JP7777867B2 - Adsorption device and conveyance device using same - Google Patents

Description

The present invention relates to a suction device used to grasp and transport a specified object, and a transport device using this suction device.

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

On the other hand, a known technique for adjusting the suction pad to match the shape of the object being grasped is to provide multiple suction pads.

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

JP 2010-240778 A

Suction devices equipped with suction pads that vacuum-suck objects have the problem of being unable to grip and transport multiple types of objects of different sizes. One solution is to replace the suction pads with the appropriate ones each time a different type of object is needed. However, this replacement process takes time, reducing productivity when transporting objects.

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

The purpose of this disclosure is to provide technology that can grasp and transport multiple types of objects of different sizes with high productivity, despite its compact structure.

The suction device disclosed herein is a suction device used to grasp and transport a specified object. This suction device is configured to be connectable to a specified pressure-reducing device and includes a main body having a plurality of pressure-reducing paths, which are flow paths for air to be evacuated by the pressure-reducing device; a plurality of pressure-reducing chambers connected to each of the pressure-reducing paths and configured so that the space therein can be depressurized; and a plurality of suction pads provided in each of the pressure-reducing chambers for vacuum-sucking the object. The plurality of pressure-reducing chambers are configured to form radial layers, with one pressure-reducing chamber surrounding the outside of the other pressure-reducing chamber, and the plurality of suction pads are configured concentrically so that the diameter of one suction pad is larger than the diameter of the other suction pad.

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

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

Furthermore, the suction device of the present disclosure may further include a sensor that detects the size of the object, and an information processing device that controls vacuuming by the pressure-reducing device, and that selects one of the multiple pressure-reducing paths to use for vacuuming using the pressure-reducing device based on the size of the object detected by the sensor. This allows for automatic selection of a pressure-reducing path that corresponds to a suction pad that is suitable for the object whose size is detected by the sensor, thereby more effectively improving productivity when gripping and transporting multiple types of objects of different sizes.

In this case, the suction pads are arranged in three or more radial layers, and the information processing device selects the pressure reduction path connected to the pressure reduction chamber defined by the first suction pads so that the object is vacuum-adsorbed by a first suction pad, the first suction pad having a diameter closest to the diameter of the object detected by the sensor and smaller than the diameter of the object. If the first suction pad is the outermost suction pad of the suction pads, the information processing device may further select the pressure reduction path connected to the pressure reduction chamber defined by the second suction pad so that the object is also vacuum-adsorbed by a second suction pad, the second suction pad being located more inward than the first suction pad and not including any suction pads located in the innermost layer. This increases the contact area between the object and the suction pads, allowing a relatively strong suction force to be generated, and also prevents the vacuum chamber in the innermost suction pad from being evacuated, thereby effectively preventing damage to the object.

The present disclosure can also be seen from the perspective of a transport device using the suction device described above. That is, the transport device of the present disclosure is a transport device using the suction device described above, and includes a transport unit that transports the object vacuum-sucked by the suction pad by moving the main body unit, and the main body unit may further include a locking unit that restricts the orientation of the suction pad when moved by the transport unit, and that is composed of a rod-shaped member connecting the end of the suction pad to the main body unit.

In the above-mentioned conveying device, even if the suction pad attempts to swing in its radial direction, the rod-shaped member is restrained by the main body, preventing the rod-shaped member from displacing. This means that the position of the suction pad is restrained by this rod-shaped member. Furthermore, since the locking section is configured to include such a rod-shaped member, a compact structure can be achieved without complicating the structure.

This disclosure enables a compact structure to grip and transport multiple types of objects of different sizes with high productivity.

FIG. 2 is a diagram showing a schematic configuration of a suction device according to the first embodiment. 1 is a first diagram illustrating a mode in which a plurality of types of fruit having different sizes are gripped using the suction device according to the first embodiment. FIG. FIG. 10 is a second diagram illustrating an aspect in which a plurality of types of fruits having different sizes are gripped using the suction device according to the first embodiment. 10A and 10B are diagrams illustrating how a relatively large fruit is gripped using the first suction pad and the second suction pad. FIG. 10 is a diagram illustrating a schematic configuration of a transport device according to a second embodiment.

Embodiments of the present disclosure will be described below with reference to the drawings. The configurations of the following embodiments are examples, and the present disclosure is not limited to the configurations of the embodiments.

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

The suction device 1 according to this embodiment comprises a main body 10 that can be connected to a predetermined pressure-reducing device, a suction pad 20 that vacuum-sucks fruit, and a pressure-reducing chamber 21 defined by the suction pad 20.

Here, each of the above components that make up the adsorption device 1 will be described in detail below.

The main body 10 is a structural component that connects to a pressure-reducing device and supports the suction pad 20. Its upper end 10a is connected to the pressure-reducing device, and its lower end 10b is connected to the suction pad 20. The pressure-reducing device may be, for example, a well-known vacuum pump, which functions to reduce the pressure inside the pressure-reducing chamber 21 to a near-vacuum. The main body 10 is formed with a pressure-reducing passage 11, which serves as a flow path for air evacuated by the pressure-reducing device. Specifically, as shown in FIG. 1(b), the main body 10 is formed with multiple pressure-reducing passages, designated pressure-reducing passages 11a, 11b, and 11c, which extend from the upper end 10a to the lower end 10b of the main body 10. Therefore, in the pressure-reducing passage 11, air is drawn from the lower end 10b toward the upper end 10a, which is connected to the pressure-reducing device. In this embodiment, pressure reduction path 11a is formed along the central axis of main body 10, pressure reduction path 11c is formed at the outermost side relative to the central axis, and pressure reduction path 11b is formed between pressure reduction path 11a and pressure reduction path 11c.

As shown in Figure 1(b), the suction pad 20 is a bellows-shaped cylinder that can expand and contract in its axial direction. Its ends come into close contact with fruit present in the axial direction, thereby vacuum-adhering the fruit. More specifically, the internal space of the suction pad 20 is configured as a decompression chamber 21, and with the ends of the suction pad 20 in close contact with the fruit, the pressure in the decompression chamber 21, which is the internal space of the suction pad 20, is reduced, thereby vacuum-adhering the fruit.

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

However, suction devices equipped with suction pads that vacuum-suck objects pose a challenge when it comes to gripping and transporting multiple types of objects of different sizes. Furthermore, if the suction pads had to be replaced with the appropriate ones each time multiple types of objects of different sizes were to be handled, the replacement process would take time, reducing productivity when transporting the objects.

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

The multiple decompression chambers (decompression chamber 21a, decompression chamber 21b, decompression chamber 21c) defined by these multiple suction pads (suction pad 20a, suction pad 20b, suction pad 20c) are arranged so that one decompression chamber surrounds the outside of the other decompression chamber, resulting in a radially layered configuration. More specifically, decompression chamber 21b is arranged to surround the outside of decompression chamber 21a and form a layer, and decompression chamber 21c is arranged to surround the outside of decompression chamber 21b and form a layer.

The suction device 1 described above can grasp and transport multiple types of objects (fruit) of different sizes without replacing the suction pad. This will be explained with reference to Figures 2 and 3.

Figure 2 is the first diagram illustrating how the suction device 1 according to this embodiment can be used to grip multiple types of fruit of different sizes. Note that the object being gripped in Figure 2 is a relatively small fruit, such as a mandarin orange.

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

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

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

On the other hand, for relatively large objects, a suction pad (e.g., suction pad 20c) further outward than suction pad 20a is used. Figure 3 is a second diagram illustrating how multiple types of fruit of different sizes are gripped using the suction device 1 according to this embodiment. Note that the object being gripped in Figure 3 is a relatively large fruit, such as a melon.

For such relatively large objects, as shown in Figure 3, the outermost suction pad 20c of the suction pads 20 arranged in radial layers is used as the suction pad for gripping the object. In this case, the pressure reduction device draws a vacuum only through the pressure reduction path 11c, which connects to the pressure reduction chamber 21c defined by the suction pads 20c and 20b. Furthermore, when the ends of the suction pads 20c and 20b come into close contact with the object (e.g., a melon), the open end of the pressure reduction chamber 21c (defined by the open ends 22c and 22b) is sealed. This allows the object (e.g., a melon) to be vacuum-sucked by the suction pad 20c.

Furthermore, the space surrounded by suction pad 20c and suction pad 20b, which have a bellows shape that reduces impact and excessive pressure on the object (e.g., a melon), is used as a decompression chamber 21c, making the structure of suction device 1 compact. In this case, suction pad 20c is arranged radially outside suction pad 20b in a layer, which advantageously achieves a compact structure for suction device 1.

For example, in the embodiment shown in Figure 3, if the innermost suction pad 20a were used, the contact surface of the suction pad 20a would be small compared to the diameter of a large object (melon), and it may not be possible to generate enough suction force to grip the large object (melon). In contrast, by using the suction pad 20c, which has the largest diameter, a contact surface large enough compared to the diameter of the large object (melon) can be obtained, making it possible to grip the large object (melon). In this case, the diameter of the suction pad used to grip the object (melon) would be 50 to 80% of the diameter of the object (melon), allowing the object (melon) to be gripped appropriately.

For fruits (e.g., apples) that are between the sizes of the above-mentioned objects (tangerines and melons), suction pad 20b can be placed between suction pad 20a and suction pad 20c. In this case, a vacuum is drawn through suction pad 20b and pressure reduction path 11b, which connects to pressure reduction chamber 21b defined by suction pad 20a.

In this way, the suction device 1 is equipped with suction pads 20 (suction pad 20a, suction pad 20b, suction pad 20c) arranged in radial layers, and these suction pads define the decompression chamber 21. This structure allows the device to grip and transport multiple types of objects (fruit) of different sizes without having to replace the suction pads, despite its compact structure. The suction pads 20 arranged in radial layers may have a three-layer structure as described in this embodiment, or a two- or four-layer structure.

The suction device 1 according to this embodiment grasps an object (fruit) by vacuum-sucking it with the suction pad 20, and can then transport the object (fruit) while maintaining that vacuum-sucked state.

The suction device 1 described above has a compact structure, yet is capable of gripping and transporting multiple types of objects of different sizes with high productivity.

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

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

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

The information processing device then selects the decompression path 11 connected to the decompression chamber 21 defined by the first suction pads, which is the suction pad of the multiple suction pads (suction pad 20a, suction pad 20b, suction pad 20c) whose diameter is closest to the diameter of the object (fruit) detected by the sensor and smaller than the diameter of the object (fruit), so that the object (fruit) is vacuum-sucked by the first suction pad. The information processing device is configured to acquire the diameter of the object (fruit) detected by the sensor, and stores the diameters of each of the multiple suction pads (suction pad 20a, suction pad 20b, suction pad 20c) included in the suction device 1. Therefore, by comparing these diameters, it is possible to identify the first suction pad.

Here, if the object is a relatively large piece of fruit, it is advantageous to have a larger contact surface area between the object and suction pad 20, as this will generate a strong suction force capable of gripping a large object. Therefore, if the first suction pad is the suction pad (suction pad 20c) located in the outermost layer of multiple suction pads (suction pad 20a, suction pad 20b, suction pad 20c), it is possible to vacuum-suck the object using suction pads located further inward than the first suction pad.

However, in this case, the present inventors have newly discovered that if the above-mentioned object is vacuum-sucked using the suction pad (suction pad 20a) located in the innermost layer, the center of the object (the stem or core of the fruit) will be vacuum-sucked, which could result in damage to the object (fruit).

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

Figure 4 is a diagram illustrating an example of gripping a relatively large piece of fruit using a first suction pad and a second suction pad. In the example shown in Figure 4, of the multiple suction pads (suction pad 20a, suction pad 20b, suction pad 20c), suction pad 20c has a diameter that is closest to the diameter of the object (fruit) and is smaller than the diameter of the object (fruit). In other words, suction pad 20c is the first suction pad.

The first suction pad, suction pad 20c, is the suction pad located in the outermost layer of the multiple suction pads (suction pad 20a, suction pad 20b, suction pad 20c). In this case, when selecting the pressure reduction path described above, the information processing device selects pressure reduction path 11c connected to pressure reduction chamber 21c defined by the first suction pad (suction pad 20c), and also selects a pressure reduction path connected to a pressure reduction chamber defined by the second suction pad. Here, the second suction pad is suction pad 20b, which is located more inward than the first suction pad (suction pad 20c) and does not include the suction pad (suction pad 20a) located in the innermost layer. In other words, the information processing device also selects pressure reduction path 11b connected to pressure reduction chamber 21b defined by the second suction pad (suction pad 20b).

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

This increases the contact area between the object and the suction pad 20, and can generate a strong suction force sufficient to grip large objects. Furthermore, because the vacuum chamber 21a inside the innermost suction pad (suction pad 20a) is not evacuated, damage to the object (fruit) can be effectively prevented.

The suction device 1 described above has a compact structure, yet is capable of gripping and transporting multiple types of objects of different sizes with high productivity.

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

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

In a conveying device that uses a suction pad to vacuum-suck an object and grip and transport it, if the object becomes poorly positioned during transport, it may fall off the suction pad, potentially damaging the object. This also significantly reduces productivity when gripping and transporting objects.

Therefore, the transport device 100 according to this embodiment further includes a locking unit 13 that restricts the position of the suction pad 20 when the main body 10 is moved by the transport unit 30.

More specifically, as shown in Figure 5, the locking portion 13 is composed of a rod-shaped member 131, a connecting ring 132, and a bushing 133.

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

The rod-shaped member 131 is inserted into a bushing 133 located at the lower end 10b of the main body 10. The rod-shaped member 131 is configured to be movable in its axial direction, sliding along the bushing 133.

With this type of locking section 13, even if the suction pad 20c attempts to swing in its radial direction, the rod-shaped member 131 comes into contact with the lower end of the bushing 133, thereby preventing the rod-shaped member 131 from displacing. This means that the position of the suction pad 20c is constrained by the rod-shaped member 131, which connects the connecting ring 132 fixed to the end of the suction pad 20c and the bushing 133 arranged on the main body 10, i.e., by the locking section 13. Because this type of locking section 13 is composed only of the rod-shaped member 131, connecting ring 132, and bushing 133, a compact structure can be achieved without complicating the structure.

The above-described configuration also allows for the compact structure to grip and transport multiple types of objects of different sizes with high productivity.

DESCRIPTION OF SYMBOLS 1. Suction device 10. Main body 11. Decompression path 20. Suction pad 21. Decompression chamber 22. Open end

Claims (2)

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