two hand units 10 are in the first form, and both are in the second form. becomes the second form. By driving the interlocking mechanism 12 in such a manner and displacing each suction pad 15 (suction portion 11) in conjunction with each other, various suction areas A4 to A6 can be formed. can respond well.

The embodiments of the present invention are not limited to the respective embodiments described above, and various changes, substitutions, and modifications may be made without departing from the spirit of the technical idea of the present invention. Furthermore, if the technical idea of the present invention can be realized in another way by advances in technology or another derived technology, the method may be used for implementation. Therefore, the claims cover all embodiments that can be included within the scope of the technical concept of the present invention.

In each of the above-described embodiments, the case where the number of suction units 11 installed in the hand unit 10 is six has been described, but the number may be increased or decreased as long as the number is plural. In this case, by appropriately increasing or decreasing the number of link members (links 21 to 23) in the interlocking mechanism 12 according to the number of installation of the suction portions 11, the suction portions 11 can be displaced in conjunction with each other. In other words, the configuration of the interlocking mechanism 12 may be changed as long as it can interlock and displace each of the attracting portions 11 and respond to the shape change of the attracting surface W1 as described above.

Further, the drive source 13 can be modified in various ways, and may be configured by a direct-acting motor, an actuator, or the like that can apply an operating force to the interlocking mechanism 12 .

Further, in the holding mechanism 1 according to the second embodiment, the number of hand units 10 may be further increased. For example, four hand units 10 may be arranged in the horizontal direction in addition to the front-rear direction. .

Further, the shape of the suction area formed as a plane surrounding the suction positions of all the suction portions 11 is not limited to the shapes of the suction areas A1 to A6 described above, and other polygonal, elliptical, elliptical shapes, or the like. can be Furthermore, although the case where the attraction areas A1 to A6 have widths in the front-rear direction and the left-right direction as the first and second intersecting directions has been described, the present invention is not limited to this. The first direction and the second direction for setting the width may intersect at an intersection angle of 40° or 60°, for example.

Further, as shown in FIGS. 12 and 13, the hand unit 10 may have a configuration in which the drive source 13 is omitted. FIG. 12 is a plan view of a hand section according to a modification. 13 is a plan view similar to FIG. 12 showing an example in which the form of the interlocking mechanism is changed from the state of FIG. 12. FIG.

In the modified example of FIG. 12, a disk-shaped portion 21a is formed in the center of the first link 21 positioned above (on the front side of the paper surface of FIG. 12). The disc-shaped portion 21 a is formed so that its center position coincides with the rotation center position of the first link 21 . A slot hole 21b is formed at a position where the disk-shaped portion 21a overlaps with the first link 21 positioned below (back side of the paper surface of FIG. 12), and a screw member 30 serving as a restricting portion is provided in the slot hole 21b. The tip of the threaded member 30 is screwed into a female threaded portion (not shown) formed in the lower first link 21 .

In the state of FIG. 12, the interlocking mechanism 12 is in the first mode as in FIG. 1 link 21 is sandwiched. As a result, the rotation of the links 21 to 23 in the interlocking mechanism 12 is restricted, and the displacement of the suction portions 11 is also restricted to be in a fixed state.

When the screw member 30 is loosened from this state, the links 21 to 23 are allowed to rotate. After loosening the screw member 30 in this way, by manually applying an operating force to the interlocking mechanism 12, as shown in FIG. The method of applying the operating force at this time can be exemplified by pulling the leftmost or rightmost suction portion 11 in the direction away or pushing the suction portions 11 arranged in front and behind in the approaching direction. Although the operating force is applied to the interlocking mechanism 12 via the adsorption portion 11, the operating force may be applied directly to the interlocking mechanism 12. FIG. When the interlocking mechanism 12 is deformed, the screw member 30 is displaced in the extending direction in the slot hole 21b. By screwing the screw member 30 in the state shown in FIG. displacement is regulated.

Further, in the first embodiment, the output shaft 28 of the drive source 13 may be moved leftward from the state shown in FIG. By such movement, each of the links 21 to 23 rotates in the opposite direction compared to when the interlocking mechanism 12 changes from the first form to the second form, and the interlocking mechanism 12 is deformed as shown in FIG. . Such deformation of the interlocking mechanism 12 also displaces the six suction pads 15 interlockingly to adjust their positions. The suction area A7 in the state shown in FIG. 14 has an increased width in the front-rear direction and a reduced width in the left-right direction compared to the suction area A1 in FIG. get bigger. Therefore, in the configuration of the first embodiment, it is possible to select not only the rectangular attraction area A2 (see FIG. 4) that is elongated in the left-right direction but also the attraction area A7 that is elongated in the front-rear direction.

In the above-described embodiment, the article W to be gripped is a container such as a boxed lunch, but is not limited to any article as long as it can be held by the holding mechanism 1 . For example, sandwiches, bread, other foods such as boxed lunches, various electric devices, devices, and parts thereof, or packed in boxes or trays other than boxed lunch containers may be used.

1 Holding Mechanism 10 Hand Part 11 Suction Part 12 Interlocking Mechanism 13 Drive Source 15 Suction Pad (Suction Position)
21 first link (link member)
22 second link (link member)
23 third link (link member)
A1 to A7 adsorption area W article

Claims (6)

A hand portion having a plurality of suction portions for sucking an article and an interlocking mechanism for supporting the suction positions of the plurality of suction portions so as to be adjustable, and a plane surrounding the suction positions of all the suction portions in the hand portion. A holding mechanism that serves as an adsorption area for an article,
The adsorption area is provided in a shape having widths in a first direction and a second direction that intersect,
A plurality of said hand parts are arranged side by side,
The interlocking mechanism interlocks and displaces the plurality of suction parts by an operation force applied to a part thereof, and expands the width in the second direction when the width in the first direction of the suction area is reduced. On the other hand, when the width in the first direction is expanded , the width in the second direction is reduced, and the interlocking mechanisms of the plurality of hand portions have the same form and different forms. A holding mechanism that selectively displaces the suction portion . 2. The holding mechanism according to claim 1, wherein the interlocking mechanism has a pantograph structure that connects a plurality of link members so as to be relatively rotatable, and the suction portion is provided at a relative rotation center position of the link members. 3. The holding mechanism according to claim 1, further comprising a single drive source that applies the operating force to the interlocking mechanism. further comprising a single drive source that applies the operating force to the interlocking mechanism;
3. The holding mechanism according to claim 2, wherein the drive source applies the operating force to the relative rotation center position of the link member. The interlocking mechanism displaces the suction portion so as to select between a state in which the suction area follows a circle and a state in which the width of one of the first direction and the second direction is greater than the width of the other. The holding mechanism according to any one of claims 1 to 4, characterized in that: a holding mechanism according to any one of claims 1 to 5 ;
and a moving mechanism capable of transporting the sucked and held article by moving the holding mechanism.

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