JP2013184251A - Sucking tool, and picking device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a sucking tool and a picking device, capable of surely sucking even a sucking object easily deformable by external pressure, such as a bag, without dropping or breaking the same.SOLUTION: A sucking tool 1 includes a suction pipe line 2 giving suction pressure, a sucking face 3 sucking a sucking object while facing the sucking object, by the suction pressure from the suction pipe line 2, and a contact part 4 provided while projecting on a sucking object side of the sucking face 3. The contact part 4 overlaps with an overlap region 6, which is a partial region of the sucking face 3, in a giving direction of the suction pressure from the suction pipe line 2, and at least a part of the overlap region 6 has a gap 7 which is recessed in a direction almost perpendicular to the giving direction of the suction pressure.

Description

  The present invention relates to an adsorbing tool and a picking device that adsorb to a product when picking the product or the product in transportation or classification of the product or the product in a factory or a distribution center.

  In various business fields and product fields, various products and products are manufactured in factories corresponding to the fields. Semi-finished products and products need to be transported to the next process in the manufacturing process. The finished product or product is finally packed in cardboard or a special case before shipment. For this reason, factories and distribution centers require a transportation line that moves products and goods by classifying and packing products and goods in addition to the production line. The transportation line moves a semi-finished product or product to the next process, or moves a completed product or product to a shipping state.

  When the transport line moves a product or product to the next process or shipping state, it is necessary to classify the product or product or to pack a predetermined number of products or products into a cardboard box or case. For this reason, the transportation line needs to pick each product or product from a plurality of products or products.

  Here, there are various products and products. The transportation line needs to efficiently classify various products and products based on parameters such as the delivery destination of products and products, the number of items, and the type. This is because one cardboard box or case may need to be filled with products or products of different varieties. In order to accurately classify a plurality of products and commodities corresponding to such various parameters, human work is suitable, but there are problems of labor cost and efficiency.

  Here, in the case of a transportation line for shipment of products and products, classification of individual products and products, transportation of products and products after classification, boxing of classified products and products, accumulation of boxes, Includes processes such as loading. Each of these processes is independent of other processes, but in the classification of products and products that are the first half of the transportation line, there are many products and products to be handled. On the other hand, in the latter half process of the transport line, the number of cardboard boxes to be handled is relatively smaller than the number of products and goods to be handled in the first half process in boxing of products and goods and loading on pallets.

  In order to automate and efficiently carry out the flow work including all processes in the transport line, classification and transport work corresponding to the number of products and products handled in the first half process are required. That is, it is necessary to pick individual products and products with high speed and high accuracy. This is because if the picking work in the first half process is slow or a work error occurs, it is necessary to slow down the work speed or stop the work in the second half process of the transport line.

  As described above, it is required to accurately and quickly pick individual products and commodities in the transportation line required in the middle of the manufacturing process or in the pre-shipment work after the manufacturing process. By picking individual products and products accurately and quickly, manufacturing and shipping operations are speeded up, and productivity at various manufacturing sites and distribution sites is improved.

  Here, in the transport line, the picking device picks each of the products and products that have entered the case and the products and products that flow on the conveyor. For example, the picking device picks one of a plurality of products or products in a certain case and moves to the next process. Alternatively, the picking device picks one of a plurality of products and products flowing on the conveyor and packs them in a case or a box.

  As described above, the picking apparatus needs to select one target from a plurality of products and commodities and perform picking reliably and at high speed. In particular, products and products that are picked up by the picking device are often difficult to hold because of various shapes, contents, and exterior items. For this reason, picking devices often pick and pick up products and goods using suction tools that use suction pressure. The picking device makes it possible to take out the product or the product by pressing the suction tool against the outer periphery of the product or the product and by the suction pressure applied to the suction tool. The adsorber is required to have an ability to reliably adsorb products and products.

  Techniques of such picking devices and suction tools used in the picking devices have been proposed (see, for example, Patent Document 1 and Patent Document 2).

JP-A-6-16378 Japanese Patent Laid-Open No. 2000-296489

  Patent Document 1 discloses a soft elastic material annular body in which a hard elastic material annular body 3 is fixed to a lower portion of an adsorber body 2 having an air suction hole 1 and protrudes downward from the hard elastic material annular body 3. 4 discloses a lifting and transporting vacuum suction tool for directly or indirectly fixing 4 to the suction tool body 2 outside the hard elastic material annular body 3.

  Patent Document 1 discloses an adsorber that adsorbs an object by an adsorbing portion that combines a hard member and a soft member. An object of the present invention is to ensure that even an object having irregularities on the surface can be reliably adsorbed by such an adsorber.

  However, even if it has an adsorbing portion that combines a hard member and a soft member, when the object is a bag, the adsorber disclosed in Patent Document 1 reliably adsorbs the object of the bag. Have problems that can not. The outer shape of confectionery, bread, food, bag-like parts, etc. is a bag. Since the bag contains air and inert gas therein, it is easily deformed by external pressure.

  For this reason, even when the surface of the bag is adsorbed by the adsorber, wrinkles and bends occur on the bag surface. If wrinkles and bends are communicated from the suction surface of the suction tool to the outside of the suction tool, a part of the suction surface is communicated with the outside air. If a portion of the suction surface is not covered with a bag, which is an object to be suctioned, the suction area is reduced or the outside air enters in the suction direction, so that the suction force is weakened. If the suction force is weakened, the suction tool may cause the suction target to fall due to some factor. After the adsorption tool has adsorbed the adsorption object, the adsorption object collides with a part of the device or gives momentum to move the adsorption object, so that the adsorption tool drops the adsorption object. End up.

  Since the lifting and sucking vacuum suction tool disclosed in Patent Document 1 is merely an suction tool by a combination of a hard member and a soft member, when the suction target is a bag, the suction surface and the outside air are communicated with each other. It cannot prevent wrinkling and bending. For this reason, it is difficult for the lifting / lowering vacuum suction tool disclosed in Patent Document 1 to reliably suck and lift objects other than the suction target that can maintain a certain shape.

  In Patent Document 2, a vacuum gripper 10 for adsorbing a workpiece includes a negative pressure port 14, an elastic suction cup 20, and a suction cup holder 12. The suction cup 20 defines a suction chamber 26 on the side closer to the workpiece. The suction chamber 26 is fluidly connected to the negative pressure port 14. The suction chamber 26 includes ribs 36 and 38 projecting therein, and the rib and / or lip seal 22 discloses a vacuum gripper having at least one groove 28 in its surface 30 near the suction chamber 26.

  The vacuum gripper disclosed in Patent Document 2 exhibits a non-slip function by ribs and grooves, and prevents slipping when adsorbing an object.

  However, when the object is not a suction object that can maintain a fixed shape but is a bag, there is a problem similar to that in the case of Patent Document 1 even if there is slippage due to a rib or groove. That is, the vacuum gripper disclosed in Patent Document 2 has a possibility of causing the surface to be sucked to fall by causing wrinkles or bending on the surface when the bag is sucked.

  Conventional techniques such as Patent Document 1 and Patent Document 2 have a problem that it is difficult to reliably adsorb an object to be adsorbed that easily deforms during adsorption, such as a bag. If the suction tool drops the object to be sucked, it is necessary to stop the transportation line, which causes a problem of reducing productivity in the manufacturing process and the shipping process.

  In the prior art represented by Patent Literature 1 and Patent Literature 2, it is difficult to adsorb the bag containing the contents. Such a bag may have different overall thickness depending on the contents. For this reason, if the height of the adsorber (height from the line through which the product or product flows) is fixed, there arises a problem that the contents of the bag are broken or the bag itself is torn. In particular, a bag with enhanced airtightness in order to keep the contents cut off from the outside air is likely to break the contents or break the bag itself as described above, regardless of whether the contents are soft or hard.

That is, the following three points are required for the suction tool.
(Requirement 1) Pick up the object flexibly even if the height and thickness of the object are not unified.
(Requirement 2) Do not cause deformation or cracks in the object.
(Request 3) After picking up an object, do not drop the adsorbed object even if there is acceleration / deceleration to move.

  In view of such a demand, to provide an adsorber and a picking device that can reliably adsorb even an object to be adsorbed that easily deforms due to external pressure, such as a bag, without being dropped or damaged. Objective.

  In view of the above problems, the suction tool of the present invention includes a suction pipe that applies suction pressure, a suction surface that sucks the suction target by facing the suction target by the suction pressure from the suction pipe, and a suction A contact portion that protrudes toward the suction object side of the surface, and the contact portion overlaps in an overlapping region that is a partial region of the suction surface in the direction in which the suction pressure is applied from the suction pipe. At least a part of each has a void that is concave in a direction substantially perpendicular to the direction in which the suction pressure is applied.

  The suction tool of the present invention does not allow wrinkles or bends generated on the bag surface to reach the suction surface by causing a part of the bag to bite into a part of the contact portion when the suction target is sucked by the suction pressure. . Thereby, the adsorption tool can adsorb | suck the adsorption | suction object easily deform | transformed with external pressure like a bag thing reliably.

  As a result of this reliable suction, when the suction tool is used in a picking device, dropping and picking mistakes do not occur, and productivity in the manufacturing process and shipping process can be improved.

It is a perspective view of the suction tool in Embodiment 1 of this invention. It is a front view of the adsorption tool in Embodiment 1 of this invention. It is a side view of the suction tool in Embodiment 1 of this invention. It is a side view of the suction tool which adsorb | sucked the adsorption target object in Embodiment 1 of this invention. It is a side view of the suction tool by which the adsorption target object in Embodiment 1 of this invention was adsorbed. It is a schematic diagram of the picking apparatus in Embodiment 2 of this invention. It is a side view which shows the state of the picking of the adsorption target object by the picking apparatus in Embodiment 2 of this invention. It is a side view which shows the state of the picking of the adsorption target object by the picking apparatus in Embodiment 2 of this invention. It is a side view which shows the state of the picking of the adsorption target object by the picking apparatus in Embodiment 2 of this invention.

  The suction tool according to the first aspect of the present invention includes a suction pipe for applying a suction pressure, a suction surface for sucking the suction target by facing the suction target by the suction pressure from the suction pipe, A contact portion that protrudes toward the suction object side of the suction surface, and the contact portion overlaps and overlaps in an overlapping region that is a partial region of the suction surface in the application direction of the suction pressure from the suction pipe. At least a part of the region has a void that is concave in a direction substantially perpendicular to the direction in which the suction pressure is applied.

  With this configuration, the adsorber three-dimensionally adsorbs an easily deformable adsorption object such as a bag by the adsorption surface, the gap, and the contact portion.

  In the suction tool according to the second invention of the present invention, in addition to the first invention, the tip of the contact portion is closer to the suction object than the suction surface.

  With this configuration, the suction tool can form a gap between the contact portion and the suction surface.

  In the suction tool according to the third aspect of the present invention, in addition to the first or second aspect, the overlapping region is along the outer periphery of the suction surface.

  With this configuration, a gap is formed along the outer periphery of the suction surface.

  In the suction tool according to the fourth invention of the present invention, in addition to the third invention, the suction surface is substantially circular or substantially elliptical, and the contact portion overlaps along a circular or elliptical circumferential portion. In the region, the suction surface overlaps with the suction pressure application direction.

  With this configuration, the adsorber can efficiently adsorb the object to be adsorbed.

  In the suction tool according to the fifth invention of the present invention, in addition to any of the first to fourth inventions, the contact portion has an opening communicating with the suction surface, and the suction surface is Adsorption object is adsorbed.

  With this configuration, the suction tool can reliably suck the suction target object by taking in the deformed portion of the suction target object from the opening and sucking it on the suction surface and accommodating it in the gap.

  In the suction tool according to the sixth aspect of the present invention, in addition to any one of the first to fifth aspects, the contact portion is in contact with the surface of the suction object other than the opening.

  With this configuration, the suction tool can perform suction in two stages before and after the contact portion and the suction surface.

  In the suction tool according to the seventh aspect of the present invention, in addition to any one of the first to sixth aspects, the gap accommodates a deformed portion of the suction target object sucked by the suction surface and the contact portion.

  With this configuration, the suction tool can prevent the suction target from falling.

  In the suction tool according to the eighth invention of the present invention, in addition to any one of the first to seventh inventions, the contact portion, the gap, The order of the suction surface.

  With this configuration, the adsorber can prevent the adsorbed object to fall by three-dimensional adsorption.

  In the suction tool according to the ninth aspect of the present invention, in addition to any of the fifth to eighth aspects, the area of the opening is variable.

  With this configuration, the suction tool can flexibly cope with various suction objects having different sizes.

  In the suction tool according to the tenth aspect of the present invention, in addition to any one of the first to ninth aspects, the volume of the air gap is variable.

  With this configuration, the suction tool can flexibly cope with various suction objects having different sizes.

  In the suction tool according to the eleventh invention of the present invention, in addition to any of the first to tenth inventions, the suction surface has a lattice-like opening.

  With this configuration, the suction surface can effectively apply a suction pressure to the suction target.

  An adsorbing tool according to a twelfth aspect of the present invention includes a suction line that applies a suction pressure, an adsorption surface that adsorbs the adsorption object by facing the suction object by the suction pressure from the suction line, A ring-shaped contact portion provided along the outer periphery of the suction surface, the suction surface has a lattice-shaped opening, and the contact portion protrudes from the suction surface with respect to the suction target, and the contact portion Forms a recess along the ring shape between the suction surface and the contact portion.

  With this configuration, the adsorber can adsorb the adsorption object in a three-dimensional manner by the adsorption surface, the gap, and the contact portion. As a result, the suction tool can exhibit a strong suction force.

  In the suction tool according to the thirteenth aspect of the present invention, in addition to any one of the first to twelfth aspects, the suction object is a bag.

  With this configuration, the adsorber can reliably adsorb even an object to be adsorbed that is difficult to adsorb, such as a bag.

  A picking device according to a fourteenth aspect of the present invention includes any one of the first to thirteenth suction tools and a suction device connected to the suction pipe.

  With this configuration, the picking apparatus can reliably pick an object to be sucked by the suction surface, the gap, and the contact portion.

  In addition to the fourteenth aspect, the picking device according to the fifteenth aspect of the present invention further includes a gripping part that clamps the side surface of the suction object.

  With this configuration, the picking apparatus can more reliably pick the adsorption target.

  In addition to the fourteenth or fifteenth invention, the picking device according to the sixteenth invention of the present invention further includes a holding portion that holds down the article adjacent to the adsorption object in the downward direction.

  With this configuration, the picking device can prevent an adverse effect of an article adjacent to the adsorption target object.

  In addition to the fourteenth invention, the picking device according to the seventeenth invention of the present invention further includes a suction pipe provided in the suction tool and a pipe connecting the suction apparatus. It fits so that it can move up and down, and the adsorber moves up and down with respect to the pipe line by the suction pressure of the suction device.

  With this configuration, the picking device can flexibly cope with the height and thickness of the suction object and can pick the suction object without damaging it.

  In the picking device according to the eighteenth invention of the present invention, in addition to the seventeenth invention, the pipe line lowers the suction tool to bring the suction surface into contact with the suction object, and the suction device then sucks the suction pressure. Is applied to the suction surface, the suction tool sucks the object to be sucked, and then the suction device raises the suction tool by raising the suction line with respect to the pipe line by the suction pressure.

  With this configuration, the picking device can pick and move the suction object having various heights and thicknesses to another place without causing damage.

  A picking method according to a nineteenth aspect of the present invention is a picking method for an object to be adsorbed using the picking device according to the seventeenth aspect of the present invention, comprising lowering the adsorbing tool and bringing the adsorbing surface into contact with the object to be adsorbed A step in which the suction device applies suction pressure to the suction surface to cause the suction tool to suck an object to be sucked; a step in which the suction device raises the suction pipe line with respect to the pipe line by the suction pressure; and a suction pipe A method of picking up the suction object, comprising: raising and moving the suction object in accordance with the rise of the road.

  With this configuration, the picking method can pick and move the suction target object to another place without damaging the suction target object regardless of the height or thickness of the suction target object.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  (Embodiment 1)

(Overview)
First, the general outline of the suction tool of the present invention will be described. FIG. 1 is a perspective view of the suction tool according to Embodiment 1 of the present invention. The surface where the adsorber adsorbs the adsorbate is shown in the table. The suction unit 1 includes a suction pipe 2, a suction surface 3, and a contact unit 4. The adsorption tool 1 adsorbs an adsorption object on the surface of the adsorption surface 3 and the contact portion 4 shown in the table in FIG.

  The suction pipe line 2 has a cylindrical shape, and the suction pipe line 2 applies a suction pressure to the suction target object via the suction surface 3. For example, the suction pipe 2 applies suction air to the object to be sucked along the extending direction of the suction pipe 2. That is, the suction line 2 applies a suction pressure in a direction (particularly in a substantially vertical direction) that intersects the surface direction of the suction surface 3. The suction surface 3 is provided at the tip of the suction pipe 2. The adsorption surface 3 opposes the adsorbate and adsorbs the adsorption object by the suction pressure from the suction pipe 2. In FIG. 1, the suction surface 3 has a mesh shape, and suction pressure is applied to the suction target from the mesh-shaped opening. The contact portion 4 is provided so as to protrude toward the suction target object on the suction surface 3 and is in contact with a part of the suction target object.

  The contact portion 4 overlaps in an overlapping region that is a partial region of the suction surface 3 in the direction in which the suction pressure is applied from the suction pipe 2. FIG. 2 is a front view of the suction tool according to Embodiment 1 of the present invention. FIG. 2 shows a state in which the suction tool 1 is viewed from the suction surface 3 side. The adsorption object is fixed while being adsorbed by the adsorption surface 3 and the contact portion 4. In FIG. 2, the contact portion 4 overlaps a part of the suction surface 3. A region indicated by diagonal lines is an overlapping region 6. In short, the contact portion 4 is hidden in front of the suction surface 3 (on the suction target side) so as to overlap with a part of the suction surface 3.

  Further, at least a part of the overlapping region 6 has a concave gap in a direction substantially perpendicular to the direction in which the suction pressure is applied by the suction pipe 2. FIG. 3 is a side view of the suction tool according to Embodiment 1 of the present invention. FIG. 3 shows the vicinity of the suction surface 3 of the suction tool 1 as a see-through state. As can be seen from the side view, the contact portion 4 is provided along the outer periphery of the suction surface 3 and protrudes from the tip of the suction surface 3. Further, since the contact portion 4 is provided in front of the suction surface 3, the contact portion 4 overlaps with an overlapping region 6 that is a part of the suction surface 3. At least a part of the overlapping region 6 has a gap 7 as shown in FIG. The space 7 is formed by being recessed in a concave shape between the contact portion 4 and the suction surface 3. At this time, the gap 7 is formed such that the contact portion 4 is hollowed out (that is, the gap 7 is formed so as to be recessed in a direction substantially perpendicular to the suction pressure direction indicated by the arrow A).

  The suction tool of the prior art does not have this contact portion 4 or even if it has the contact portion 4, the contact portion 4 is only provided protruding from the outer periphery of the suction surface 3, and no gap 7 is provided. . The suction tool 1 of the present invention has the contact portion 4 and the gap 7.

  The adsorbing tool 1 shown in FIGS. 1 to 3 has a shape in which the tip of the cylindrical suction line 2 is widened toward the end. A mesh-like suction surface 3 is provided at the extended tip, and a contact portion 4 protrudes along the outer periphery of the suction surface 3. Further, a gap 7 is provided between the contact portion 4 and the suction surface 3 so as to be hidden behind the contact portion 4. The gap 7 is provided so as to be recessed in a direction substantially perpendicular to the direction in which the suction pressure is applied. The shape of the suction device 1 shown in FIGS. 1 to 3 is an example, and may have other shapes as long as the same function can be achieved.

  The adsorbing tool 1 has the above configuration.

(Suction by suction tool)
Next, the adsorption of the adsorption object by the adsorption tool 1 will be described. FIG. 4 is a side view of an adsorber that has adsorbed an object to be adsorbed according to Embodiment 1 of the present invention. The suction tool 1 sucks the suction object 100 at its tip. Here, the adsorption object 100 is a bag that broadcasts the contents. First, the suction tool 1 applies the suction object 100 to the suction surface 3 which is the tip thereof. For example, the suction tool 1 is brought close to the suction target object 100 placed on the conveyor line, and the suction surface 3 is applied to the suction target object 100 after the suction tool 1 is approached.

  The suction pipe 2 can apply suction pressure to the suction target object 100 by applying suction air along the arrow A. Since the suction air is applied to the adsorption surface 3, air pressure is applied to the outside from the mesh-shaped opening. Since the suction object 100 first contacts the suction surface 3, the suction target object 100 is sucked to the suction surface 3 by the air sucked up from the mesh-shaped opening. Further, the suction object 100 is attached to the entire suction surface 3 by the suction pressure.

  As the adsorption area with the adsorption surface 3 increases, the bag that is the adsorption object 100 starts to deform. When the bag is deformed, a part of the bag enters the gap 7 as shown in FIG. FIG. 5 is a side view of the suction tool on which the suction target object is sucked in the first embodiment of the present invention. A state in which the bag of the adsorption object 100 is deformed and a part of the deformed bag enters the gap 7 is shown. When a part of the bag is deformed and enters the gap 7, a part of the outside of the adsorption target object 100 comes into contact with the contact part 4.

  As is clear from FIG. 5, the adsorption object 100 is adsorbed while contacting in the order of the adsorption surface 3, the gap 7, and the contact portion 4. That is, the adsorption object 100 is not only planarly adsorbed on the adsorption surface 3 but also three-dimensionally adsorbed together with the gap 7 and the contact portion 4. As described above, the suction tool 1 can three-dimensionally suck the suction target object 100 using the deformation of the bag that is the outer side of the suction target object 100 that is a bag.

The gap 7 accommodates a part of the deformed adsorption target object 100, so that the contact part 4 is caught by the adsorption target object 100. As a result, the following action occurs.
(Operation 1) The adsorption object 100 increases the fixing force in the direction in which the suction pressure is applied by generating a catch in a direction substantially perpendicular to the suction pressure direction.
(Operation 2) By being caught in a direction substantially perpendicular to the suction pressure direction, the adsorption target object 100 is difficult to come off in the suction pressure direction.
(Operation 3) Since a part of the adsorption object 100 is accommodated in the gap 7, a contact surface between the adsorption surface 3 and the adsorption object 100 is expanded, and wrinkles generated in the adsorption object 100 communicate with the adsorption surface 3. It becomes difficult.
(Operation 4) As a result of the operation 3, air leakage due to wrinkles communicating the adsorption surface 3 and the adsorption object 100 does not occur, and the adsorption force on the adsorption surface 3 with respect to the adsorption object 100 increases.

  By the actions 1 to 4 described here, the adsorption object 100 is hardly detached from the adsorption tool 1 and is adsorbed with a strong fixing force. As described above, the suction tool 1 sucks the suction object 100 that is easily deformed like a bag object with a strong fixing force by three-dimensional suction and contact in three stages of the suction surface 3, the gap 7, and the contact portion 4. it can. Of course, even if the bag is other than the bag that contains the contents, the suction tool 1 of the present invention can be suitably sucked if it is a product or product that is easily deformed. Moreover, since the suction tool 1 performs strong suction while deforming the bag for storing the contents, the contents stored in the bag are not deformed or destroyed.

  The suction tool 1 is connected to a suction line and a pipe line connected to the suction pipe line 2. At this time, the suction pipe 2 is fitted inside the pipe and can be moved up and down by the suction pressure from the suction device. The distance between the suction surface 3 of the suction tool 1 and the suction target object 100 is adjusted by this up and down. By adjusting the distance, even if the height and thickness of the suction object 100 are not standardized, the picking device including the suction tool 1 can pick up the suction object 100 without pressing it against the conveyor.

  Such a suction tool 1 or a picking device in which the suction tool 1 is used can satisfy the following requirements 1 to 3.

(Requirement 1) Pick up the object flexibly even if the height and thickness of the object are not unified.
(Requirement 2) Do not cause deformation or cracks in the object.
(Request 3) After picking up an object, do not drop the adsorbed object even if there is acceleration / deceleration to move.

  As a result of these, the suction tool 1 can reliably suck and move or carry an easily deformable suction target represented by a bag.

  Next, the detail of each part is demonstrated.

(Suction line)
The suction line 2 applies a suction pressure to the suction object 100 via the suction surface 3. As an example of the suction pressure, suction air is applied. For this reason, the suction line 2 is connected to a vacuum device, an air suction device, or the like, and sucks air from the mesh-shaped opening of the suction surface 3. The suction pipe 2 applies a suction pressure to the suction surface 3 by sucking the air.

  Since the suction conduit 2 is connected to a vacuum device, an air suction device, or the like, the end of the suction conduit 2 shown in FIG. 1 (the upper end in FIG. 1) is connected to these devices. A pipe line may be connected. The suction pipe 2 may be formed of various members such as a metal, an alloy, and a resin, but is preferably formed of a metal or an alloy in consideration of durability and airtightness.

  The suction pipe 2 is a cylindrical member as shown in FIG. In addition, it is also preferable that the tip is widened so that the suction surface 3 matched to the suction object 100 can be easily formed. It is also preferable that the tip of the so-called suction conduit 2 has a skirt. Of course, the suction pipe line 2 may be extended while maintaining the same shape up to the tip. At this time, the part which is a skirt may be grasped as a part of the suction conduit 2 or may be grasped as a separate element. The skirt portion may be integrated with the cylindrical portion by welding or adhesion, or may be formed in advance as an integral member.

  The suction line 2 applies a suction pressure in the direction of arrow A in FIG. That is, the suction line 2 applies a suction pressure in the extending direction of the suction line 2 itself. As a result, the adsorption object 100 is adsorbed by the pressure along the extending direction of the suction pipe 2. Here, it is preferable that the suction pipe line 2 has high airtightness such as a side surface in order to give sufficient suction air to the adsorption surface 3.

  Since the suction pipe 2 is an element that forms the outer shape of the suction tool 1, it may be formed according to the shape and size of the suction surface 3 and the suction object 100. In particular, as shown in FIG. 1, the suction pipe 2 is a member having only a tip portion, and is connected to the vacuum device or the air suction device by a different pipe, so that the shape of the suction pipe 2 is It is possible to prepare various sizes (in other words, various shapes and sizes of the suction tool 1 are prepared). For example, if the suction object 100 is large, the suction pipe 2 and the suction surface 3 connected thereto may be made large. Alternatively, depending on the shape of the suction object 100, the suction conduit 2 and the suction surface 3 may be square instead of circular.

  The suction pipe 2 has an opening at the tip because air is sucked from the outside through the opening of the suction surface 3 provided at the tip. The suction surface 3 is attached to the opening.

(Suction surface)
The suction surface 3 is a mesh-shaped member as shown in FIG. A suction surface 3 that is a mesh-like member is attached to the open end of the suction pipe 2. As a result, the tip of the suction tool 1 has a mesh-like opening by the suction surface 3.

  The adsorption surface 3 may be formed of metal, alloy, resin, or the like. In view of durability and strength, it is preferably formed of a metal or an alloy, but it is also preferable that it is formed of a resin for easy replacement.

  Further, the suction surface 3 may have various shapes. It may have a shape such as a square, a square, or a circle. However, the suction surface 3 is also preferably substantially circular or elliptical in order to generate a strong suction force with respect to the suction object 100 having various shapes and sizes. By having a substantially circular shape or a substantially oval shape, it becomes difficult to cause wrinkles between the suction object 100 and the suction surface 3, and the suction tool 1 is high in combination with the accommodation of a part of the suction target object 100 in the gap 7. This is because an adsorption force is generated.

  The adsorption surface 3 preferably has a mesh shape. The adsorption surface 3 adsorbs the adsorption object 100 by a suction pressure for sucking air. For this reason, if the suction surface 3 is completely open, the suction target object 100 reaches deep inside the pipe line 2 and the usability is deteriorated. Or, if the suction surface 3 is not open at all, naturally, the suction surface 3 cannot suck the suction object 100 because air cannot be sucked. For this reason, it is suitable for the adsorption surface 3 to have a shape in which the opening and the closing part are mixed.

  An example of this is a mesh shape (lattice shape). This is because the suction surface 3 is easy to achieve both the suction of air and the fixation of the suction target object 100 in the mesh shape. Of course, the shape is not limited to a mesh shape, and any shape may be used as long as an opening that sucks air and a closed portion that contacts the adsorption target object 100 are mixed. Moreover, when it is a mesh shape, a vertical and horizontal mesh may be sufficient, and an oblique mesh may be sufficient.

(Contact part)
The contact part 4 protrudes in front of the suction surface 3 (that is, the suction object side). That is, the contact portion 4 is closer to the adsorption object 100 than the bonding surface 3.

  The contact portion 4 may protrude from the suction surface 3 in various forms. For example, the contact portion 4 may protrude from the center of the suction surface 3 and other places. However, it is preferable that the contact portion 4 protrudes along the outer periphery of the suction surface 3 in consideration of ease of manufacture and efficient utilization of the entire suction surface 3. That is, the contact portion 4 may be provided so as to protrude in a ring shape along the outer periphery of the suction surface 3. 1 to 3 show a state in which the contact portion 4 is provided in a ring shape along the outer periphery of the suction surface 3.

  Of course, it does not have to follow the outer periphery of the suction surface 3, and the contact portion 4 may be provided inside the suction surface 3. The contact part 4 may not have a ring shape but may have a shape having a part cut off in the middle.

  Since the contact part 4 forms the space | gap 7 by forming the distance between the adsorption | suction surface 3 and the adsorption | suction target object 100, the contact part 4 contacts the adsorption | suction target object 100. FIG. Further, the suction object 100 brings the deformed portion into contact with the contact portion 4 and the gap 7 formed by the contact portion 4. For this reason, it is preferable that the contact part 4 is a raw material with an elastic force or a deformation force so that the deformed bag is not easily damaged. For example, the contact part 4 preferably has rubber or sponge material.

  For this reason, it is also preferable that the contact portion 4 is a member such as an O-ring corresponding to the substantially circular suction surface 3.

  The contact part 4 overlaps with a part of the suction surface 3. In other words, the contact portion 4 is provided so as to hide a part of the suction surface 3. The overlapping area 6 is as shown in FIG. In this case, an overlapping region 6 is formed along the outer periphery of the suction surface 3. Of course, the suction surface 3 may extend further to the outer side of the overlapping region 6 (in this case, the contact portion 4 is provided inside the suction surface 3 instead of the outer peripheral end portion of the suction surface 3).

  In addition, when the contact portion 4 is formed along the outer periphery of the suction surface 3 as shown in FIG. 2, when the contact portion 4 overlaps with the suction surface 3, the contact portion 4 is It overlaps with the overlapping area 6.

  Since the contact portion 4 often has a ring shape, a ring shape with a cut, or the like, the contact portion 4 has an opening 41 communicating with the suction surface 3 (the opening 41 is shown in FIGS. 1 and 2). ). That is, the suction surface 3 and the opening 41 can suck air along the suction pressure direction. On the other hand, in the overlapping region 61, the suction surface 3 and the outside are not in communication. The presence of the opening 41 allows the suction pressure applied to the suction surface 3 to reach the suction object 100 through the opening 41 even if the contact portion 4 is provided. In other words, the opening 41 takes in the suction object 100 to be deformed and brings the surface of the suction object 100 into contact with the suction surface 3.

  That is, a part of the surface of the suction object 100 that has entered through the opening 41 comes into contact with the suction surface 3. The contacting surface is subjected to suction pressure. On the other hand, a deformed part of the suction object 100 that has entered the opening 41 is accommodated in the gap 7. Further, the portion of the suction target 100 that protrudes from the opening 41 contacts the contact portion 4.

(Modification of contact part)
The contact part 4 allows the suction object 100 and the suction surface 3 to communicate with each other through the opening 41. For this reason, the communication area between the suction object 100 and the suction surface 3 is determined by the size of the opening 41. When the adsorption object 100 is large, the communication area is preferably large, and when the adsorption object 100 is small, the communication area is preferably small. Since the communication area is determined by the area of the opening 41, the area of the opening 41 is preferably changed according to the size of the suction object 100.

  For this reason, it is preferable that the opening 41 has a variable area. For example, the opening 41 has a member such as a diaphragm whose opening area can be varied. By this diaphragm, the contact portion 4 can change the opening area of the opening 41.

  Alternatively, the contact portion 4 can change the opening shape of the opening portion 41. For example, depending on the shape of the suction object 100, it may be preferable that the opening 41 is square or square. The contact portion 4 may be capable of changing the opening shape of the opening portion 41 by a diaphragm member or the like.

(Void)
The contact portion 4 forms a gap 7 between the back surface and the suction surface 3. The gap 7 is a part of the overlapping region 6 that is recessed in a concave shape in a direction substantially perpendicular to the suction pressure application direction. For this reason, if the contact part 4 is ring-shaped, the space | gap 7 will also be ring-shaped. Of course, even if the contact portion 4 is ring-shaped, a part of the back surface of the contact portion 4 is filled, and the gap 7 may not be ring-shaped.

  Thus, the contact part 4 forms the recessed part along the own shape between the adsorption | suction surface 3 and the contact part 4. FIG. This recess is the gap 7. For example, when the contact portion 4 is provided at a predetermined distance from the suction surface 3, a portion corresponding to this distance becomes the gap 7.

  The gap 7 accommodates a deformed portion of the adsorption object 100. The adsorption object 100 is a deformable article such as a bag. When being sucked by the suction surface 3, the suction object 100 is deformed by the structure of the contact portion 4. At this time, the gap 7 exists in a direction substantially perpendicular to the suction pressure application direction of the adsorption object 100. On the other hand, the contact portion 4 protrudes in a direction substantially perpendicular to the suction pressure direction in front of the gap 7. As a result, the gap 7 forms a pocket in a direction substantially perpendicular to the suction pressure direction. For this reason, the deformation | transformation part of the adsorption | suction target object 100 is accommodated so that it may escape to this pocket.

  Thus, the space | gap 7 accommodates the deformation | transformation part of the adsorption | suction target object 100, and the adsorption tool 1 adsorb | sucks the adsorption | suction target object 100 three-dimensionally by the adsorption | suction surface 3, the space | gap 7, and the contact part 4 as above-mentioned. To do. Moreover, by accommodating the deformation | transformation part of the adsorption | suction target object 100 in the space | gap 7, this deformation | transformation part and the contact part 4 come to fit, and the adsorption | suction target object 100 becomes difficult to remove | deviate. In addition, wrinkles generated in the bag of the object to be sucked 100 are eliminated by the gap 7 and it is difficult to communicate with the suction surface 3. As a result, an air escape path is less likely to occur between the suction surface 3 and the surface of the suction target 100 in contact with the suction surface 3, and the suction force is not weakened. As a result, the adsorption power is further increased.

  Further, since the gap 7 accommodates the deformed portion of the suction target object 100 in a direction substantially perpendicular to the suction pressure direction, the suction tool 1 can also increase the suction force in the substantially vertical direction with respect to the suction target object 100. As a result, even when the adsorbing tool 1 moves the adsorbing object 100 in the horizontal direction or the like while adsorbing the adsorbing object 100, the adsorbing tool 1 is difficult to drop the adsorbing object 100.

(Void deformation example)
The gap 7 accommodates a deformed portion of the adsorption object 100. By this accommodation, the suction tool 1 improves the suction force with respect to the suction target object 100. For this reason, it is preferable that the volume of the deformation | transformation part of the adsorption | suction target object 100 which the space | gap 7 accommodates changes with the magnitude | sizes and characteristics of the adsorption | suction target object 100. FIG. For example, when the adsorption object 100 is large or heavy, it is preferable that the volume of the deformed portion accommodated in the gap 7 is large. On the other hand, when the adsorption object 100 is small or light, it is preferable that the volume of the deformed portion accommodated in the gap 7 is small.

  The volume of the deformed portion accommodated is determined by the volume of the gap 7. For this reason, it is also suitable that the space | gap 7 can change the volume so that the suction tool 1 can adsorb | suck various adsorption | suction object 100 efficiently. For example, the contact part 4 has a filling member whose shape is variable, and this filling member may change the volume of the gap 7. Of course, the filling member may change not only the volume of the gap 7 but also its shape. This is because even if the shape is changed, the suction force can be improved in accordance with various characteristics of the suction object 100.

  Thus, like the opening 41 of the contact portion 4, the gap 7 can be changed in shape and size, which is suitable for widening the variation of the suction device 1 yesterday. As a result, the suction tool 1 can reliably suck the suction target object 100 having various shapes and characteristics.

  As described above, the suction tool 1 according to Embodiment 1 can reliably suck various products and products. By being able to adsorb reliably, the adsorber 1 can reliably pick and move various products and products.

  (Embodiment 2)

  Next, a second embodiment will be described. In the second embodiment, a picking apparatus using the suction tool 1 described in the first embodiment will be described.

  FIG. 6 is a schematic diagram of a picking apparatus according to Embodiment 2 of the present invention. The picking device 50 of FIG. 6 includes the suction tool 1 described in the first embodiment. The suction tool 1 is connected to the suction device 30 through the pipe line 21. The suction device 30 applies suction air to the suction pipe 2 as a suction pressure. The suction tool 1 sucks the suction target object 100 by the suction pressure applied to the suction pipe 2. The picking device 50 can pick the suction object 100 by connecting the suction device 30 to the suction tool 1 through the pipe line 21. For example, the picking device 50 is a commodity or a product that flows on a conveyor line, and picks the suction object 100 that is a bag.

  At this time, as described in the first embodiment, the adsorbing tool 1 has an adsorbing force that can adsorb the adsorbing object 100 reliably and can cope with a moving pressure in the lateral direction and the like. For this reason, when the picking device 50 sucks the suction target object 100, the suction target object 100 is not missed. In addition, even when the picking device 50 moves the suction target object 100 to another position, the suction tool 1 hardly drops the suction target object 100 (the suction surface 3 is in contact). Since the surface of the object to be adsorbed 100 does not have air communication with the outside due to wrinkles or the like, the adsorbing surface 3 does not weaken the adsorbing force even if a lateral pressure is applied.

  As described above, the picking device 50 according to the second embodiment can reliably suck the sucked object 100 and move it to another position without dropping it.

  In addition, as shown in FIG. 6, the suction tool 1 is connected to the suction device 30 via the pipe line 21. The suction pipe 2 is fitted in the pipe 21 and can be moved up and down. The suction pipe 2 can be moved up and down with respect to the pipe 21 by the suction pressure applied from the suction device 30 through the pipe 21. For example, when a suction pressure is applied, the suction surface 3 that is the tip of the suction pipe 2 is raised so that the suction pipe 2 is sucked into the pipe 21. By this vertical movement, the picking device 50 can change the height of the suction tool 1 according to the height and thickness of the suction object 100. As a result, even if the height and thickness of the suction target object 100 are different, the picking device 50 does not press the suction target object 100 against the conveyor to break it or break the bag.

  Specifically, first, the picking device 50 makes the suction tool 1 (specifically, the suction surface 3) face the suction target object 100. For example, a control mechanism for controlling the position of the pipe line 21 (not shown; a general control mechanism used for a transporting machine such as a picking device or a machine tool may be used) controls the position of the pipe line 21. Thus, the suction surface 3 faces the suction target object 100.

  Next, the pipe line 21 starts to descend and brings the suction surface 3 into contact with the suction target object 100. When contacted, the suction device 30 starts suction, and the suction tool 1 starts suction of the suction target object 100. As described in the first embodiment, the suction tool 1 uses the suction surface 3, the gap 7, and the contact 4 to reliably suck the suction target object 100. Further, when pressure from the suction device 30 is applied to the pipe line 21, the suction pipe line 2 that can move up and down inside the pipe line 21 rises. In accordance with this rise, the sucked object 100 that has been sucked also starts to rise. Since the suction pressure continues to be applied even while the suction target 100 is rising, the suction tool 1 sucks the suction target 100 more strongly.

  Combined with the rise of the suction tool 1 and the increase in the degree of suction, the suction object 100 sucked by the suction tool 1 rises. After the ascent, the picking device 50 can also move the adsorption object 100 to a necessary position. As described above, when the picking object 50 is picked by the picking device 50, the suction tool 1 can be moved up and down and adjusted in height (because it can be moved up and down inside the pipe 21, the vertical movement and height adjustment can be performed. Is performed), picking according to the height and thickness of the adsorption object 100 is made possible. As a result, the picking device 50 (naturally the suction tool 1) does not strongly press the suction target object 100 against the conveyor surface, and therefore does not damage the suction target object 100 or break the bag.

Such a picking apparatus 1 can satisfy the following requirements.
(Requirement 1) Pick up the object flexibly even if the height and thickness of the object are not unified.
(Requirement 2) Do not cause deformation or cracks in the object.
(Request 3) After picking up an object, do not drop the adsorbed object even if there is acceleration / deceleration to move.

  It is also preferable that the picking device 50 has a gripping part that sandwiches the side surface of the suction object 100. Alternatively, it is also preferable that the picking device 50 further includes a restraining part that keeps other articles adjacent to the adsorption target object 100 downward.

  Picking and movement of the adsorption target object 100 by the picking device 50 including a gripping unit will be described. 7-9 is a side view which shows the state of the picking of the adsorption target object by the picking apparatus in Embodiment 2 of this invention. Each of FIG. 7 to FIG. 9 shows a series of operations from when the picking device 50 is applied to the adsorption object 100 to the adsorption object 50 until the adsorption object 100 is released at another position.

  The picking device 1 includes a pair of grip portions 51 at positions corresponding to both side surfaces of the suction tool 1. The grip 51 is applied to both side surfaces of the suction object 100. As a result, the gripping part 51 sandwiches both side surfaces of the suction object 100. In order to exhibit this function, it is also preferable that the gripping part 51 has a plate-like member at the portion applied to the suction object 100.

  FIG. 7 is a side view of the picking device 50 and shows a state in which the suction object 100 has not yet been picked. The suction tool 1 and the grip part 51 are connected to the mechanism part 52, and the mechanism part 52 operates the suction tool 1 and the grip part 51.

  First, as illustrated in FIG. 7, the picking device 50 causes the suction tool 1 to face the suction target object 100. At this time, the mechanism unit 52 adjusts the position of the suction tool 1 so that the suction surface 3 faces the suction target object 100. The suction surface 3 of the suction tool 1 is in a state of facing the suction target object 100. Since the picking device 50 is installed on a conveyor line or the like, the picking device 50 sets the suction target object 100 placed on the conveyor line or placed on the storage device as a picking target.

  Next, as shown in FIG. 8, the mechanism unit 52 applies the suction tool 1 to the suction target object 100. Since the suction tool 1 applies a suction pressure via the suction pipe 2, the suction target object 100 applied to the suction tool 1 is suctioned to the suction surface 3. At this time, as described in the first embodiment, the suction tool 1 sucks the suction object 100 in three dimensions by the suction surface 3, the gap 7, and the contact portion 4. For this reason, the suction tool 1 sucks the suction target object 100 with a strong suction force.

  Next, as shown in FIG. 9, the mechanism portion 52 narrows the facing distance between the pair of gripping portions 51 and sandwiches both side surfaces of the adsorption symmetry object 100. The picking device 50 sucks the suction object 100 with sufficient strength by the suction tool 1. Essentially, there is no problem even if the picking device 50 moves the suction object 100 to another position. However, the picking device 50 can prevent the fall more reliably because the gripping part 51 grips both side surfaces of the suction object 100.

  The picking device 50 moves the picked adsorption object 100 to another position as necessary. For example, it is moved in the horizontal direction. The picking device 50 can move the picked suction target object 100 while preventing the fall more reliably by gripping both side surfaces of the suction target object 100 sucked by the suction tool 1 with the gripping part 51. .

  As described above, the picking device 50 includes the grip portion 51, thereby more reliably picking the suction target object 100 and moving the picked suction target object 100 to another position.

  Further, as is clear from FIGS. 7 to 9, the suction conduit 2 rises by being sucked up by the conduit 21. Thus, the suction tool 1 can adjust the distance from the suction target object 100 or raise the suction target object 100.

  Next, the picking device 50 can release the picked object 100 by performing the reverse operation of FIGS. 7 to 9. For example, when the picking device 50 moves the suction target object 100 to a target position, the picking target object 100 can be released by first opening the grip 51 and then releasing the suction pressure to the suction tool 1. . By separating, for example, the adsorption object 100 can be placed on another conveyor line or a storage device.

  In addition, it is also suitable for the picking apparatus 50 demonstrated in FIGS. 7-9 to pick up the adsorption | suction target object 100 by raising / lowering the suction tool 1 or raising / lowering the mechanism part 52. As shown in FIG. Moreover, it is suitable that the adsorption target object 100 is a bag. Of course, the picking device 50 can pick even an object to be adsorbed other than a bag, but an article whose shape is more easily deformed, such as a bag, exhibits its effect.

  Note that the suction tool and the picking device described in the first and second embodiments are examples for explaining the gist of the present invention, and include modifications and alterations without departing from the gist of the present invention.

DESCRIPTION OF SYMBOLS 1 Adsorption tool 2 Suction pipe 3 Suction surface 4 Contact part 6 Overlapping area 7 Gap 21 Pipe 30 Suction device 50 Picking device 51 Gripping part 52 Mechanism part

Claims (19)

A suction line for applying suction pressure;
By the suction pressure from the suction pipe, the suction surface that faces the suction target object and sucks the suction target object;
A contact portion that protrudes toward the suction object side of the suction surface, and
The contact portion overlaps in an overlapping region, which is a partial region of the suction surface, in the direction in which the suction pressure is applied from the suction conduit.
At least a part of the overlapping region has an air gap that is concave in a direction substantially perpendicular to the direction in which the suction pressure is applied.   The suction tool according to claim 1, wherein a tip of the contact portion is closer to the suction object than the suction surface.   The suction tool according to claim 1, wherein the overlapping region is along an outer periphery of the suction surface. The adsorption surface is substantially circular or substantially elliptical,
The suction tool according to claim 3, wherein the contact portion overlaps the suction surface in a direction in which a suction pressure is applied in the overlapping region along the circular or elliptical circumferential portion. The contact portion has an opening communicating with the suction surface,
The suction tool according to claim 1, wherein the suction surface sucks the suction target object in the opening.   The said contact part is an adsorption tool in any one of Claim 1 to 5 which contacts the surface of the said adsorption target object except the said opening part.   The adsorbing tool according to claim 1, wherein the gap accommodates a deformed portion of the object to be adsorbed that is adsorbed on the adsorption surface and the contact portion.   The suction tool according to any one of claims 1 to 7, wherein the contact portion, the gap, and the suction surface are arranged in this order from the side close to the suction target along the suction pressure application direction.   The suction tool according to claim 5, wherein an area of the opening is variable.   The adsorbent according to any one of claims 1 to 9, wherein the void has a variable volume.   The suction tool according to claim 1, wherein the suction surface has a lattice-shaped opening. A suction line for applying suction pressure;
By the suction pressure from the suction pipe, the suction surface that faces the suction target object and sucks the suction target object;
A ring-shaped contact portion provided along the outer periphery of the suction surface,
The adsorption surface has a lattice-like opening,
The contact portion protrudes from the suction surface with respect to the suction object,
The said contact part is a suction tool which forms the recessed part along ring shape between the said suction surface and the said contact part.   The suction tool according to any one of claims 1 to 12, wherein the suction object is a bag. The adsorbent according to any one of claims 1 to 13,
A picking device comprising: a suction device connected to the suction pipe.   The picking apparatus according to claim 14, further comprising a gripping part that sandwiches a side surface of the suction object.   The picking device according to claim 14, further comprising a holding unit that holds down an article adjacent to the adsorption object in a downward direction. Further comprising a pipe line connecting the suction pipe provided in the suction tool and the suction device;
The suction pipe is fitted to the pipe so as to be movable up and down,
The picking device according to claim 14, wherein the suction tool moves up and down with respect to the pipe line by a suction pressure by the suction device. The pipe line lowers the suction tool to bring the suction surface into contact with the suction object,
Next, the suction device applies a suction pressure to the suction surface, and the suction tool sucks the suction object,
The picking device according to claim 17, wherein the suction device raises the suction tool by raising the suction conduit with respect to the conduit by suction pressure. A picking method for an object to be adsorbed using the picking apparatus according to claim 17,
Lowering the suction tool and bringing the suction surface into contact with the suction object;
The suction device applying suction pressure to the suction surface to cause the suction tool to suck the suction object;
The suction device raises a suction line relative to the line by a suction pressure;
A method of picking up an object to be adsorbed, comprising the step of raising and moving the object to be adsorbed in accordance with the rise of the suction pipe.