JP7554471B2 - Hand for transfer device and transfer device - Google Patents

Description

The present invention relates to a hand for a transfer device and a transfer device.

2. Description of the Related Art A transfer device has been known that has a plurality of bellows-shaped suction pads and transfers a container containing contents to a container holder such as a transport rack or a box.
For example, Patent Document 1 discloses an egg container transfer device equipped with a suction unit having six bellows-shaped suction pads for each egg container. In this egg container transfer device, the upper part of the suction pad is connected to a vacuum pump by a tube, and when air is sucked in by the vacuum pump, the egg container is sucked onto the suction pad, and when the air is exhausted, the egg container is detached from the suction pad. It is also described that the bellows-shaped suction pad has a length (L) of, for example, 30 mm to 80 mm in the longitudinal direction.

Also, as shown in Patent Document 2, a transport rack is known that has multiple shelves, each of which can be folded in the center, allowing for compact storage in the depth direction.

JP 2018-177325 A Utility Model Registration No. 3209255

When the transfer device uses a suction pad that is relatively long in the longitudinal direction as described above to transfer a container to a transport rack, there is a problem that the suction part of the transfer device or the robot arm hand comes into contact with the frame or shelf of the transport rack, making it impossible to place the container in the desired location.
In response to this, it is conceivable that the transfer device can fold up the shelf above the shelf on which the container is placed, thereby creating a space in which the transfer device can move freely in the lifting direction (up and down), thereby securing the space necessary for the placement operation.
However, even if the above-mentioned space is secured, when the transfer device attempts to place a container all the way to the back of the shelf, there is still a concern that the suction part of the transfer device or the robot arm hand will come into contact with the folded shelf directly above, and as a result, it is anticipated that the container may not be able to be placed all the way to the back of the shelf.
The above concerns are not limited to transport racks, but can also occur when transporting containers to a container holder that has spatial limitations in the lifting direction (vertical direction), such as a box with a lid (i.e., cannot move freely).

The present invention aims to provide a suction section that can be made shorter than conventional suction pads that are long in the lifting direction (vertical direction), a thin-structured hand for a transfer device that can transfer and place containers even in container holders that have space limitations in the lifting direction (vertical direction), and a transfer device equipped with these.

(Configuration of the shock absorbing flat member)
The hand for a transfer device of the present invention comprises:
A hand body,
an adsorption unit attached to a lower surface of the hand body, the adsorption unit being formed by stacking a plurality of flat members each having an opening;
an arm connection part attached to the hand body,
At least a portion of the openings of the adjacent stacked flat members overlaps with each other in the up-down direction of the hand body,
The adsorption portion is
A lower end flat member located at a lower end in the vertical direction;
The cushioning flat member is located above the lower end flat member and is made of a material having a hardness lower than that of the material constituting the lower end flat member.
The length (thickness) of the suction portion in the vertical direction is less than 30 mm, preferably less than 20 mm, and more preferably less than 10 mm.
It is preferable that the center positions of the openings of the laminated flat members overlap on the vertical straight line (on a line perpendicular to the opening surface).
The shock absorbing flat member may be attached to the lower surface of the hand body.

According to the above-mentioned configuration, the suction portion is formed by stacking a plurality of flat members, which makes it possible to realize a suction portion that is shorter in length in the vertical direction than a conventional bellows-shaped suction pad (thickness of 30 mm or more).
The opening of the flat member is formed so that at least a part of the opening of the flat member overlaps with the opening of the other flat member in the vertical direction of the hand body. The suction part includes a buffer flat member having a low hardness above the lower end flat member. This allows the buffer flat member to absorb shocks that occur when the suction part sucks up a container or transports a container.
As described above, according to the above-mentioned configuration, a desired number of containers can be placed in a container holder having limited space in the vertical direction.

(Three-layer structure)
The suction portion further includes an upper end flat member located at an upper end in the vertical direction,
The hardness of the material constituting the buffer flat member may be less than the hardness of the material constituting the upper end flat member.
The upper end flat member may be attached to the lower surface of the hand body.

The buffer flat member is installed on the upper surface of the lower flat member, and the upper flat member is installed on the upper surface of the buffer flat member.
The outer size of the buffer flat member may be smaller than the outer size of the upper end flat member and the outer size of the lower end flat member.
The outer size of the upper end flat member and the outer size of the lower end flat member may be the same or different.
The opening size of the opening of the buffer flat member may be the same as, smaller than, or larger than the opening size of the opening of the upper end flat member and the opening size of the lower end flat member.

According to the above configuration, the upper end flat member and the buffer flat member having different external sizes and hardness are stacked, and further, the buffer flat member and the lower end flat member having different external sizes and hardness are stacked, so that the shock that occurs when the suction part suctions the container or when the container is transported can be better absorbed.

The upper end flat member and the lower end flat member may be made of nitrile rubber (NBR). They may be made of nitrile rubber (NBR) having the same hardness, or the hardness of the nitrile rubber (NBR) may be adjusted so that the hardness of the upper end flat member is greater than the hardness of the lower end flat member.
The upper end flat member is made of nitrile rubber (NBR),
The lower end flat member may be made of silicone rubber.
The shock absorbing flat member may be made of one or both of a chloroprene rubber sponge and an EPDM (Ethylene-Propylene-Diene Methylene Linkage) foam.
The hardness of each flat member preferably has the following magnitude relationship.
(1) Hardness of upper flat member > hardness of lower flat member (2) Hardness of nitrile rubber > hardness of silicone rubber (3) Hardness of upper flat member > hardness of shock absorber flat member (4) Hardness of lower flat member > hardness of shock absorber flat member (5) Hardness of upper flat member > hardness of lower flat member > hardness of shock absorber flat member

The upper end flat member and the lower end flat member may be made of silicone rubber. They may be made of silicone rubber of the same hardness, or the hardness of the silicone rubber may be adjusted so that the hardness of the upper end flat member is greater than the hardness of the lower end flat member.

The buffer flat member is located at an upper end of the suction portion in the vertical direction,
The lower end flat member may be disposed on the lower surface of the buffer flat member.
According to the above-mentioned configuration, the suction portion is made up of two layers, the upper end buffer flat member and the lower end flat member, which makes it possible to realize a thinner suction portion.
The outer size of the upper buffer flat member may be smaller than the outer size of the lower flat member.
According to the above configuration, two flat members (the buffer flat member and the lower end flat member) having different external sizes and hardness are stacked, thereby better absorbing the impact that occurs when the suction portion suctions a container or when the container is transported.

The lower end flat member may be made of nitrile rubber (NBR).

The relationship between the thicknesses of the flat members is as follows:
(1) Upper end flat member > Lower end flat member (2) Upper end flat member = Lower end flat member (3) Upper end flat member = Buffer flat member = Lower end flat member (4) Upper end flat member = Buffer flat member > Lower end flat member (5) Buffer flat member > Upper end flat member > Lower end flat member According to the above configurations (1), (4), and (5), the thickness of the lower end flat member is smaller than the thickness of the flat member located at the upper end. This allows the container to be transported by contacting the thinner lower end flat member with the container. This allows the container to be transported even if there are irregularities on the upper surface of the container, as the lower end flat member sticks to the irregularities of the container.

(Unit configuration defined by aperture pattern)
Another embodiment of the present invention is a hand for a transfer device,
A hand body,
an adsorption unit attached to a lower surface of the hand body, the adsorption unit being formed by stacking a plurality of flat members each having an opening;
an arm connection part attached to an upper surface of the hand body;
At least a portion of the openings of the adjacent stacked flat members overlaps with each other in the up-down direction of the hand body,
The adsorption portion is
An intermediate flat member (55d);
A first side flat member (55c) installed on the upper surface of the intermediate flat member;
A first flat plate unit is formed by stacking a second side flat member (55e) installed on the lower surface of the intermediate flat member,
The opening area of the opening (551d) of the intermediate flat member (55d) is larger than the opening area of the opening (551c) of the first side flat member (55c) and the opening area of the opening (551e) of the second side flat member (55e).
The length (thickness) of the suction portion in the vertical direction is less than 30 mm, preferably less than 20 mm, and more preferably less than 10 mm.
It is preferable that the center positions of the openings of the stacked intermediate flat member, first side flat member, and second side flat member overlap on the vertical straight line (on a line perpendicular to the opening surface).

According to the above-mentioned configuration, the suction portion is formed by stacking a plurality of flat members, which makes it possible to realize a suction portion that is shorter in length in the vertical direction than a conventional bellows-shaped suction pad (thickness of 30 mm or more).
In addition, the opening of the flat member is formed so that at least a part of it overlaps with the opening of the other flat member in the vertical direction of the hand body. The intermediate flat member is sandwiched between the first side flat member and the second side flat member, and the opening area of the intermediate flat member is larger than the opening area of each of the first side flat member and the second side flat member. This makes it easier for the surrounding parts around the openings of the first side flat member and the second side flat member to be pressed toward the opening of the intermediate flat member, making it easier for appropriate stress deformation to occur in the vertical direction (thickness) or the left-right direction perpendicular to the vertical direction, improving the suction ability for containers with small uneven surfaces and absorbing shocks that occur when the suction part suctions or transports a container.
As described above, according to the above-mentioned configuration, a desired number of containers can be placed in a container holder having limited space in the vertical direction.

The suction portion may have an upper end flat member (55a) located at the upper end of the suction portion in the vertical direction, and the upper end flat member (55a) may be arranged on the upper surface of a first side flat member (55c) that constitutes the first flat plate unit.
The suction portion may have a lower end flat member (55g) located at the lower end of the suction portion in the vertical direction, and the lower end flat member (55g) may be arranged on the lower surface of a second side flat member (55e) that constitutes the first flat plate unit.

The adsorption portion is
A first side upper surface flat member (55b) arranged between an upper surface of a first side flat member (55c) constituting the first flat plate unit and a lower surface of the upper end flat member (55a);
It may also have a second side lower surface flat member (55f) arranged between the lower surface of the second side flat member (55e) that constitutes the first flat plate unit and the upper surface of the lower end flat member (55g).
The relationship between the opening and the outer size of each flat member is preferably as follows.
(1) The opening area (551b) of the first side upper flat member (55b) = the opening area (551f) of the second side lower flat member (55f) (2) The opening area (551d) of the intermediate flat member (55d) ≧ the outer size (552b) of the first side upper flat member (55b)
(3) The opening area (551d) of the intermediate flat member (55d) is equal to or larger than the outer size (552f) of the second lower side flat member (55f).
(4) Outer size of the first side flat member (55c)>Outer size of the first side upper surface flat member (55b) (552b)
(5) Outer size of the first side flat member (55c)>Outer size of the second side lower surface flat member (55f) (552f)
(6) The above (2), (3), and the outer size (552f) of the second side lower surface flat member (55f) = the outer size (552b) of the first side upper surface flat member (55b)
(7) The above (4), (5), and the outer size (552f) of the second side lower surface flat member (55f) = the outer size (552b) of the first side upper surface flat member (55b)
(8) The opening area of the opening (551c) of the first side flat member (55c) ≦ the opening area of the opening (551b) of the first side upper flat member (55b) (9) The opening area of the opening (551e) of the second side flat member (55e) ≦ the opening area of the opening (551f) of the second side lower flat member (55f)

The outer shape of each flat member is not limited to a rectangle, but may be a circle, an ellipse, or an irregular shape.
The shape of the opening of each flat member is not limited to a rectangle, but may be a circle, an ellipse, or an irregular shape.

The relationship between the thicknesses of the flat members is as follows:
(1) Upper end flat member > Lower end flat member (2) Upper end flat member > Any flat member located between the upper end flat member and the lower end flat member (3) Any flat member located between the upper end flat member and the lower end flat member > Lower end flat member (4) Any flat member located between the upper end flat member and the lower end flat member = Lower end flat member (5) Any flat member located between the upper end flat member and the lower end flat member = Upper end flat member According to the above configuration (1), the thickness of the lower end flat member located at the lower end of the suction part is smaller than the thickness of the upper end flat member located at the upper end of the suction part. According to the above configuration (3), the thickness of the lower end flat member located at the lower end of the suction part is smaller than any flat member located between the upper end flat member and the lower end flat member. As a result, even if there are irregularities on the upper surface of the container, the flat member at the lower end can stick to the irregularities of the container and transport the container.

According to the configuration (2) above, the thickness of at least a portion of the flat member located between the upper end flat member located at the upper end of the suction part and the lower end flat member located at the lower end of the suction part is smaller than the thickness of the upper end flat member, thereby realizing a thin suction part.

Each of the flat members may be made of nitrile rubber (NBR). Each flat member may be made of nitrile rubber (NBR) with the same hardness, or the hardness of the nitrile rubber (NBR) may be adjusted so that the hardness of the lower flat member is the smallest.

The lower end flat member located at the lower end of the suction portion is made of silicone rubber,
The flat members other than the lower end flat member may be made of nitrile rubber (NBR). In terms of hardness, it is preferable that the hardness of the nitrile rubber is greater than that of the silicone rubber.

The hand body includes a thin plate portion and a suction attachment portion provided on the upper surface side of the thin plate portion and to which a suction mechanism connection portion is attached.
The thin plate portion preferably has a thickness in the range of 2 mm to 30 mm, for example, and more preferably has a thickness of 10 mm or less.
The arm connection portion is
The arm connecting portion is attached to a part of the upper surface or a side portion (one side or two side portions) of the thin plate portion at a position that does not interfere with the suction mounting portion, and a (rectangular) area of the upper surface of the thin plate portion and/or the suction mounting portion where the arm connecting portion and the suction mechanism connecting portion are not arranged is at least a predetermined distance from an end portion of the hand body extending in the width direction of the hand body. The predetermined distance may be 1/4 of the length of the hand body in the depth direction.
The (rectangular) area of the top surface of the thin plate portion and/or the suction attachment portion where the arm connection portion and the suction mechanism connection portion are not disposed is at least a predetermined distance from an end portion of the hand body extending in the depth direction of the hand body. The predetermined distance may be ¼ of the length of the hand body in the width direction.
According to the above configuration, the arm connection part and the suction mechanism connection part are not disposed in an area extending a predetermined distance from the end of the hand body, for example, at least up to ¼ of the length in the width direction (or depth direction) of the hand body. The thin plate part and/or the suction attachment part where the arm connection part and the suction mechanism connection part are not disposed can be configured to be thinner than a conventional hand body (the vertical occupation space can be reduced), so that the hand body (the thin plate part where the arm connection part and the suction attachment part are not disposed) can be inserted into a narrow vertical space while preventing contact with a folding shelf or a container container holder, and containers can be loaded therein.

The transfer device of the present invention comprises:
A robot arm;
and a hand for the transfer device, which is provided at the tip of the robot arm.

Containers can be transported and placed even in container containers that have space limitations in the lifting direction (vertical direction).

FIG. 2 is a schematic perspective view showing a hand for a transfer device according to the first embodiment. FIG. 2 is a schematic plan view of a hand for a transfer device according to the first embodiment. FIG. 2 is a schematic perspective view showing the configuration of an adsorption portion according to the first embodiment. 4 is a schematic diagram of a hand body and an adsorption portion according to the first embodiment when viewed in the y direction. FIG. 4 is a schematic diagram of a hand body and an adsorption portion according to the first embodiment when viewed in the −x direction. FIG. 4B is a schematic cross-sectional view taken along line AA in FIG. 4A. FIG. 4C is a schematic cross-sectional view taken along line BB of FIG. 4B. FIG. 11 is a schematic perspective view showing the configuration of an adsorption portion according to a second embodiment. FIG. 11 is a schematic perspective view showing the configuration of an adsorption portion according to a third embodiment. FIG. 13 is a schematic perspective view showing the configuration of an adsorption unit according to a fourth embodiment. FIG. 13 is a schematic perspective view showing the configuration of an adsorption section according to a fifth embodiment. 13 is a schematic diagram of a hand body and an adsorption portion according to the fifth embodiment when viewed in the y direction. FIG. 13 is a schematic diagram of a hand body and an adsorption portion according to a fifth embodiment when viewed in the −x direction. FIG. 10B is a schematic cross-sectional view taken along line CC of FIG. 10A. FIG. 10C is a schematic cross-sectional view taken along line DD in FIG. 10B. FIG. 13 is a schematic perspective view showing the configuration of an adsorption section according to a sixth embodiment. FIG. 13 is a schematic perspective view showing the configuration of an adsorption section according to a seventh embodiment. FIG. 13 is a schematic perspective view showing the configuration of an adsorption section according to an eighth embodiment. FIG. 13 is a schematic perspective view showing the configuration of an adsorption section according to a ninth embodiment. FIG. 10 is a schematic perspective view showing the configuration of an adsorption unit according to a tenth embodiment. FIG. 13 is a schematic perspective view showing a configuration of an adsorption portion according to a comparative example. 1 is a table showing the verification results of Examples 1a to 1d, 2a to 2d, 3, and 4. 1 is a table showing the verification results of Examples 5a to 5b and 6. 1 is a table showing the verification results of Examples 7 to 10 and a comparative example. 11 is a schematic perspective view showing a state in which a transfer device places a container on a transport rack. FIG. 11 is a schematic perspective view showing a state in which a transfer device places a container on a transport rack. FIG.

Below, an embodiment of a hand for a transfer device and a transfer device will be described with reference to the drawings. Note that in each drawing, the dimensional ratios of the drawing do not necessarily match the actual dimensional ratios, and the dimensional ratios between the drawings do not necessarily match.

First Embodiment
1 is a schematic perspective view showing a transfer device hand according to a first embodiment. The transfer device hand 1 includes a hand body 3, a suction unit 5, an arm connection unit 7, and a suction mechanism connection unit 10.
The hand main body 3 has a thin plate portion 35 and a suction mounting portion 36. The suction mounting portion 36 is installed on a portion of the upper surface of the thin plate portion 35. As an example, four suction mounting portions are installed on the thin plate portion 35 in Fig. 1, but this is not limited to this. A suction mechanism connection portion 10 is installed on the upper surface of the suction mounting portion 36. An arm connection portion 7 is installed on a portion of the upper surface of the thin plate portion 35 where the suction mounting portion 36 is not installed. An adsorption portion 5 is installed on the lower surface of the thin plate portion 35.
1 shows a pair of rectangular hand bodies (3, 3), but is not limited thereto. For example, the hand body 3 may have any shape as long as the suction unit 5, the arm connection unit 7, and the suction mechanism connection unit 10 can be attached thereto.

The suction unit 5 suctions a container containing contents (eggs as an example). In FIG. 1, the container P is indicated by a dashed line, and as an example, one suction unit 5 is shown suctioning one container P. In this embodiment, the container P has a lid, and is made of plastic, paper, or pulp as an example. At least a part of the top surface of the container P is flat. Note that part of the top surface of the container P may be uneven. The top surface of the container P may be flat, for example, by attaching a sticker or the like that describes the contents to the top surface of the container P.
The details of the configuration of the suction units 5 will be described later. Note that, although the number of suction units 5 is six in Fig. 1, the present invention is not limited to this and may be any number.

The arm connection portion 7 includes a connection portion 71 to which a robot arm (not shown) is connected, and a support base 72 that supports the connection portion 71 .
2 is a schematic plan view of the transfer device hand 1. As shown in FIG. 2, the sum of the length d1 and the distance d2 in the depth direction (y direction) of the support base 72 is equal to the length of the hand body 3 in the depth direction (y direction). The sum of the length d3 and the distances d4 and d5 in the width direction (x direction) of the support base 72 is equal to the length of the hand body 3 in the width direction (x direction). In this way, the arm connection part 7 is installed so as not to leave a gap between it and the first side (31, 31) of the hand body 3 (i.e., closer to the first side (31, 31) of the hand body 3), and is installed with a gap (d4, d5) from both ends of the hand body 3 in the width direction (x direction).
Each suction mechanism connecting part 10 is not arranged in a region from the left end of the hand body 3 to a distance d4, and is not arranged in a region from the right end of the hand body 3 to a distance d5, but is arranged so as to fit within the width region of the arm connecting part 7. Furthermore, each suction mechanism connecting part 10 is not arranged in a region from the second side 32 of the hand body 3 to a distance d6, and is arranged in a region from the first side 31 of the hand body 3 to a distance d7.
That is, the rectangular region on the upper surface of the thin plate portion 35 and/or the suction attachment portion 36 where the arm connection portion 7 and the suction mechanism connection portion 10 are not disposed starts from the end portion (second side 32) extending in the width direction of the hand body 3, and continues for a distance d6 in the depth direction of the hand body 3. Moreover, the rectangular region starts from the left end of the hand body 3, and continues for a distance d4 in the width direction of the hand body 3. Moreover, the rectangular region starts from the right end of the hand body 3, and continues for a distance d5 in the width direction of the hand body 3.
As an example, each of the distances d4 and d5 may be ¼ to ½ of the length in the width direction of the hand body 3, and the distance d6 may be ¼ to ½ of the length in the depth direction of the hand body 3, but is not limited thereto. For example, the distances d4, d5, and d6 may be shorter than ¼ or longer than ½. More generally, the distances d4, d5, and d6 may be values that can be appropriately set depending on the shape and size of the hand body 3, the shape and size of a container holder such as a transport rack, and the like.

The suction mechanism connection part 10 is connected to a suction mechanism (not shown) such as a vacuum pump, vacuum blower, vacuum ejector, etc., via a tube or the like. When the suction mechanism (not shown) sucks in air, the container is adsorbed to the suction part 5, and when the suction mechanism (not shown) exhausts the air, the container is detached from the suction part 5. Note that in FIG. 1, the suction mechanism connection parts 10 are provided in the same number as the suction parts 5 (i.e., six), but this is not limited to this and any number may be used.

Next, the configuration of the suction unit 5 will be described. FIG. 3 is a schematic perspective view showing the configuration of the suction unit 5 according to the first embodiment. For convenience of explanation, FIG. 3 shows the state in which each component of the suction unit 5 is separated. As shown in FIG. 3, the suction unit 5 is formed by stacking an upper end flat member 51a, a buffer flat member 51b, and a lower end flat member 51c. Each flat member (51a, 51b, 51c) has a rectangular opening (511a, 511b, 511c) in the center, and has a peripheral portion (512a, 512b, 512c) around the opening (511a, 511b, 511c).
In addition, the hardness of the material constituting the buffer flat member 51b is smaller than the hardness of the material constituting the upper end flat member 51a and the lower end flat member 51b. That is, the buffer flat member 51b is softer than the upper end flat member 51a and the lower end flat member 51b. In addition, in FIG. 3, each flat member (51a, 51b, 51c) and each opening (511a, 511b, 511c) has a rectangular shape, but is not limited to this and may be any shape such as a circle, an ellipse, or a polygon.

Fig. 4A is a schematic diagram of the hand body 3 and the suction parts 5 when viewed in the y direction, and Fig. 4B is a schematic diagram of the hand body 3 and the suction parts 5 when viewed in the -x direction. Note that Figs. 4A and 4B show the suction parts 5 located at the centers of each of the pair of hand bodies (3, 3) out of the six suction parts 5.
As shown in Figures 4A and 4B, the upper end flat member 51a is installed on the underside of the hand body 3, the buffer flat member 51b is installed on the underside of the upper end flat member 51a, and the lower end flat member 51c is installed on the underside of the buffer flat member 51b.
As shown in Fig. 4A, the upper end flat member 51a and the lower end flat member 51c have the same length in the width direction (x direction) (i.e., L1 = L1), which is longer than the length in the width direction (x direction) of the buffer flat member 51b (i.e., L1 > L2). As shown in Fig. 4B, the upper end flat member 51a and the lower end flat member 51c have the same length in the depth direction (y direction) (i.e., L3 = L3), which is longer than the length in the depth direction (y direction) of the buffer flat member 51b (i.e., L3 > L4). Thus, the outer size of the upper end flat member 51a and the lower end flat member 51c is equal, and the outer size of the buffer flat member 51b is smaller than the outer size of the upper end flat member 51a and the lower end flat member 51c.
As shown in FIG. 4A and FIG. 4B, the thicknesses (T1, T2, T3) of the flat members (51a, 51b, 51c) are such that T2>T1>T3.

Fig. 5A is a schematic cross-sectional view taken along line A-A in Fig. 4A, and Fig. 5B is a schematic cross-sectional view taken along line B-B in Fig. 4B. As shown in Fig. 5A and Fig. 5B, the openings (511a, 511b, 511c) of each flat member (51a, 51b, 51c) are formed so that at least a portion of each opening overlaps with the other openings in the vertical direction (z direction), and the respective opening center positions of the openings of each flat member overlap on a straight line in the vertical direction (z direction). The openings (511a, 511b, 511c) form an adsorption path for air to be sucked or exhausted by a suction mechanism (not shown).
As shown in Fig. 5A, the lengths of the openings (511a, 511c) in the depth direction (y direction) are equal (i.e., L5 = L5), and are shorter than the length of the opening 511b in the depth direction (y direction) (i.e., L6 > L5). As shown in Fig. 5B, the lengths of the openings (511a, 511c) in the width direction (x direction) are equal (i.e., L7 = L7), and are shorter than the length of the opening 511b in the width direction (x direction) (i.e., L8 > L7). Thus, the sizes of the openings (511a, 511c) are equal, and the size of the opening 511b is larger than the size of the openings (511a, 511c).

Second Embodiment
A second embodiment of the hand for the transfer device will be described. The second embodiment differs from the first embodiment only in that the sizes of the openings of the flat members of the suction portion are the same, and the other configurations are the same as those of the first embodiment. The suction portion of the second embodiment will be described below.
Fig. 6 is a schematic perspective view showing the configuration of the suction part 52 according to the second embodiment. Fig. 6 shows the respective components of the suction part 52 in a separated state, as in Fig. 3 (the same applies to Figs. 7 to 9 and 12 to 16). The suction part 52 is formed by stacking an upper end flat member 52a, a buffer flat member 52b, and a lower end flat member 52c.
In the suction portion 52 of the second embodiment, the hardness is such that the upper end flat member 52a>the shock absorbing flat member 52b, and the lower end flat member 52c>the shock absorbing flat member 52b. The outer dimensions are such that the upper end flat member 52a=the lower end flat member 52c>the shock absorbing flat member 52b. The opening dimensions are such that the upper end flat member 52a=the shock absorbing flat member 52b=the lower end flat member 52c. The thickness is such that the shock absorbing flat member 52b>the upper end flat member 52a>the lower end flat member 52c.

Third Embodiment
A third embodiment of the hand for the transfer device will be described. The third embodiment differs from the first embodiment only in that the size of the openings of the flat members of the suction part is the same, and the thickness of the upper end flat member is the same as the thickness of the lower end flat member, and the other configurations are the same as those of the first embodiment. The suction part of the third embodiment will be described below.
7 is a schematic perspective view showing the configuration of the suction portion 53 according to the third embodiment. The suction portion 53 is formed by stacking an upper end flat member 53a, a buffer flat member 53b, and a lower end flat member 53c.
In the suction portion 53 of the third embodiment, the hardness is such that the upper end flat member 53a>the shock absorbing flat member 53b, and the lower end flat member 53c>the shock absorbing flat member 53b. The outer size is such that the upper end flat member 53a=the lower end flat member 53c>the shock absorbing flat member 53b. The size of the opening is such that the upper end flat member 53a (531a)=the shock absorbing flat member 53b (531b)=the lower end flat member 53c (531c). The thickness is such that the shock absorbing flat member 53b>the upper end flat member 53a=the lower end flat member 53c.

(Fourth embodiment)
A fourth embodiment of the hand for the transfer device will be described. The fourth embodiment differs from the first embodiment only in that the suction part does not have an upper end flat member, but is composed of a buffer flat member and a lower end flat member, and the openings of each flat member are the same size. The other configurations are the same as those of the first embodiment. The suction part of the fourth embodiment will be described below.
FIG. 8 is a schematic perspective view showing the configuration of a suction unit 54 according to the fourth embodiment.
The suction portion 54 is formed by stacking a shock absorbing flat member 54b and a lower end flat member 54c. That is, the suction portion 54 has the shock absorbing flat member 54b at the upper end of the suction portion 54.
In the suction portion 54 of the fourth embodiment, the hardness is such that the lower end flat member 54c is greater than the buffer flat member 54b. The outer size is such that the lower end flat member 54c is greater than the buffer flat member 54b. The size of the opening is such that the buffer flat member 54b (541b) is greater than the lower end flat member 54c (541c). The thickness is such that the buffer flat member 54b is greater than the lower end flat member 54c.

Fifth Embodiment
A fifth embodiment of the hand for a transfer device will be described. The fifth embodiment differs from the first embodiment only in that the suction part is made up of seven flat members, and the other configurations are the same as those of the first embodiment. The suction part of the fifth embodiment will be described below.
FIG. 9 is a schematic perspective view showing the configuration of a suction unit 55 according to the fifth embodiment.
As shown in Fig. 9, the suction portion 55 is formed by stacking seven flat members: an upper end flat member 55a, a first side upper surface flat member 55b, a first side flat member 55c, an intermediate flat member 55d, a second side flat member 55e, a second side lower surface flat member 55f, and a lower end flat member 55g. Each flat member (55a to 55g) has a rectangular opening (551a to 551g) in the center, and has a peripheral portion (552a to 552g) around the opening (551a to 551g). The first side flat member 55c, the intermediate flat member 55d, and the second side flat member 55e correspond to the "first flat plate unit."

Fig. 10A is a schematic diagram of the hand body 3 and the suction parts 55 when viewed in the y direction, and Fig. 10B is a schematic diagram of the hand body 3 and the suction parts 55 when viewed in the -x direction. Note that Figs. 10A and 10B show the suction parts 55 located at the centers of the pair of hand bodies (3, 3) out of the six suction parts 55.
As shown in Figures 10A and 10B, the upper end flat member 55a is installed on the underside of the hand body 3, the first side upper surface flat member 55b is installed on the underside of the upper end flat member 55a, the first side flat member 55c is installed on the underside of the first side upper surface flat member 55b, the intermediate flat member 55d is installed on the underside of the first side flat member 55c, the second side flat member 55e is installed on the underside of the intermediate flat member 55d, the second side lower surface flat member 55f is installed on the underside of the second side flat member 55e, and the lower end flat member 55g is installed on the underside of the second side lower surface flat member 55f.
As shown in Figure 10A, the lengths of the upper end flat member 55a, the first side flat member 55c, the intermediate flat member 55d, the second side flat member 55e, and the lower end flat member 55g in the width direction (x direction) are equal (i.e., L9 = ... = L9), and the lengths of the first side upper surface flat member 55b and the second side lower surface flat member 55f in the width direction (x direction) are equal (i.e., L10 = L10), with the former being longer than the latter (i.e., L9 > L10). As shown in Fig. 10B, the upper end flat member 55a, the first side flat member 55c, the intermediate flat member 55d, the second side flat member 55e, and the lower end flat member 55g have the same length in the depth direction (y direction) (i.e., L11 = ... = L11), and the first side upper surface flat member 55b and the second side lower surface flat member 55f have the same length in the depth direction (y direction) (i.e., L12 = L12), the former being longer than the latter (i.e., L11 > L12). Thus, the outer size of the upper end flat member 55a, the first side flat member 55c, the intermediate flat member 55d, the second side flat member 55e, and the lower end flat member 55g is the same, and the outer size of the first side upper surface flat member 55b and the second side lower surface flat member 55f is the same, and the latter is smaller than the former.
As shown in FIGS. 10A and 10B, the thicknesses (T4 to T10) of the flat members (55a to 55g) are such that T4>T5=T6=T7=T8=T9=T10.

Fig. 11A is a schematic cross-sectional view taken along line CC in Fig. 10A, and Fig. 11B is a schematic cross-sectional view taken along line D-D in Fig. 10B. As shown in Fig. 11A and Fig. 11B, the openings (551a to 551g) of each flat member (55a to 55g) are formed so that at least a portion of each opening overlaps with the other openings in the vertical direction (z direction), and the center positions of the openings of each flat member overlap on a straight line in the vertical direction (z direction). The openings (551a to 551g) form an adsorption path for air to be sucked in or exhausted by a suction mechanism (not shown).
As shown in Fig. 11A, the length of the openings (551a-511c, 551e-551g) in the depth direction (y direction) is equal (i.e., L13 = ... = L13), and is shorter than the length of the opening 551d in the depth direction (y direction) (i.e., L14 > L13). The length of the first side upper flat member 55b in the depth direction (y direction) is equal to the length of the opening 551d of the intermediate flat member 55d in the depth direction (y direction) (i.e., L14 = L14). The length of the second side lower flat member 55f in the depth direction (y direction) is equal to the length of the opening 551d of the intermediate flat member 55d in the depth direction (y direction) (i.e., L14 = L14).
As shown in Fig. 11B, the openings (551a-511c, 551e-551g) have the same length in the width direction (x direction) (i.e., L15 = ... = L15) and are shorter than the length in the width direction (x direction) of the opening 551d (i.e., L16 > L15). The length in the width direction (x direction) of the first side upper flat member 55b is equal to the length in the width direction (x direction) of the opening 551d of the intermediate flat member 55d (i.e., L16 = L16). The length in the width direction (x direction) of the second side lower flat member 55f is equal to the length in the width direction (x direction) of the opening 551d of the intermediate flat member 55d (i.e., L16 = L16).
In this way, the openings (551a to 551c, 551e to 551g) are equal in size, and the opening 551d is larger than the openings (551a to 551c, 551e to 551g). The outer size of the first side upper flat member 55b is equal to the opening 551d of the intermediate flat member 55d, and the outer size of the second side lower flat member 55f is equal to the opening 551d of the intermediate flat member 55d.

Sixth Embodiment
A sixth embodiment of the hand for the transfer device will be described. The sixth embodiment differs from the fifth embodiment only in that the thickness of the second side flat member of the suction part is the same as the thickness of the upper end flat member, and the other configurations are the same as those of the fifth embodiment. The suction part of the sixth embodiment will be described below.
FIG. 12 is a schematic perspective view showing the configuration of a suction portion 56 according to the sixth embodiment.
As shown in Figure 12, the suction portion 56 is composed of seven stacked flat members: an upper end flat member 56a, a first side upper surface flat member 56b, a first side flat member 56c, an intermediate flat member 56d, a second side flat member 56e, a second side lower surface flat member 56f, and a lower end flat member 56g.

In the sixth embodiment, the outer dimensions of the suction portion 56 are as follows: upper end flat member 56a = first side flat member 56c = intermediate flat member 56d = second side flat member 56e = lower end flat member 56g > first side upper surface flat member 56b = second side lower surface flat member 56f. The opening dimensions are as follows: intermediate flat member 56d > upper end flat member 56a = first side upper surface flat member 56b = first side flat member 56c = second side flat member 56e = second side lower surface flat member 56f = lower end flat member 56g. The thickness dimensions are as follows: upper end flat member 56a = second side flat member 56e > first side upper surface flat member 56b = first side flat member 56c = intermediate flat member 56d = second side lower surface flat member 56f = lower end flat member 56g.

(Seventh to Tenth Embodiments)
Seventh to tenth embodiments of the hand for the transfer device will be described below. The seventh to tenth embodiments differ from the fifth embodiment only in the lower end flat member of the suction part, and the other configurations are the same as the fifth embodiment. The suction parts of the seventh to tenth embodiments will be described below.
13 to 16 are schematic perspective views showing the configuration of the suction section (57 to 60) according to the seventh to tenth embodiments. As shown in FIG. 13, the suction section 57 of the seventh embodiment has a lower end flat member 57g, which has two round hole-shaped openings (571g, 571g). As shown in FIG. 14, the suction section 58 of the eighth embodiment has a lower end flat member 58g, which has one oblong hole-shaped opening 581g. As shown in FIG. 15, the suction section 59 of the ninth embodiment has a lower end flat member 59g, which has 15 small round hole-shaped openings 591g. As shown in FIG. 16, the suction section 60 of the tenth embodiment has a lower end flat member 60g, which has four small rectangular openings 601g.

Examples of the first to tenth embodiments, comparative examples, and verification results will be described below. Note that the present invention is not limited to the following examples as long as the gist of the present invention is not exceeded.
First, Examples 1a to 1d of the first embodiment will be described. Note that when X (mm) is in the x direction and Y (mm) is in the y direction, it is expressed as "X×Y (mm)".
Example 1a
Upper end flat member 51a: External dimensions were 75×130 mm, the opening dimensions were 35×90 mm, the thickness was 2.0 mm, and it was made of nitrile rubber (NBR) with a Shore hardness of A60-65.
Cushioning flat member 51b: The outer dimensions were 62 x 120 mm, the opening dimensions were 42 x 100 mm, the thickness was 5.0 mm, and the hardness was 5.3 N/ ^cm2 at a 25% compression load. The cushioning flat member 51b was made of chloroprene rubber sponge.
Lower end flat member 51c: External dimensions 75×130 mm, opening size 35×90 mm, thickness 0.5 mm, and made of nitrile rubber (NBR) with a Shore A hardness of 60 to 65.
Example 1b
Upper end flat member 51a: constructed in the same manner as in Example 1a.
Cushioning flat member 51b: Constructed in the same manner as in Example 1a.
Lower end flat member 51c: The outer size, opening size, and thickness were the same as in Example 1a, and the lower end flat member 51c was made of silicone rubber with a Shore hardness of A50.
Example 1c
Upper end flat member 51a: The outer size, opening size, and thickness were the same as in Example 1a, and the upper end flat member 51a was made of silicone rubber with a Shore hardness of A50.
Cushioning flat member 51b: Constructed in the same manner as in Example 1a.
Lower end flat member 51c: The outer size, opening size, and thickness were the same as in Example 1a, and the lower end flat member 51c was made of silicone rubber with a Shore hardness of A50.
Example 1d
Upper end flat member 51a: constructed in the same manner as in Example 1a.
Cushioning flat member 51b: The outer size, opening size, and thickness were the same as in Example 1a, and the member was made of EPDM (Ethylene-Propylene-Diene Methylene Linkage) foam with a hardness of 2.16 N/ ^cm2 at a 25% compression load.
Lower end flat member 51c: constructed in the same manner as in Example 1a.

Examples 2a to 2d of the second embodiment will now be described.
Example 2a
Upper end flat member 52a: Constructed in the same manner as in Example 1a.
Cushioning flat member 52b: The thickness was the same as in Example 1a, the outer dimensions were 55 x 110 mm, the opening dimensions were 35 x 90 mm, and the hardness was 2.16 N/ ^cm2 at a 25% compression load. The member was made of EPDM (Ethylene-Propylene-Diene Methylene Linkage) foam.
Lower end flat member 52c: constructed in the same manner as in Example 1a.
Example 2b
Upper end flat member 52a: Constructed in the same manner as in Example 1a.
Cushioning flat member 52b: The thickness was the same as in Example 1a, the outer dimensions were 55 x 110 mm, the opening dimensions were 35 x 90 mm, and the hardness was 0.39 N/ ^cm2 at a 25% compression load. The member was made of EPDM (Ethylene-Propylene-Diene Methylene Linkage) foam.
Lower end flat member 52c: constructed in the same manner as in Example 1a.
Example 2c
Upper end flat member 52a: The outer size, opening size, and thickness were the same as in Example 1a, and the upper end flat member 52a was made of silicone rubber with a Shore hardness of A50.
Cushioning flat member 52b: The thickness was the same as in Example 1a, the outer dimensions were 55 x 110 mm, the opening dimensions were 35 x 90 mm, and the hardness was 2.16 N/ ^cm2 at a 25% compression load. The member was made of EPDM (Ethylene-Propylene-Diene Methylene Linkage) foam.
Lower end flat member 52c: The outer size, opening size, and thickness were the same as in Example 1a, and the lower end flat member 52c was made of silicone rubber with a Shore hardness of A50.
Example 2d
Upper end flat member 52a: The outer size, thickness and material were the same as in Example 1a, and the opening size was 42 x 100 mm.
Cushioning flat member 52b: Constructed in the same manner as in Example 1a.
Lower end flat member 52c: The outer size, thickness and material were the same as in Example 1a, and the opening size was 42 x 100 mm.

Example 3 of the third embodiment will be described.
Example 3
Upper end flat member 53a: The outer size, the size of the opening, and the material were the same as in Example 1a, and the thickness was set to 0.5 mm.
Cushioning flat member 53b: The thickness was the same as in Example 1a, the outer dimensions were 55 x 110 mm, the opening dimensions were 35 x 90 mm, and the hardness was 2.16 N/ ^cm2 at a 25% compression load. The member was made of EPDM (Ethylene-Propylene-Diene Methylene Linkage) foam.
Lower end flat member 53c: constructed in the same manner as in Example 1a.

Example 4 of the fourth embodiment will be described.
Example 4
Cushioning flat member 54b: The thickness was the same as in Example 1a, the outer dimensions were 55 x 110 mm, the opening dimensions were 35 x 90 mm, and the hardness was 2.16 N/ ^cm2 at a 25% compression load. The member was made of EPDM (Ethylene-Propylene-Diene Methylene Linkage) foam.
Lower end flat member 54c: constructed in the same manner as in Example 1a.

Examples 5a and 5b of the fifth embodiment will now be described.
Example 5a
The outer dimensions of the first side upper flat member 55b and the second side lower flat member 55f are 55 x 110 mm, and the outer dimensions of each flat member (55a, 55c to 55e, 55g) other than the first side upper flat member 55b and the second side lower flat member 55f are 75 x 130 mm.
The size of the opening of the intermediate flat member 55d was 55×110 mm, and the size of the opening of each of the flat members (55a to 55c, 55e to 55g) other than the intermediate flat member 55d was 35×90 mm.
The thickness of the upper end flat member 55a was set to 2.0 mm, and the thickness of each of the flat members (55b to 55g) other than the upper end flat member 55a was set to 0.5 mm.
All the flat members (55a to 55g) were made of nitrile rubber (NBR) having a Shore A hardness of 60 to 65.
Example 5b
The lower end flat member 55g was made of silicone rubber having a Shore hardness of A50, and each flat member (55a to 55f) other than the lower end flat member 55g was made of nitrile rubber (NBR) having a Shore hardness of A60 to 65, and the other respects were constructed in the same manner as in Example 5a.

Example 6 of the sixth embodiment will be described.
Example 6
The thickness of the second side flat member 55e was set to 2.0 mm, the same as the thickness of the upper end flat member 55a, and the other points were configured in the same manner as in Example 5a.

Examples 7 to 10 of the seventh to tenth embodiments will now be described.
(Example 7)
The opening 571g of the lower end flat member 57g was formed into two circles with a diameter of 38 mm, and the centers of the circles were spaced apart by 60 mm. Other points were configured in the same manner as in Example 5a.
(Example 8)
The opening 581g of the lower end flat member 58g was an oblong hole of 36 x 96 mm (36 mm is the length from the right end to the left end, and 96 mm is the length from the top end to the bottom end), and the rest of the configuration was the same as in Example 5a.
Example 9
The openings 591g of the lower end flat member 59g were made into 15 circles with a diameter of 10 mm, and the distance between the centers of two adjacent circles was 20 mm in the x direction and 22 mm in the y direction. Other points were configured in the same way as in Example 5a.
Example 10
The openings 601g of the lower end flat member 60g were formed into four rectangular shapes measuring 35×15 mm, and the distance between the opposing long sides of two adjacent rectangular shapes was 10 mm. Other points were configured in the same manner as in Example 5a.

A comparative example will be described.
Comparative Example
The suction part 90 of the comparative example is shown in Fig. 17. As shown in Fig. 17, the suction part 90 of the comparative example is made of one flat member 91 having an opening 911. The flat member 91 is made of nitrile rubber (NBR) with a Shore A hardness of 60 to 65, and has an outer size of 75 x 130 mm, a size of the opening 911 of 35 x 90 mm, and a thickness of 5.0 mm.

(hardness)
Next, hardness will be described.
The shock absorbing flat members of Examples 1a to 1c and 2d are made of chloroprene rubber sponge having a hardness of 5.3 N/ ^cm2 at 25% compression load. The shock absorbing flat members of Examples 1d, 2a, 2c, 3 to 4 are made of EPDM foam having a hardness of 2.16 N/ ^cm2 at 25% compression load (referred to as "EPDM foam 1" in this paragraph). The shock absorbing flat member of Example 2b is made of EPDM foam having a hardness of 0.39 N/ ^cm2 at 25% compression load (referred to as "EPDM foam 2" in this paragraph). That is, the hardness of the chloroprene rubber sponge is greater than that of the EPDM foam 1, and the hardness of the EPDM foam 1 is greater than that of the EPDM foam 2 (chloroprene rubber sponge > EPDM foam 1 > EPDM foam 2).
The hardness of the chloroprene rubber sponge of the buffer flat members of Examples 1a to 1c and 2d is Shore A 10 to 12. The hardness of the nitrile rubber (NBR) is Shore A 60 to 65. The hardness of the silicone rubber is Shore A 50. In other words, the hardness of the nitrile rubber (NBR) is greater than that of the silicone rubber, which is greater than that of the chloroprene rubber sponge (nitrile rubber (NBR) > silicone rubber > chloroprene rubber sponge).
Therefore, in terms of hardness, the order is nitrile rubber (NBR) > silicone rubber > chloroprene rubber sponge > EPDM foam 1 > EPDM foam 2.

(Verification results)
The verification results of each of the above examples and comparative examples will be described. A container containing imitation eggs was adsorbed to the adsorption unit of each of the examples and comparative examples, and loaded onto a transport rack. The transport speed was set to 1800 x P (%) using the override value "P %", and it was verified whether the adsorption unit would not drop the container, starting from P = 50% (i.e., starting from 1800 x 50 (%) = 900 mm/s). If the adsorption unit did not drop the container at P = 50%, P was increased by 10% (i.e., 1800 x 60 (%) = 1080 mm/s) to further verify whether the adsorption unit would not drop the container. In this way, P was increased by 10% at a time, and the speed at which the adsorption unit dropped the container was recorded.
We tested the speed at which the adsorption part would drop the container when it was dropped, a total of four times, changing the speed.
If the suction part did not drop the container even when P was increased to 100% (i.e., 1800×100(%)=1800 mm/s), a loading operation was performed by adding a rotational motion to rotate the transfer device hand 1 about an axis extending in the height direction (z direction in FIG. 1 ), and verification was performed in the same manner as above (i.e., the transfer speed was started from P=50% of 1800×P(%) and P was increased by 10% at a time).
A vacuum pump was used as the suction mechanism (not shown), and the pressure of the vacuum pump was set to -60 kPa.
The following two types of containers were used.
1. A plastic container containing 10 imitation eggs, no seal on the top, weighing a total of 635g 2. A plastic container containing 12 imitation eggs, with a seal on the top, weighing a total of 750g The container has an uneven top surface, and if a seal is placed on the top surface of the container, it means that the seal has made the top surface flat. If no seal is placed on the top surface of the container, it means that the top surface is uneven.
In addition, for some of the Examples (specifically, Examples 2c and 5b), verification was also performed on a container containing 10 imitation eggs, having no seal on the top, made of pulp, and weighing a total of 650 g.

Figures 18 to 20 show the verification results of each example and comparative example. In the following, for the sake of simplicity, the number of imitation eggs will be expressed as "10/12", the presence or absence of a seal on the top surface will be expressed as "with/without seal", those made of plastic as "plastic", those made of pulp as "pulp", and the presence or absence of rotational motion as "with/without rotation". Note that the figures only show the minimum speed at which the suction part dropped the container.

Each of Examples 1a to 1d, 2a to 2d, 3 to 4, 5a to 5b, and 6 to 10 is compared with the Comparative Example. In each of the Examples, the container could be transported at a transport speed of at least 900 mm/s. In contrast, in the Comparative Example, the suction part could not hold the container, and measurement was not possible (i.e., the container could not be transported). This means that if the suction part is simply formed as a single unit as in the Comparative Example, the suction force is weakened and the container cannot be transported, whereas if the suction part is formed into a layered structure of multiple flat members as in each of the Examples, the suction force is improved and the container can be transported.
More specifically, the suction force was improved by including a buffer flat member in the suction part as in Examples 1a to 1d, 2a to 2d, 3, and 4. This is because the buffer flat member made of a material with low hardness can absorb shocks during suction and transportation.
Even in the case of an adsorption section that does not include a shock-absorbing flat member, the adsorption force was improved by sandwiching an intermediate flat member with a large opening between a first side flat member and a second side flat member with a small opening, as in Examples 5a to 5b and 6 to 10. This is because the surrounding parts around the openings of the first side flat member and the second side flat member can enter the openings of the intermediate flat member, absorbing shocks during adsorption and transport.

In addition, as in each embodiment, the suction force is improved by stacking multiple flat members, including flat members with different external sizes. For example, in embodiment 1b, a buffer flat member 51b with a small external size is placed between the upper end flat member 51a and the lower end flat member 51c, which have the same external size. In embodiment 5b, a first side upper surface flat member 55b with a small external size is placed between the upper end flat member 55a and the first side flat member 55c, which have the same external size, and a second side lower surface flat member 55f with a small external size is placed between the second side flat member 55e and the lower end flat member 55g, which have the same external size. In this way, by stacking flat members with different external sizes, the degree of freedom of the suction part is increased compared to a single unit such as the comparative example, and shocks during suction and transportation can be absorbed.

In addition, as in each of the examples except for Example 3, the suction power was improved by making the thickness of the lower end flat member smaller than the thickness of the upper end flat member. This is because the lower end flat member, which has a smaller thickness, comes into contact with the upper surface of the container, and therefore even if there are irregularities on the upper surface of the container, the lower end flat member can adhere to the irregularities and be transported in close contact with the container.

Comparison of Examples 1a and 1d. Examples 1a and 1d differ only in the hardness of the buffer flat member. The hardness of the buffer flat member of Example 1a is 5.3 N/ ^cm2 at 25% compression load, and the hardness of the buffer flat member of Example 1d is 2.16 N/ ^cm2 at 25% compression load, the former being greater than the latter. In Example 1a, the container "10 pieces, no overlay, plastic" was dropped twice at P=90% (i.e. 1620 mm/s) with "no rotation" and twice at P=100% (i.e. 1800 mm/s). In contrast, in Example 1d, the container "10 pieces, no overlay, plastic" was not dropped even when P=100% was applied both with "no rotation" and with "rotation". This means that the smaller the hardness of the buffer flat member, the easier it is for the buffer flat member to absorb impact, and the faster the conveying speed can be.
Examples 2a and 2b are compared. Examples 2a and 2b differ only in the hardness of the buffer flat member. The hardness of the buffer flat member of Example 2a is 2.16 N/ ^cm2 at 25% compression load, and the hardness of the buffer flat member of Example 2b is 0.39 N/ ^cm2 at 25% compression load, the former being greater than the latter. In Example 2a, the suction part did not drop the container. In Example 2b, the "10 pieces, no overlay, plastic" container was dropped four times at P=90% (i.e. 1620 mm/s) with "rotation", and the "12 pieces, overlay, plastic" container was dropped four times at P=60% (i.e. 1080 mm/s) with "no rotation". This is because if the hardness of the buffer flat member is too small, the buffer flat member is soft and crushes when adsorbed to the container, making it difficult to absorb impact and reducing its function as a buffer material.
That is, the hardness of the buffer flat member is preferably 2.16 to 5.3 N/ ^cm2 under a 25% compression load.

Compare Examples 1a and 1b. Examples 1a and 1b differ only in the hardness of the lower end flat member. The hardness of the lower end flat member of Example 1a is Shore A60-65, and the hardness of the lower end flat member of Example 1b is Shore A50, the former being greater than the latter. In Example 1a, the "10 pieces, no overlay, plastic" container was dropped twice with "no rotation" at P=90% (i.e. 1620 mm/s) and twice with P=100% (i.e. 1800 mm/s). In contrast, in Example 1b, the "10 pieces, no overlay, plastic" container was not dropped even when P=100% was applied both with "no rotation" and with "rotation". This is because the lower end flat member of Example 1b has a lower hardness than the lower end flat member of Example 1a, so it easily fits the unevenness of the container and has a higher suction force. Comparing Example 5a and Example 5b, the same results were obtained for the transportation of "10 containers, no topcoat, plastic."

Compare Examples 1a to 1d with Examples 2a to 2d. In Examples 1a to 1d, the size of the opening of the buffer flat member was made larger than the size of the openings of the upper end flat member and the lower end flat member, and in Examples 2a to 2d, the size of the openings of the upper end flat member, buffer flat member, and lower end flat member were all made the same, and it was possible to generally increase the conveying speed.

Compare Examples 2a, 3, and 4. Examples 2a and 3 differ only in the thickness of the upper flat member, and the thickness of the upper flat member of Example 2a is greater than that of Example 3. Example 4 does not have an upper flat member (i.e., the thickness of the upper flat member is 0). In Examples 2a, 3, and 4, the suction part did not drop the container (Note that for simplification, verification of "rotation" of the "10 containers, no top coating, plastic" in Example 2a was not performed). This means that the difference in thickness of the upper flat member located on the robot arm side (installed on the underside of the hand body 3) does not affect the conveying speed.

(Action and Effect)
According to this embodiment, it is possible to realize an adsorption part having a shorter length in the vertical direction than a conventional bellows-shaped suction pad. For example, the vertical length of the adsorption part is 7.5 mm in Examples 1a to 1d and 2a to 2d, 6.0 mm in Example 3, 5.5 mm in Example 4, 5.0 mm in Examples 5a to 5b and 7 to 10, and 6.5 mm in Example 6. Although not shown, a conventional bellows-shaped suction pad has a length of 30 mm to 80 mm in the vertical direction. According to this embodiment, as an example, the vertical length of the adsorption part can be 5.0 mm to 7.5 mm, which is 22.5 to 75.0 mm thinner than a conventional bellows-shaped suction pad. As a result, according to this embodiment, the vertical length of the adsorption part and the hand main body 3 (more specifically, the vertical length of the adsorption part and the thin plate part 35, or the vertical length of the adsorption part, the thin plate part 35, and the suction attachment part 36) can be thinner than before. As an example, the length in the vertical direction can be made shorter than the length (30 mm) of a conventional bellows-shaped suction pad. Therefore, when the containers are transferred to the transport rack, the suction part can be prevented from contacting the frame or shelf of the transport rack. In other words, the desired number of containers can be placed on a container holder that has a limited space in the vertical direction.

Furthermore, according to this embodiment, as described with reference to Fig. 2, the arm connection part 7 and the suction mechanism connection part 10 are not disposed in a rectangular region that is separated from the second side 32 of the hand body 3 by a distance d6. That is, the rectangular region can be configured to be thin in the vertical direction (z direction) (the occupied space in the vertical direction can be reduced). This makes it possible to prevent the arm connection part 7 and the robot arm from contacting the frame or the folded shelf of the transport rack when the transport device places the container on the transport rack. Therefore, as shown in Fig. 21, the transport device 100 can place the container directly below the folded shelf R1 of the transport rack R.
Furthermore, according to this embodiment, as described with reference to Fig. 2, the arm connection part 7 and the suction mechanism connection part 10 are not disposed in the rectangular area extending from the left end of the hand body 3 to a distance d4, nor in the rectangular area extending from the right end of the hand body 3 to a distance d5. That is, the rectangular area can be configured to be thin in the vertical direction (z direction) (the occupied space in the vertical direction can be reduced). This makes it possible to load containers in a state in which the transfer device hand 1 is rotated 90° from the state in Fig. 21 around an axis extending in the vertical direction (z direction) as the rotation axis, as shown in Fig. 22. That is, according to this embodiment, the orientation in which the container is placed can be freely set.

(Another embodiment)
<1> In the first to third embodiments, the suction portion includes at least three flat members, the upper end flat member, the buffer flat member, and the lower end flat member, and may further include other flat members. Similarly, in the fourth to tenth embodiments, the suction portion may further include other flat members.

<2> In the fifth embodiment, the suction portion needs to include at least a first flat plate unit consisting of at least a first side flat member, an intermediate flat member, a flat member, and a second side flat member, and does not need to include other flat members.

<3> In the fifth embodiment, the thickness of each flat member is such that the thickness of the upper end flat member (T4) is greater than the thickness of each flat member other than the upper end flat member (T5 = ... = T10), but this is not limiting, and for example, the thickness of the lower end flat member (T10) may be greater than the thickness of each flat member other than the lower end flat member (T4 = ... = T9). When the thickness of each flat member is formed as described above and the suction section is otherwise configured in the same manner as in Example 5a, an 850 g container can be transported at a transport speed of 900 mm/s.

〈4〉 In the first to third embodiments, the outer size of the upper end flat member and the lower end flat member is larger than the outer size of the buffer flat member, but the outer size of the upper end flat member and the lower end flat member may be smaller than the outer size of the buffer flat member. Also, the outer size of the upper end flat member and the lower end flat member does not necessarily have to be the same, as long as the outer size is larger or smaller than the buffer flat member. The same applies to the other embodiments.

〈5〉 In the sixth embodiment, the thickness of the second side flat member is the same as the thickness of the upper end flat member, but the thickness of any flat member between the upper end flat member and the lower end flat member may be the same as the thickness of the upper end flat member, or may be greater than the thickness of the upper end flat member. It may also be less than the thickness of the upper end flat member.

<6> The suction unit may be composed of three flat members: an upper end flat member, a small size flat member, and a lower end flat member. In this case, the outer size of the upper end flat member and the lower end flat member and the size of the opening are the same, and the outer size of the small size flat member may be smaller than the outer size of the upper end flat member and the lower end flat member. When the upper end flat member, the small size flat member, and the lower end flat member are composed as follows, a container weighing 850 g can be transferred at a conveying speed of 900 mm/s.
Upper end flat member: Outer dimensions 75×130 mm, opening size 35×90 mm, thickness 2.0 mm, made of nitrile rubber (NBR) with a Shore A hardness of 60-65.
Small-sized flat member: Outer dimensions 55×110 mm, opening size 35×90 mm, thickness 0.5 mm, made of nitrile rubber (NBR) with a Shore A hardness of 60-65.
Lower end flat member: Outer dimensions 75×130 mm, opening size 35×90 mm, thickness 0.5 mm, made of nitrile rubber (NBR) with a Shore A hardness of 60-65.

〈7〉 In each embodiment, the arm connection part 7 is installed near the first side (31, 31) of the hand body 3 so as not to leave a gap between the arm connection part 7 and the first side (31, 31) of the hand body 3, but this is not limited thereto, and the arm connection part 7 may be arranged with a gap between the arm connection part 7 and the first side (31, 31) of the hand body 3. That is, the arm connection part 7 and the suction mechanism connection part 10 may be configured not to be arranged until a predetermined distance away from the first side (31, 31). In addition, the arm connection part 7 and each suction mechanism connection part 10 are installed with a gap from both sides of the hand body 3 in the width direction (x direction), but this is not limited thereto, and they may be installed with a gap from at least one side of the hand body 3. More generally, the (rectangular) area of the upper surface of the thin plate part 35 and/or the suction attachment part 36 where the arm connection part 7 and the suction mechanism connection part 10 are not arranged may be present at least a predetermined distance from the end of the hand body 3.

1 Hand for transfer device 100 Transfer device 3 Hand body 31 First side 35 Thin plate portion 36 Suction attachment portion 5 Adsorption portion 51a, 52a, 53a, 54a, 55a, 56a Upper end flat member 51b, 52b, 53b, 54b Cushioning flat member 51c, 52c, 53c, 54c, 55g, 56g, 57g, 58g, 59g, 60g Lower end flat member 55b, 56b First side upper surface flat member 55c, 56c First side flat member 55d, 56d Intermediate flat member 55e, 56e Second side flat member 55f, 56f Second side lower surface flat member 511a, 511b, 511c Opening 521a, 521b, 521c Opening 531a, 531b, 531c Openings 541b, 541c Openings 551a, 551b, 551c, 551d, 551e, 551f, 551g, 571g, 581g, 591g, 601g Openings 7 Arm connection parts

Claims (13)

A hand body,
An adsorption unit attached to the underside of the hand body, the adsorption unit being formed by stacking a plurality of flat members having openings and a constant thickness so as not to overlap each other in a direction perpendicular to the thickness direction , the adsorption unit having a length (thickness) in the vertical direction of less than 30 mm ;
an arm connection part attached to the hand body,
At least a portion of the openings of the adjacent stacked flat members overlaps with each other in the up-down direction of the hand body,
The adsorption portion is
A lower end flat member located at a lower end in the vertical direction;
A hand for a transfer device comprising at least a cushioning flat member located above the lower end flat member and made of a material having a hardness less than that of a material constituting the lower end flat member. The suction portion further includes an upper end flat member located at an upper end in the vertical direction,
2. The hand for a transfer device according to claim 1, wherein the hardness of the material constituting said buffer flat member is less than the hardness of the material constituting said upper end flat member. The buffer flat member is disposed on the upper surface of the lower end flat member,
The upper end flat member is disposed on the upper surface of the buffer flat member,
3. The hand for a transfer device according to claim 2, wherein an outer size of the buffer flat member is smaller than an outer size of the upper end flat member and an outer size of the lower end flat member. The buffer flat member is located at an upper end of the suction portion in the vertical direction,
The hand for a transfer device according to claim 1 , wherein the lower end flat member is installed on the lower surface of the buffer flat member. The hand for a transfer device according to claim 4, wherein the outer size of the buffer flat member is smaller than the outer size of the lower end flat member. The hand for a transfer device according to any one of claims 1 to 5, wherein the thickness of the lower end flat member is smaller than the thickness of the flat member located at the upper end. A hand body,
An adsorption unit attached to the underside of the hand body, the adsorption unit being formed by stacking a plurality of flat members having openings and a constant thickness so as not to overlap each other in a direction perpendicular to the thickness direction , the adsorption unit having a length (thickness) in the vertical direction of less than 30 mm ;
an arm connection part attached to an upper surface of the hand body;
At least a portion of the openings of the adjacent stacked flat members overlaps with each other in the up-down direction of the hand body,
The adsorption portion is
An intermediate flat member;
a first side flat member disposed on an upper surface of the intermediate flat member;
and a second side flat member disposed on the lower surface of the intermediate flat member.
A hand for a transfer device, wherein an opening area of the opening of the intermediate flat member is larger than an opening area of the opening of the first side flat member and an opening area of the opening of the second side flat member. The adsorption portion is
an upper end flat member located at an upper end of the suction portion in the vertical direction;
A first side upper surface flat member arranged between the upper surface of the first side flat member and the lower surface of the upper end flat member constituting the first flat plate unit;
A lower end flat member located at the lower end of the suction portion in the vertical direction;
A hand for a transfer device as described in claim 7, further comprising a second side lower surface flat member arranged between the lower surface of the second side flat member and the upper surface of the lower end flat member constituting the first flat plate unit. The hand for a transfer device according to claim 7 or 8, wherein the thickness of the lower end flat member located at the lower end of the suction part is smaller than the thickness of the upper end flat member located at the upper end of the suction part. The hand for a transfer device according to any one of claims 7 to 9, wherein the thickness of at least a portion of the flat member located between the upper end flat member located at the upper end of the suction part and the lower end flat member located at the lower end of the suction part is smaller than the thickness of the upper end flat member. the hand body includes a thin plate portion and a suction attachment portion provided on an upper surface side of the thin plate portion and to which a suction mechanism connection portion is attached;
the arm connection portion is attached to a portion of the upper surface or a side surface of the thin plate portion at a position that does not interfere with the suction attachment portion,
A hand for a transfer device as described in any one of claims 1 to 10, wherein an area of the upper surface of the thin plate portion and/or suction mounting portion where the arm connection portion and the suction mechanism connection portion are not located is located at least a predetermined distance from an end of the hand body extending in the width direction of the hand body. the hand body includes a thin plate portion and a suction attachment portion provided on an upper surface side of the thin plate portion and to which a suction mechanism connection portion is attached;
the arm connection portion is attached to a portion of the upper surface or a side surface of the thin plate portion at a position that does not interfere with the suction attachment portion,
A hand for a transfer device as described in any one of claims 1 to 10, wherein an area of the upper surface of the thin plate portion and/or suction mounting portion where the arm connection portion and the suction mechanism connection portion are not located is located at least a predetermined distance from an end of the hand body extending in the depth direction of the hand body. A robot arm;
A transfer device comprising: a transfer device hand according to any one of claims 1 to 12, which is provided at the tip of the robot arm.

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