JP2015112664A - Workpiece suction device including bellows pad - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a workpiece suction device including bellows pads, capable of, even when a cycle time for picking and placing operations of a workpiece is short so that high acceleration acts on the workpiece, performing stable and reliable suction over all steps of the operations.SOLUTION: Provided is a workpiece suction device 1 including bellows pads 2 used in picking and placing a workpiece W having a non-planar surface, in which a suction unit G mounting the bellows pads 2 is provided with lip pressing members A that are arranged along the outer slopes of lips 4 of the bellows pads 2 while the workpiece W is sucked and lifted by the bellows pads 2. Even when high acceleration acts on the workpiece W, the workpiece W is not dropped and residual vibration of the bellows pads 2 is not generated, thereby making it possible to quickly and stably perform the picking and placing operations of the workpiece from a workpiece supply place to a workpiece transfer place.

Description

  The present invention relates to a workpiece suction device provided with a bellows-like pad used when picking and placing a workpiece having a non-planar surface. More specifically, the cycle time of pick and place work is short, and high acceleration acts on the workpiece. Even if it is a case, it is related with the workpiece | work adsorption | suction apparatus provided with the bellows-like pad which can perform stable and reliable adsorption | suction over all the processes of the said operation | work.

As an end effector used for robots that perform pick and place work to transfer workpieces (transferred objects), for workpieces with non-planar surfaces such as pillow packages or pouch packages, lip the surface of the workpiece. In many cases, a work suction device including a bellows-like pad whose bellows part can be deformed so that the part is along is used (see, for example, Patent Documents 1 and 2).
Pick-and-place work performed using a robot equipped with such a workpiece suction device is performed, for example, in the following steps (A) to (H).
(A) The bellows-like pad is moved to above the workpiece supply location.
(B) The bellows-like pad is lowered to a predetermined lowered position, and the lip portion of the bellows-like pad is brought into contact with the surface of the workpiece. In this state, since the bellows portion of the bellows-shaped pad is deformed, the lip portion adheres along the surface of the workpiece whose surface is not flat.
(C) The work is adsorbed to the lip portion by sucking vacuum (negative pressure).
(D) Raise the work together with the bellows-like pad to a predetermined raised position.
(E) The workpiece is moved in the horizontal direction to above the workpiece transfer position.
(F) Lower the work to a predetermined lowering position.
(G) The workpiece is separated from the lip portion of the bellows-like pad by breaking the vacuum.
(H) Raise the bellows-like pad to a predetermined raised position.
In addition, as a boxing device for boxing a workpiece at the workpiece transfer location, when packing a packaging pack in which the central portion in the plan view is swollen up and down and the side edge (peripheral portion) is lifted thinly, the adjacent packaging pack The side edges of each other are stored in the box so as to be overlapped with each other, thereby reducing wasteful space in the box and improving the storage efficiency (for example, Patent Document 3 and 4).

JP-A-6-320466 JP 2010-188465 A JP-A-64-84806 Japanese Patent No. 3703364

In addition to the bellows-like pad (bellows-type suction pad), the workpiece suction device (robot hand) provided with the bellows-like pad of Patent Document 2 includes a high-hardness suction pad inside the bellows-like pad, A fixing rod is provided on the outside, and with such a configuration, there is no occurrence of positional displacement due to lateral displacement or inclination of the attracted workpiece, and the workpiece can be securely held and fixed.
However, it is not an automobile assembly process that is the subject of the invention of Patent Document 2, but when used for an application where high acceleration acts on the workpiece with a short cycle time, such as pick-and-place work such as food, etc. There is a problem that stable and reliable adsorption cannot be performed over the entire work process. For example, in pick-and-place operations such as food, there is a high-speed articulated robot that employs a parallel link mechanism, and the movement time of about 500 mm in the lateral direction of the step (E) is about 0.1 seconds, This is because in such a work process, a very large acceleration acts on a workpiece (food, etc.).
In addition, it is necessary to manufacture a specially shaped suction pad with a high-hardness suction pad inside the bellows-like pad, and it is necessary to provide a fixed rod outside all the suction pads. In the workpiece suction device having a large number of the above, there is a problem that the weight increases and the cost increases.

Moreover, since the boxing apparatus of patent document 3 and 4 can be accommodated in a box in the state where the side edge part of the packaging pack was piled up so that it might overlap, storage efficiency can be improved.
However, since the boxing devices of Patent Documents 3 and 4 are for packing a bag filled with contents such as potato chips, the air is sealed so that the contents are not crushed because they are lightweight, and the bellows There is no need to use a pad.
In addition, in the boxing apparatus as in Patent Document 3 (FIG. 3), the step (E) of moving to the lateral method in which the cycle time as noted in the present invention is short and the high acceleration acts on the workpiece is performed. However, the boxing device as in Patent Document 4 (FIG. 3) has a turn corresponding to the step (E), but this boxing device is provided with a pivoting arm member and a vertical direction provided at the tip of the arm member. Support member, a lock mechanism that locks to the arm member at the raised position of the support member, a lifting mechanism that lifts and lowers the support member, and so on, such as a high-speed articulated robot that employs a parallel link mechanism. It does not operate with acceleration.

  Therefore, in view of the above-described situation, the present invention intends to solve the problem that the cycle time of pick-and-place work in a work suction device provided with a bellows-like pad used when pick-and-place a work whose surface is not flat is low. Even when the acceleration is short and high acceleration is applied, stable and reliable suction can be performed over the entire process, and the box can be packed so as to reduce the useless space in the box and increase the storage efficiency. The object is to provide a workpiece suction device including a bellows-like pad.

In order to solve the above problem, the workpiece suction device according to the present invention is a workpiece suction device provided with a bellows-like pad used when picking and placing a workpiece whose surface is not flat. The suction part to which the bellows-like pad is attached is provided with a lip presser along the outer inclined surface of the lip part of the bellows-like pad in a state where the workpiece is sucked and lifted by the bellows-like pad. .
According to such a configuration, since the workpiece having a non-planar surface is attracted and lifted by the bellows-like pad, the lip presser is provided along the outer inclined surface of the lip portion of the bellows-like pad. Since the horizontal deflection (deformation) of the pad is restricted, the workpiece can be conveyed while maintaining the state of the workpiece adsorbed stably and reliably while maintaining the posture of the workpiece adsorbed by the bellows-like pad.
Therefore, even when high acceleration is applied, there is no dropout of the workpiece or residual vibration of the bellows-like pad, so that the workpiece pick-and-place operation from the workpiece supply location to the workpiece transfer location can be performed quickly and stably. it can.

  In addition, in order to solve the above-described problem, the work suction device including the bellows-like pad according to the present invention picks up a work that is a continuous product in which a plurality of packaging parts whose surfaces are not flat are connected by a belt-like connection part. A work suction device provided with a bellows-like pad used when placing and boxing, wherein a plurality of suction parts to which the bellows-like pad is attached are provided according to the number of packaging parts of the continuous packaged item, Each of the plurality of suction portions includes a lip presser along the outer inclined surface of the lip portion of the bellows-like pad in a state where the workpiece is sucked and lifted by the bellows-like pad, and adjacent to the plurality of suction portions. Drive at least one of the objects to be folded, and fold back so that the connecting part between adjacent packaging parts is moved onto one adjacent packaging part, and the edges of the adjacent packaging parts are Characterized in that it is provided with a width positioning mechanism that asked width so as to match it.

According to such a structure, the said workpiece | work part which is the continuous goods which connected between the some packaging parts whose surface is not flat by the strip | belt-shaped connection part is adsorbed by the bellows-like pad of a some adsorption | suction part, and the said workpiece | work is attracted | sucked. Since the lip presser is provided along the outer inclined surface of the lip portion of the bellows-like pad in a state where the bellows is lifted, the lateral vibration (deformation) of the bellows-like pad due to the accelerating force is restricted, so that it is adsorbed by the bellows-like pad. The workpiece can be conveyed while maintaining a stable and reliable state while maintaining the posture of the workpiece.
Therefore, even if high acceleration is applied, there is no dropout of the workpiece or residual vibration of the bellows-like pad, so the work of picking and placing the workpiece from the workpiece supply location to the workpiece transfer location can be done quickly and stably. It can be carried out.
In addition, at least one of the adjoining ones of the plurality of adsorbing parts is driven so that the connecting part between the adjacent packaging parts is folded over to move onto the adjacent one of the packaging parts, Since it is equipped with a width-shifting mechanism that allows the edges to overlap each other, the work that is the packaged product can be accommodated in multiple stages in the upper and lower stages in the state where the work is widened, thus eliminating the wasteful space in the box. The storage efficiency can be increased by reducing the number.

Here, the lip presser is at least three tongue pieces projecting obliquely upward and inward from the periphery of the round hole formed in the horizontal flat plate of the suction portion, and is formed by sheet metal pressing. And preferred.
According to such a configuration, the lip presser is formed by sheet metal pressing as at least three tongue pieces projecting obliquely upward and inward from the periphery of the round hole formed in the horizontal flat plate, thereby reducing the manufacturing cost. And the inclination angle of the tongue can be adjusted.

Further, it is more preferable that a plurality of the bellows-like pads are attached to the suction portion and the lip presser is provided on each of the bellows-like pads.
According to such a configuration, since the plurality of bellows-like pads attached to the suction portion are supported by the lip presser, the lip portions of the plurality of bellows-like pads are held at substantially the same height. The workpiece adsorbed on the lip portion is held in a substantially horizontal posture, and the posture of the workpiece is not lost throughout the entire pick and place operation.

As described above, according to the workpiece suction device including the bellows-like pad according to the present invention,
(A) The structure with a lip presser prevents the workpiece from dropping off or the vibration of the bellows-like pad even when high acceleration is applied. Therefore, the workpiece can be picked and placed from the workpiece supply location to the workpiece transfer location. That it can be done quickly and stably,
(A) In the case of having the width adjusting mechanism, the work as the above-mentioned packaged product can be accommodated in the upper and lower stages in the state in which the work is width-adjusted, thereby reducing the useless space in the box and increasing the storage efficiency. Can
There are remarkable effects such as.

It is a principal part expansion longitudinal section front view of the workpiece | work adsorption | suction apparatus provided with the bellows-like pad which concerns on Embodiment 1 of this invention, and has shown the state which made the lip | rip part of the bellows-like pad contact the workpiece | work on a conveyor. . Similarly it is a principal part expansion part longitudinal section front view, and has shown the state where the work was adsorbed and lifted. It is a top view of a workpiece | work adsorption | suction apparatus. It is a perspective view of the guide part which comprises an adsorption | suction part. It is a partial vertical front view of the workpiece | work adsorption | suction apparatus provided with the bellows-like pad which concerns on Embodiment 2 of this invention. Similarly, it is a partially vertical front view, (a) shows a state where a work as a packaged item is adsorbed, and (b) shows a state where the work is lifted. Similarly, it is a partial longitudinal sectional front view, and shows a state where the workpiece has been raised to a predetermined raised position and is brought closer by a width adjusting mechanism. Similarly, it is a partially longitudinal front view, (a) is in a state of being lowered to accommodate the work in the box, (b) is a state after the work is lowered to a predetermined lowered position and accommodated in the box. The state which has lifted the workpiece suction device is shown. It is a fragmentary longitudinal cross-sectional view which shows the state which accommodated the workpiece | work which is a continuous package item in the upper and lower multistage in the box.

Next, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments shown in the accompanying drawings, and includes all the embodiments that satisfy the requirements described in the claims. It is a waste.
In addition, in FIGS. 1-3 and FIGS. 5-8, description of piping, a filter, a vacuum valve, an ejector, a vacuum pump, etc. is abbreviate | omitted.

<Embodiment 1>
The workpiece suction device 1 having the bellows-like pad according to the first embodiment of the present invention shown in the principal part enlarged partial longitudinal front view of FIGS. 1 and 2 and the plan view of FIG. 3 adopts a parallel link mechanism. As an end effector of a high-speed transfer robot such as an articulated robot, a workpiece such as a pillow package or pouch package with a non-planar surface (transferred) with the mounting flange 1A (see FIG. 3) attached to the flange at the tip of the robot Mounted) Used for pick-and-place work (for example, see steps (A) to (H)) of W (mass is about 100 g to 1 kg).
In this pick-and-place operation, for example, workpieces W, W,... That are randomly loaded on the supply conveyor C are picked up by the workpiece suction device 1 by visual tracking and lifted, and on the delivery conveyor by visual tracking. It will be transferred to a cardboard box and packed.

Four bellows-like pads 2, 2,... (See FIG. 3) are attached to the base 5 of the suction part G of the workpiece suction device 1, and a guide part 6 is attached to the base 5.
Note that the number of the bellows-like pads 2 provided in the suction portion G may be one depending on the application, and is determined by the target work and the work content.
As shown in the perspective view of FIG. 4, four round holes 8, 8,... Are formed on the horizontal flat plate 7 of the guide portion 6 at positions corresponding to the four bellows-like pads 2, 2,. In addition, four tongue pieces 9, 9,... Protrude from the periphery of each round hole 8 diagonally upward and inward equally in the circumferential direction.
The tongue pieces 9, 9,... Are lip portions 4, 4,... Of the bellows-like pads 2, 2,. A lip presser A is formed along the outer inclined surface of.

The number of the tongue pieces 9 constituting the lip presser A may be at least three (three or more), for example, equally formed in the circumferential direction. The lip presser A is not a tongue piece 9, 9,. An annular shape such as a trapezoidal plate material may be used, and the lip presser A is along the outer inclined surface of the lip portion 4 of the bellows-like pad 2 in a state where the workpiece W is attracted and lifted by the bellows-like pad 2. Anything is acceptable.
Here, since the guide portion 6 including the tongue pieces 9, 9,... Is formed as a single piece by sheet metal pressing such as a stainless steel plate or an aluminum alloy plate, the manufacturing cost can be reduced, and the tongue pieces 9, It is possible to adjust the inclination angle of 9,.
The tongue pieces 9, 9,..., Which are the lip presser A, or a truncated conical plate material or the like may be manufactured separately as a synthetic resin and then attached to the main body portion of the guide portion 6.

As shown in FIG. 1, when the lip portions 4, 4,... Of the bellows-like pads 2, 2,. Are deformed, the lip portions 4, 4,... Are in close contact with the surface of the workpiece W whose surface is not flat.
In this state, when the vacuum valve is turned on and vacuum (negative pressure) is sucked, the workpiece W is attracted to the lip portions 4, 4,..., So that the robot can lift the workpiece W as shown in FIG. Yes (see step (D) above).

Here, as shown in FIG. 1, after the lip portions 4, 4,... Are brought into contact with the surface (upper surface) of the work W, the moment when the vacuum is reached, the work W is pressed from above. The outer surfaces of the lip portions 4, 4,... Are flat (as shown in FIG. 6A).
Thereafter, when a picking operation for lifting the workpiece W (see step (D)) is performed as shown in FIG. 2, the outer surfaces of the lip portions 4, 4,... It becomes the inclined surface of the truncated cone shape as shown.

  Next, the details of the operational effects of the lip pressers A, A,... In the configuration in which the suction part G of the workpiece suction device 1 is provided with a plurality of bellows-like pads 2, 2,. A case where G has four bellows-like pads 2, 2,.

(Stability of height during adsorption)
When the lip portions 4, 4,... Of the bellows-like pads 2, 2,... Are in contact with the surface (upper surface) of the workpiece W as shown in FIG. The bellows portions 3, 3,... Of the bellows-like pads 2, 2,... Shrink as shown in FIG.
At that time, the lip portions 4, 4,... Are supported by lip pressers A, A,... Along their outer inclined surfaces, and the lip portions 4, 4,. Are held at substantially the same height, the workpiece W adsorbed by the lip portions 4, 4,... Is held in a substantially horizontal posture.

Here, the flat plate 7 of the guide portion 6 does not have the tongue pieces 9, 9,... As the lip presser A, and the flat plate 7 has a round hole (having a smaller diameter than the round hole 8 and abutting the outer inclined surface of the lip portion 4. In the case of using the workpiece adsorbing device formed only with a), the contraction dimensions of the bellows portions 3, 3,... Of the bellows-like pads 2, 2,. Adsorption becomes unstable.
Further, in the configuration in which only the round hole is formed in the flat plate 7, setting of the round hole diameter with respect to the pad diameter is difficult because the conditions vary depending on the target workpiece. For example, if the round hole diameter is set too large with respect to the pad diameter, the wrinkles of the bag-like workpiece W will increase, so the degree of drooping of the workpiece W will also increase and the suction will not be stable, When the hole diameter is set to a marginal size, the shrinkage allowance of the bellows portions 3, 3,... Varies, so the workpiece W is pulled upward at the boundary with the surface of the flat plate 7, and the bag wrinkles increase. For this reason, it becomes a factor of vacuum leakage and adsorption is not stable.

(Prevents lateral vibration during suction transfer)
For applications requiring high-speed conveyance in which the cycle time of the pick-and-place operation is, for example, 1 second or less, there is a case where the moving time of about 500 mm in the lateral direction of the step (E) is about 0.1 seconds.
In the state where the workpiece W is lifted as shown in FIG. 2, the outer surfaces of the lip portions 4, 4,... Are arranged along the outer inclined surfaces of the lip portions 4, 4,.
Therefore, also when the lateral high-speed movement to the upper part of the workpiece transfer location (see the step (E)) is performed, lateral vibration (deformation) of the bellows-like pads 2, 2,. Therefore, the workpiece W can be transported while maintaining the state of sucking the workpiece W stably and reliably while maintaining the posture of the workpiece W held by the bellows-like pads 2, 2,.

  Here, the flat plate 7 of the guide portion 6 does not have the tongue pieces 9, 9,... As the lip presser A, and the flat plate 7 has a round hole (having a smaller diameter than the round hole 8 and abutting the outer inclined surface of the lip portion 4. ) Is used, the bellows-like pads 2, 2,... Are laterally shaken (deformed) due to the acceleration force during lateral movement, and the bag-like workpiece W has large wrinkles on the surface. Since the drooping of W also increases, the workpiece W often drops off from the bellows-like pads 2, 2,. Further, since not only the lateral movement but also the rotation around the vertical axis is applied in order to align the supply direction of the work W, the wrinkles on the surface of the work W are larger and the drooping of the work W becomes larger, so that the suction state is further deteriorated. , Stable operation can not be expected.

For example, in an example of a pick-and-place operation performed by attaching a work suction device in which only a round hole is formed in the flat plate 7 to a high-speed transfer robot, the speed setting (maximum 10,000 mm / s) of the robot is set to 3000 to 4000 mm / If it is set to s, the adsorption | suction at the time of conveyance will become unstable and the workpiece | work W will have fallen frequently.
On the other hand, in the example of the work performed using the workpiece suction device 1 having the lip presser A (tongue pieces 9, 9,...) As in the present embodiment, the speed setting of the robot is set to 8500 mm. / S was also stable during conveyance, and the workpiece W did not fall off.

As described above, according to the workpiece suction device 1 of the present embodiment, the workpiece W does not collapse during the entire pick-and-place process, and even if high acceleration is applied, the workpiece W is dropped or the bellows-like pad 2 is used. Since there is no residual vibration of, 2,..., The pick-and-place operation of the workpiece W from the workpiece supply location to the workpiece transfer location can be performed quickly and stably.
In addition, if the pad diameter is increased too much to increase the suction force, the pad will become unfamiliar with the work, so an appropriate pad diameter and pad layout are required. With the configuration including A,..., The bellows-like pads 2, 2,.

<Embodiment 2>
As shown in the partial longitudinal sectional front views of FIGS. 5 to 8, the workpiece suction device 1 including the bellows-like pad according to the second embodiment of the present invention has a belt-like shape between two packaging parts D1 and D2 whose surfaces are not flat. The workpiece W which is a continuous product connected by the connecting portion E is provided with two suction portions G1 and G2 similar to the suction portion G in the workpiece suction device 1 of the first embodiment. .
In addition, the workpiece suction device 1 moves the connecting portion E onto the packaging portion D1 in a state where the packaging portion D1 is attracted by the suction portion G1 and the packaging portion D2 is attracted by the suction portion G2 (see, for example, FIG. 6). It is provided with a width adjusting mechanism F that is folded back so that the edges of the adjacent packaging portions D1, D2 overlap each other (see, for example, FIG. 7).
The width adjusting mechanism F is composed of a pair of air slide tables 10 and 10 that are inclined and arranged in parallel. Since the air slide tables 10 and 10 support the suction portions G1 and G2, the air slide table 10 and 10 By driving 10, it is possible to switch between the state before the width alignment shown in FIGS. 5 and 6 and the state after the width alignment shown in FIGS. 7 and 8.

Next, an example of an operation of picking and placing the work W, which is the packaged product, using the work suction device 1 and packing it will be described.
In this pick-and-place operation, workpieces W, W,..., Which are the packaged items that are randomly loaded on the supply conveyor C, are picked up and lifted by the workpiece suction device 1 by visual tracking, and visual tracking is performed. Are transferred to the box B on the payout conveyor and packed in a box.

From the standby state shown in FIG. 5, the workpiece suction device 1 is moved above the workpiece W by the robot (see step A), and the workpiece suction device 1 is lowered to a predetermined lowered position, as shown in FIG. The adsorbing part G1 adsorbs the packaging part D1, and the adsorbing part G2 adsorbs the packaging part D2 (see the above-mentioned steps B and C).
Next, the workpiece W is lifted as shown in FIG. 6 (b), and the workpiece W is moved up to the predetermined lift position as shown in FIG.
Next, the workpiece is moved laterally up to above the workpiece transfer location (see step E), and the workpiece W is lowered into the box B as shown in FIG. 8A (see step F).
After the workpiece W is separated from the suction portions G1 and G2 by turning off the vacuum valve at a predetermined lowering position of the workpiece to break the vacuum (see the process G), the workpiece suction device as shown in FIG. 1 is raised to a predetermined elevated position (see step H).

By repeating the above operation, as shown in FIG. 9, the workpieces W, W,..., Which are connected products in which the two packaging parts D1 and D2 are connected by the belt-like connection part E, are brought closer to each other. Thus, since the box B is housed in multiple stages, it is possible to reduce the useless space in the box B and increase the housing efficiency.
In addition, since the workpiece suction device 1 according to the present embodiment also includes the lip presser A similar to that of the workpiece suction device 1 according to the first embodiment (see FIG. 5), even if high acceleration is applied, the workpiece W , And the residual vibration of the bellows-like pads 2, 2,... Can be quickly and stably carried out for boxing the workpieces W, W,.

In the above explanation, the case where the packaged item is one in which the two packaging parts D1 and D2 whose surfaces are not flat is connected by the belt-like connecting part E is shown. As what has a packaging part, it is good also as what connected between adjacent packaging parts by the strip | belt-shaped connection part, and the said adsorption | suction part with which the bellows-like pad was mounted | worn is provided according to the number of packaging parts.
In the above description, for example, as the width adjusting mechanism shown in FIG. 5, the case where both the suction portions G1 and G2 are driven by the actuators (air slide tables 10 and 10) is shown. You may make it drive only one of the adsorption | suction parts to perform.
That is, the width adjusting mechanism F drives at least one of the adjoining ones of the plurality of adsorbing portions, and turns back and moves the connecting portion between the adjacent packaging portions onto the adjacent one of the packaging portions. The width of the wrapping part is adjusted so as to overlap each other.
Furthermore, in the above description, the case where the width adjusting mechanism is driven in the step of moving the workpiece W within the step of raising the workpiece W to a predetermined lift position has been described. Since the work W may be performed before entering the upper part of the box B, the process may be performed other than the step of raising the work W to a predetermined lift position.

A Lip presser B Box C Supply conveyor D1, D2 Packaging part E Connection part F Width-adjusting mechanism G, G1, G2 Suction part W Workpiece (transferred object)
DESCRIPTION OF SYMBOLS 1 Work adsorption | suction apparatus 1A Mounting flange 2 Bellows-like pad 3 Bellows part 4 Lip part 5 Base part 6 Guide part 7 Flat plate 8 Round hole 9 Tongue piece 10 Air slide table

Claims (4)

A workpiece suction device having a bellows-like pad used when picking and placing a workpiece whose surface is not flat,
The suction part to which the bellows-like pad is attached is provided with a lip presser along the outer inclined surface of the lip part of the bellows-like pad in a state where the workpiece is sucked and lifted by the bellows-like pad. Work suction device equipped with a bellows-like pad. A workpiece suction device provided with a bellows-like pad used when picking and placing a workpiece which is a continuous product in which a plurality of packaging parts whose surfaces are not flat are connected by a belt-like connecting part,
A plurality of suction parts to which the bellows-like pads are attached are provided in accordance with the number of packaging parts of the continuous packaged item, and the work is sucked and lifted by the bellows-like pads to each of the plurality of suction parts. And a lip presser along the outer inclined surface of the lip portion of the bellows-shaped pad,
Drive at least one of the adjoining ones of the plurality of adsorbing portions to fold the connecting portion between adjacent packaging portions so as to move onto one of the adjacent packaging portions, and end of the adjacent packaging portion A work suction device provided with a bellows-like pad, characterized by comprising a width-shifting mechanism for bringing the edges together so as to overlap each other.   2. The lip presser is at least three tongue pieces projecting obliquely upward and inward from the periphery of a round hole formed in a horizontal flat plate of the suction portion, and is formed by sheet metal pressing. Or the workpiece | work adsorption | suction apparatus provided with the bellows-like pad of 2 description. A work suction comprising the bellows-like pad according to any one of claims 1 to 3, wherein a plurality of the bellows-like pads are mounted on the suction portion, and each of the bellows-like pads is provided with the lip presser. apparatus.

Images