JP2023001991A - Hand unit and handling device - Google Patents

Abstract

To allow a conveyance article to be supported from the sides during horizontal movement, and to allow the conveyance article to be placed without a gap relative to an adjacent article, in a hand unit and a handling device.SOLUTION: A hand unit 1c comprising suction units 1e provided with suction sponges 1e2 for suctioning a top surface of a case X, is equipped with: lateral surface abutting parts 1h capable of abutting on lateral surfaces of the case X; and posture change driving parts 1i for changing the posture of the lateral surface abutting parts 1h to an abutting posture for abutting on the lateral surfaces of the case X, and a storage posture in which the whole lateral surface abutting parts are disposed above the suction units 1e and disposed on the inner side of the suction units 1e than edge parts 1e3 of the suction units 1e in plan view.SELECTED DRAWING: Figure 3

Description

The present invention relates to hand units and handling devices.

2. Description of the Related Art In physical distribution facilities and the like, a handling device is installed that supports and transfers an object to be conveyed by suction. The handling device is provided with a hand unit having a suction pad, as disclosed in Patent Document 1, for example. Such a handling device performs, for example, depalletizing, in which articles stacked on pallets or the like are separated one by one, and palletizing, in which articles are stacked on pallets or the like.

JP-A-10-309686

By the way, when a handling device horizontally moves a conveyed object, an inertial force acts on the conveyed object. If only the top surface of the conveyed object is sucked and supported, the inertial force may cause the conveyed object to come off the handling device. For example, Patent Literature 1 discloses a clamp body that laterally supports an object to be conveyed. By laterally supporting the article to be conveyed on which the inertial force acts by the clamping body, it is possible to prevent the article from coming off the handling device.

However, when the clamp body as in Patent Document 1 is provided, it is necessary to provide a gap between the transported object and the adjacent object so that the clamp body can be arranged. For this reason, when a clamp body is provided, it is not possible to arrange the objects to be conveyed horizontally on a pallet or the like without any gaps, or to arrange the objects to be conveyed against the walls of the carriage without any gaps. will lead to a decline in

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems. The purpose is to

The present invention employs the following configurations as means for solving the above problems.

A first aspect of the present invention is a hand unit provided with a suction unit provided with a top surface suction portion for suctioning a top surface of an object to be conveyed, the side contact portion capable of coming into contact with the side surface of the object to be conveyed. and the side contact portion is arranged in a contact posture of contacting the side surface of the conveyed object, and is arranged above the suction unit and inside the suction unit from the edge portion of the suction unit in plan view. A configuration is adopted in which a housing posture in which the whole is arranged and a posture changing portion that changes the posture are provided.

According to a second aspect of the present invention, in the first aspect, the side surface contact portion includes a contact pad that contacts a side surface of the conveyed object, and the suction unit is fixed while the contact pad is fixed. and an arm rotatably connected to the arm, and the posture changing portion rotates the arm to change the posture of the side contact portion.

According to a third aspect of the present invention, in the second aspect, the contact pad is capable of sucking the side surface of the conveyed object.

According to a fourth aspect of the present invention, in the third aspect, the side contact portion is brought into contact with the suction unit from the side in the contact posture.

According to a fifth aspect of the present invention, in any one of the first to fourth aspects, a base supporting the suction unit from above and a slide connecting the suction unit to the base so as to be horizontally movable are provided. A configuration including a support mechanism and a horizontal position changing section that horizontally moves the suction unit with respect to the base is adopted.

According to a sixth aspect of the present invention, in any one of the first to fifth aspects, a plurality of the side contact portions are provided.

A seventh aspect of the present invention employs a configuration in which, in the sixth aspect, a plurality of the suction units are provided, and the side contact portion and the posture changing portion are provided for each suction unit.

An eighth aspect of the present invention is a handling device that employs a configuration including the hand unit according to any one of the first to seventh aspects and a moving device for moving the hand unit.

According to the present invention, the side surface abutting portion is provided which can abut against the side surface of the article to be conveyed. For this reason, it becomes possible to support the conveyed article from the side when conveying the conveyed article horizontally. Further, in the present invention, the side abutting portion is arranged in a contact posture in which it abuts on the side surface of the conveyed object, and is arranged above the suction unit and inside the suction unit from the edge of the suction unit in a plan view. It is possible to change the posture to the accommodation posture in which the whole is arranged. For this reason, when the article to be conveyed is arranged adjacent to the adjacent article, it is possible to arrange the article to be conveyed with respect to the adjacent article without any gap by setting the side contact portion in the accommodating posture. In addition, by setting the side abutting portion in the accommodated posture, it is possible to suck and support the conveyed object that is arranged without gaps with respect to the adjacent object. Therefore, according to the present invention, in the hand unit and the handling device, it is possible to support the article to be conveyed from the side during horizontal movement, and to arrange the article to be conveyed with respect to adjacent articles without gaps.

BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic block diagram of the conveyance system containing the handling apparatus in one Embodiment of this invention, (a) is a side view, (b) is a top view. 1 is a functional block diagram showing a schematic configuration of a transport system including a handling device according to one embodiment of the present invention; FIG. FIG. 2 is a front view schematically showing a hand unit included in the handling device according to one embodiment of the present invention; FIG. 4 is a side view schematically showing a hand unit included in the handling device according to one embodiment of the present invention; FIG. 4 is a schematic diagram for explaining the operation of a hand unit included in the handling device according to one embodiment of the present invention; FIG. 4 is a side view schematically showing a modified example of a hand unit included in the handling device according to one embodiment of the present invention;

An embodiment of a hand unit and a handling device according to the present invention will be described below with reference to the drawings.

1A and 1B are schematic configuration diagrams of a transport system S including a handling device 1 of the present embodiment, where (a) is a side view and (b) is a plan view. 2 is a functional block diagram showing a schematic configuration of the transport system S. As shown in FIG. The conveying system S of this embodiment performs depalletizing in which the cases X (conveyed goods) stacked on the pallet P are separated and transferred onto the conveyor C. As shown in FIG. The transfer destination of the case X is not limited to the conveyor C, and may be a transfer space or the like for transferring the case X to another handling device. Further, the member on which the cases X are stacked is not limited to the pallet P, and may be a cart for transportation or the like.

Further, the transport system S is not limited to one that performs depalletizing. For example, it is also possible to use the transfer system S for container conversion in which the case X is separated from the original pallet or carrier and transferred to another pallet or carrier. Further, it is also possible to use the transport system S for palletizing in which the cases X are stacked on a pallet, a cart for operation, or the like. Further, it is also possible to use the transport system S for vanning (loading) of unloading the case X from a truck or container and devanning (loading) of the case X onto the truck or container.

As shown in FIGS. 1 and 2, the transport system S includes a handling device 1, a negative pressure supply section 2, a sensor 3 (see FIG. 2), and a control device 4. As shown in FIG. The handling device 1 of this embodiment is an industrial robot that moves by sucking and supporting a case X. As shown in FIG. and

The base 1a is a base for supporting the articulated arm unit 1b. The articulated arm unit 1b includes a plurality of arms that are tiltably connected to each other by joints. Such an articulated arm unit 1b has a base portion connected to the base 1a so as to be tiltable and rotatable, and a tip portion connected to the hand unit 1c.

The articulated arm unit 1b also includes a drive mechanism (not shown). The drive mechanism is a mechanism for changing the posture of the articulated arm unit 1b, and includes a turning motor for turning the articulated arm unit 1b about a turning axis passing through the approximate center of the base 1a, a joint part, and the like. and includes a drive motor and the like for tilting the arm. A swing motor and a drive motor included in the arm driving section are accommodated, for example, in the case of the articulated arm unit 1b.

The hand unit 1c is attached to the tip of the articulated arm unit 1b and is moved by the articulated arm unit 1b. FIG. 3 is a front view schematically showing the hand unit 1c. FIG. 4 is a side view schematically showing the hand unit 1c, viewed in the direction of arrow A in FIG. The posture of the hand unit 1c can be arbitrarily changed by the articulated arm unit 1b. ) as the reference posture.

As shown in FIG. 3, the hand unit 1c includes a base portion 1d, a suction unit 1e, a slide support mechanism 1f, a slide drive portion 1g (horizontal position change portion), a side contact portion 1h, and an attitude change drive portion. It has 1i (posture changing section) and an attaching/detaching section 1j. In this embodiment, two suction units 1e are provided, and each suction unit 1e is provided with a side contact portion 1h and an attitude change driving portion 1i.

The base portion 1d is a rigid member that supports the suction unit 1e, the slide support mechanism 1f, the slide drive portion 1g, the side contact portion 1h, the attitude change drive portion 1i, and the attachment/detachment portion 1j. The suction unit 1e is fixed to the lower surface of the base 1d in the reference posture. In this embodiment, two adsorption units 1e are provided. As shown in FIG. 3, a gap is provided between the adsorption units 1e.

Each suction unit 1e includes a base member 1e1 and a suction sponge 1e2 (top surface suction portion), as shown in FIG. The base member 1e1 is a member that is fixed to the base portion 1d and that has a suction sponge 1e2 attached to the lower surface thereof in the standard posture. That is, the base member 1e1 supports the suction sponge 1e2. The suction sponge 1e2 is a portion that directly abuts against the upper surface (top surface) of the case X, and is made of, for example, a resin material having cushioning properties. The bottom surface of the suction sponge 1e2 is a planar suction surface M that is horizontal in the standard posture.

In this embodiment, the suction sponge 1e2 is provided with a plurality of penetrating portions that penetrate vertically and are connected to the suction surface M. As shown in FIG. These penetrating portions are arranged in a grid pattern in plan view. The negative pressure generated by the negative pressure supply section 2 is supplied to this through portion. When the suction surface M is in contact with the upper surface of the case X, a negative pressure is supplied to the through portion of the suction sponge 1e2, so that the upper surface of the case X is attracted to the suction sponge 1e2.

In addition, in this embodiment, the suction sponge 1e2 is provided with a plurality of through portions. However, a plurality of individual suction pads may be provided so as to correspond to each through-hole. Further, it is desirable to configure such that negative pressure is not supplied to those of the through portions or individually provided suction pads that are not in contact with the upper surface of the case X. FIG.

The slide support mechanism 1f is a mechanism that connects the suction unit 1e to the base 1d so as to be horizontally movable. The slide support mechanism 1f has, for example, a rail fixed to the base 1d and a moving body fixed to the suction unit 1e and moved along the rail. With such a slide support mechanism 1f, each of the two suction units 1e can move along the same horizontal axis.

FIG. 5 is a schematic diagram for explaining the operation of the hand unit 1c included in the handling device 1 of this embodiment. As shown in this figure, by moving the two suction units 1e in opposite directions, it is possible to bring the two suction units 1e close to each other or separate them.

The slide driving section 1g generates power to horizontally move the adsorption unit 1e, and transmits the generated power to the adsorption unit 1e to horizontally move the adsorption unit 1e with respect to the base 1d. Such a slide drive section 1g includes, for example, a motor that generates power and a transmission gear that transmits power to the motor and the adsorption unit 1e.

The side contact portion 1h is a member capable of coming into contact with the side surface of the case X. As shown in FIG. In this embodiment, the side contact portion 1h is provided for each suction unit 1e. That is, two (a plurality of) suction units 1e are provided, and the side contact portion 1h is provided for each suction unit 1e.

Each side contact portion 1h includes a contact pad 1h1 that contacts the side surface of the case X, and an arm 1h2 to which the contact pad 1h1 is fixed and rotatably connected to the suction unit 1e. I have it.

The contact pad 1h1 is a suction pad that can be suctioned to the side surface of the case X. As shown in FIG. The contact pad 1h1 is attracted to the side surface of the case X by being supplied with negative pressure from the negative pressure supply section 2. As shown in FIG. As shown in FIG. 4, the contact pad 1h1 extends horizontally.

The arm 1h2 has a contact pad 1h1 fixed to its tip, and a base connected to the posture changing drive section 1i. As shown in FIG. 4, the arm 1h2 is provided for each of one end and the other end of the horizontally extending contact pad 1h1. That is, two arms 1h2 are provided for one contact pad 1h1. However, it is also possible to adopt a configuration in which one arm 1h2 is provided for one contact pad 1h1. In this embodiment, as shown in FIG. 3, each arm 1h2 is formed in an L shape by being bent at a midpoint.

In the present embodiment, the arm 1h2 is rotatable around the base connected to the posture changing drive section 1i. In other words, as shown in FIG. 3, the side contact portion 1h is provided so as to be rotatable about the root portion of the arm 1h2.

The posture change driving portion 1i is connected to the arm 1h2, and changes the posture of the side contact portion 1h by rotating the arm 1h2. The attitude change driving section 1i is fixed to the base member 1e1 of the suction unit 1e, and in this embodiment, one is provided for one arm 1h2. Such an attitude change drive section 1i is provided for each suction unit 1e. Each of these posture changing drive portions 1i includes, for example, a motor that generates power and a power transmission portion that transmits the power generated by the motor to the side contact portion 1h.

Such a posture change driving portion 1i changes the posture of the side contact portion 1h between the contact posture (the posture indicated by the solid line in FIG. 3) and the accommodation posture (the posture indicated by the two-dot chain line in FIG. 3). change. The contact posture is a posture in which the side contact portion 1h contacts the side surface of the case X. As shown in FIG. In this contact posture, the contact pad 1h1 is positioned below the suction surface M of the suction unit 1e, and can contact the side surface of the case X that is sucked by the suction surface M. In such a contact posture, the contact pad 1h1 is arranged outside the suction unit 1e (the side farther from the center position of the hand unit 1c) in plan view.

In addition, the accommodation posture is a posture in which the side contact portion 1h is arranged above the adsorption unit 1e and the whole is arranged inside the adsorption unit 1e from the edge portion 1e3 of the adsorption unit 1e in plan view. In this accommodated posture, the contact pad 1h1 is located above the suction unit 1e, and in a plan view, the contact pad 1h1 is located inside (closer to the center position of the hand unit 1c) than the edge 1e3 of the suction unit 1e. ).

In the contact posture, the arm 1h2 of the side contact portion 1h contacts the edge portion 1e3 of the suction unit 1e from the side. Since the arm 1h2 contacts the edge 1e3 of the suction unit 1e from the side in this manner, the rotation of the side contact portion 1h in the contact posture is restricted. In other words, in the contact posture, the contact pad 1h1 of the side contact portion 1h is prevented from entering the edge portion 1e3 of the suction unit 1e below the suction unit 1e.

The detachable portion 1j is a portion detachably attached to the distal end portion of the articulated arm unit 1b, and is connected to the upper portion of the base portion 1d in the standard posture. Such an attachment/detachment portion 1j constitutes a so-called tool changer together with the distal end portion of the articulated arm unit 1b.

As shown in FIGS. 1 and 2, the negative pressure supply section 2 generates negative pressure and supplies the negative pressure to the adsorption unit 1e. Further, the negative pressure supply section 2 is connected to the control device 4, and under the control of the control device 4, supplies negative pressure to the suction unit 1e and the side contact portion 1h. Note that when negative pressure is generated in a factory or the like where the handling device 1 is installed, the negative pressure supply unit 2 does not generate negative pressure and applies the negative pressure supplied from the outside to the adsorption unit 1e and the suction unit 1e. It may be supplied to the side contact portion 1h.

Under the control of the control device 4, the negative pressure supply unit 2 is preferably capable of selectively supplying negative pressure to a plurality of through-holes provided in the suction sponge 1e2. For example, the negative pressure supply unit 2 includes a flow path connected to each of the through-holes and a check valve installed in each flow path, thereby selectively It becomes possible to supply a negative pressure.

In addition, it is preferable that the negative pressure supply section 2 can selectively supply negative pressure to each of the contact pads 1h1 of the side contact section 1h under the control of the control device 4 . For example, the negative pressure supply unit 2 includes flow paths connected to each of the contact pads 1h1 and check valves installed in each of the flow paths. It is possible to selectively supply a negative pressure by

The sensor 3 acquires the relative positional relationship between the hand unit 1c and the case X and the shape of the case X. For example, as the sensor 3, an imaging sensor that images the case X from above and outputs image data including the case X, a distance sensor that measures the distance from the hand unit 1c to the case X, or the like is used. It should be noted that the number of sensors 3 does not have to be one, and multiple or multiple types of sensors 3 may be installed. Moreover, the installation position of the sensor 3 is not particularly limited, and it may be installed in the handling device 1 or may be installed outside the handling device 1 .

The control device 4 is connected to the handling device 1, the negative pressure supply section 2 and the sensor 3, as shown in FIG. The control device 4 controls the handling device 1 and the negative pressure supply section 2 in an integrated manner based on a pre-stored program and a signal input from the sensor 3 .

For example, in this embodiment, the control device 4 obtains the width dimension of the case X based on the input signal from the sensor 3 . Further, based on the width dimension of the case X, the control device 4 causes the slide driving section 1g to adjust the horizontal position of the adsorption unit 1e (that is, the separation distance between the two adsorption units 1e).

In addition, the control device 4 causes the attitude change driving portion 1i to change the attitude of the side contact portion 1h between the contact attitude and the accommodation attitude. For example, when the case X is lifted from the pallet P, the control device 4 sets the side contact portion 1h to the accommodated posture. Further, for example, when the case X is horizontally moved, the control device 4 sets the side contact portion 1h to the contact posture.

Next, an example of the operation of the transport system S configured in this way will be described.

The control device 4 acquires the shape and position information of the case X on the pallet P based on the input signal from the sensor 3, for example. Subsequently, the control device 4 causes the handling device 1 to move the hand unit 1c to above the case X, and takes the hand unit 1c as the reference posture. Further, the control device 4 adjusts the separation distance between the two suction units 1e based on the width dimension of the case X, and sets the posture of the side contact portion 1h to the accommodation posture.

Subsequently, the controller 4 brings the suction surface M of the suction unit 1e into contact with the upper surface of the case X, and causes the negative pressure supply section 2 to supply negative pressure to the suction unit 1e. As a result, the case X is sucked and supported by the suction unit 1e.

Subsequently, the control device 4 causes the handling device 1 to raise the case X to a height where there is no adjacent object of the case X sucked and supported. Further, the control device 4 sets the posture of the side contact portion 1h as the contact posture. Furthermore, the control device 4 causes the negative pressure supply section 2 to supply negative pressure to the contact pad 1h1, and causes the side surface of the case X to adhere to the contact pad 1h1.

Subsequently, the control device 4 moves the case X sucked and supported by the handling device 1 onto the conveyor C. As shown in FIG. After that, the control device 4 stops supplying the negative pressure from the negative pressure supply section 2 to the suction unit 1e and the contact pad 1h1, and separates the case X from the suction unit 1e and the contact pad 1h1. As a result, the case X is placed on the conveyor C.

The hand unit 1c of the handling device 1 of the present embodiment provided in the transport system S as described above includes a suction unit 1e provided with a suction sponge 1e2 for suctioning the top surface of the case X. FIG. Further, the hand unit 1c has a side contact portion 1h that can contact the side surface of the case X. As shown in FIG. In addition, the hand unit 1c has a contact posture in which the side contact portion 1h is in contact with the side surface of the case X, and is disposed above the suction unit 1e, and is positioned above the suction unit 1e, and is suctioned from the edge portion 1e3 of the suction unit 1e in a plan view. It is equipped with an attitude change driving part 1i that changes the attitude to a housed attitude where the whole is arranged inside the unit 1e.

Such a hand unit 1c has a side contact portion 1h that can contact the side surface of the case X. As shown in FIG. Therefore, when the case X is horizontally transported, the case X can be supported from the side. In addition, in the hand unit 1c of the present invention, the side contact portion 1h is arranged in a contact posture of contacting the side surface of the case X, and is arranged above the suction unit 1e, and the edge portion 1e3 of the suction unit 1e in plan view. It is possible to change the posture to a housing posture in which the whole is arranged inside the suction unit 1e. For this reason, when the case X is arranged adjacent to an adjacent object, the case X can be arranged without a gap with respect to the adjacent object by setting the side contact portion 1h in the accommodation posture. Further, by setting the side contact portion 1h to the accommodated posture, it becomes possible to suck and support the case X which is arranged without a gap with respect to the adjacent object. Therefore, according to the hand unit 1c, it is possible to support the case X from the side during horizontal movement, and to arrange the case X with respect to adjacent objects without gaps.

The side contact portion 1h of the hand unit 1c includes a contact pad 1h1 that contacts the side surface of the case X. The contact pad 1h1 is fixed and rotatably connected to the suction unit 1e. and an arm 1h2. In addition, the posture change driving portion 1i changes the posture of the side contact portion 1h by rotating the arm 1h2. Therefore, it is possible to change the posture of the side contact portion 1h with a simple configuration.

Further, the contact pad 1h1 of the hand unit 1c can absorb the side surface of the case X. As shown in FIG. Therefore, it is possible to prevent the contact pad 1h1 from separating from the side surface of the case X while the case X is moving.

In addition, the side contact portion 1h of the hand unit 1c contacts the adsorption unit 1e from the side in the contact posture. Therefore, even if an inertial force acts on the case X attracted to the contact pad 1h1, the side contact portion 1h is supported by the suction unit 1e. That is, according to the present invention, at least part of the inertial force acting on the case X can be received by the adsorption unit 1e. Therefore, the inertial force acting on the attitude change drive section 1i can be reduced, and the size of the attitude change drive section 1i can be reduced.

The hand unit 1c includes a base portion 1d that supports the suction unit 1e from above, a slide support mechanism 1f that connects the suction unit 1e to the base portion 1d so as to be horizontally movable, and a slide support mechanism 1f that connects the suction unit 1e to the base portion 1d. and a slide drive unit 1g for moving the slide in the horizontal direction. Therefore, the position of the side contact portion 1h can be adjusted according to the shape of the case X. As shown in FIG. Therefore, it is possible to bring the side surface contact portion 1h into contact with the side surface of the case X with certainty.

Further, the hand unit 1c is provided with a plurality of side contact portions 1h. Therefore, the plurality of side contact portions 1h can be brought into contact with the side surfaces of the case X, and the case X can be supported more reliably. Further, a plurality of side contact portions 1h are brought into contact with the side surfaces of the case X from different directions. Therefore, the case X can be supported from multiple directions.

Further, in the hand unit 1c, a plurality of suction units 1e are provided, and each suction unit 1e is provided with a side contact portion 1h and an attitude change driving portion 1i. Therefore, by moving the suction unit 1e, it is possible to simultaneously move the side contact portion 1h and the attitude change driving portion 1i.

Further, the handling device 1 of this embodiment includes the above-described hand unit 1c and an articulated arm unit 1b (moving device) for moving the hand unit 1c. Therefore, also in the handling device 1 of the present embodiment, the case X can be supported from the side during horizontal movement, and the case X can be arranged without gaps with respect to adjacent objects.

Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, it goes without saying that the present invention is not limited to the above embodiments. The various shapes, combinations, and the like of the constituent members shown in the above-described embodiment are merely examples, and can be variously changed based on design requirements and the like without departing from the gist of the present invention.

For example, in the above-described embodiment, the side contact portion 1h includes the contact pad 1h1 and the arm 1h2, and the posture change driving portion 1i rotates the arm 1h2 to change the posture of the side contact portion 1h. I explained the configuration. However, the invention is not limited to this. For example, by sliding the side contact portion 1h, it is also possible to employ a configuration in which the posture can be changed between the contact posture and the accommodation posture.

Further, in the above-described embodiment, the configuration in which the contact pad 1h1 can be attracted to the side surface of the case X has been described. However, the contact pad 1h1 does not necessarily need to be able to be attracted to the side surface of the case X. As shown in FIG. For example, if the posture changing drive unit 1i can receive the inertial force acting on the case X, the contact pad 1h1 can be configured to contact the side surface of the case X without sticking to it. be.

Moreover, in the above-described embodiment, the configuration in which the two side contact portions 1h are provided has been described. However, the invention is not limited to this. It is also possible to employ a configuration having a single side contact portion 1h.

Further, in the above-described embodiment, a configuration has been described in which the adsorption unit 1e is horizontally movable with respect to the base portion 1d. However, the invention is not limited to this. For example, it is possible to employ a configuration in which the suction unit 1e is not moved with respect to the base 1d.

Further, in the above-described embodiment, the configuration in which the suction sponge 1e2 is provided with a plurality of through portions as the suction portion has been described. However, for example, as shown in FIG. 6, a plurality of suction pads 1e4 may be provided as the suction portion.

Reference Signs List 1: handling device, 1a: base, 1b: articulated arm unit, 1c: hand unit, 1d: base, 1e: suction unit, 1e1: base member, 1e2: suction pad (top surface suction portion), 1e3 edge portion, 1e4 suction pad (suction portion), 1f slide support mechanism, 1g slide drive portion (horizontal position change portion), 1h side contact portion, 1h1: Contact pad, 1h2: Arm, 1i: Attitude change drive unit (attitude changer), 1j: Detachable unit, 2: Negative pressure supply unit, 3: Sensor, 4: Control device, ……Adsorption surface, P……Pallet, S……Conveyance system, X……Case (transported object)

Claims (8)

A hand unit provided with a suction unit provided with a top surface suction portion for suctioning the top surface of an object to be conveyed,
a side contact portion capable of contacting a side surface of the conveyed object;
The side abutment portion is arranged in a contact posture in which it abuts on the side surface of the conveyed object, and is arranged above the suction unit and is entirely inside the suction unit from the edge portion of the suction unit in plan view. A hand unit, comprising: a posture changing section that changes the posture to a stored posture that is arranged. The side contact portion is
a contact pad that contacts a side surface of the conveyed object;
an arm to which the contact pad is fixed and which is rotatably connected to the suction unit;
2. The hand unit according to claim 1, wherein the posture changing portion changes the posture of the side contact portion by rotating the arm. 3. The hand unit according to claim 2, wherein the contact pad is capable of sucking a side surface of the conveyed object. 4. The hand unit according to claim 3, wherein the side contact portion contacts the suction unit from the side in the contact posture. a base that supports the adsorption unit from above;
a slide support mechanism for horizontally movably connecting the suction unit to the base;
The hand unit according to any one of claims 1 to 4, further comprising: a horizontal position changing section that horizontally moves the suction unit with respect to the base. The hand unit according to any one of claims 1 to 5, wherein a plurality of said side contact portions are provided. 7. The hand unit according to claim 6, wherein a plurality of said suction units are provided, and said side contact portion and said posture changing portion are provided for each of said suction units. a hand unit according to any one of claims 1 to 7;
and a moving device for moving the hand unit.

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