JP5950995B2 - Suction pad - Google Patents

Description

  The present invention relates to a suction pad.

  2. Description of the Related Art A suction pad that vacuum-sucks an object is known that includes a cylindrical bellows part that can be expanded and contracted in a foldable manner. For example, Patent Literature 1 discloses a suction cup including a bellows-shaped side portion including at least one constricted portion having an upward surface and a downward surface. The suction cup includes a plurality of protrusions extending radially from the center toward the outside on at least one of the upward surface and the downward surface of the constricted portion. It is described that the strength of the side portion is increased by the protrusion, and the swinging of the article adsorbed on the suction cup can be suppressed.

  Patent Document 2 includes a small suction cup that opens and is fixed around the lower end of the intake pipe, and a large suction cup that surrounds the small suction cup and is concentrically opened and fixed around the lower end of the intake pipe. Disclosed is a suction cup for sucking and conveying articles. A small suction cup and a large suction cup are comprised from the bellows-like expansion-contraction body. When the article is adsorbed by both large and small suckers, the large sucker suppresses the article from the top around the small sucker to prevent the article from rolling, and air leakage from one sucker due to the unevenness of the article surface. It is described that the other suction cup can complement and maintain the suction force.

  Patent Document 3 discloses a fruit vegetable transporting device provided with a suction body capable of adsorbing fruit vegetables. A bellows (bellows) is formed on the abdomen of the suction body, and the bellows is deformed when the lower suction port is applied to the surface of the pepper to perform suction. It is described that, due to the deformation of the bellows, the suction port can be brought into close contact with the surface of the pepper having a large number of rounded warts so that the pepper can be sucked and adsorbed.

JP 2014-024138 A (paragraph 0009, paragraph 0010) JP 2003-225880 A (summary) JP-A-8-197471 (paragraph 0027)

  In a suction pad including a cylindrical bellows portion that can be expanded and contracted in a foldable manner, it is desired that air leakage caused by unevenness on the surface of an object can be prevented with a simpler configuration. Moreover, in the suction pad provided with the cylindrical bellows part which can be expanded-contracted in a folding type, it is desired that the shaking of the bellows part at the time of object adsorption | suction can be suppressed with a simpler structure.

  One aspect of the present invention is a cap portion that extends from the base end to the end end, a cylindrical bellows portion that can be folded and retracted inside the cap portion, and a bellows portion that has a first suction cup portion at the tip end. A suction pad, wherein the end of the cap portion is arranged to protrude outward from the outer edge of the first suction cup portion. In the suction pad, the end of the cap portion and the first suction cup in a state where the bellows portion is contracted inside the cap portion It is a suction pad which has a cyclic | annular 2nd suction cup part provided between the outer edges of a part.

  In the suction pad described above, the cap portion may have a shape that surrounds the bellows portion and contacts the bellows portion when the bellows portion contracts inside the cap portion.

  In the suction pad according to one aspect, when the object is adsorbed, both the first sucker part and the second sucker part exert an adsorbing action on the surface of the object. The reliability of the adsorption action is improved. Even when the surface of the object has irregularities, air can be prevented from entering the internal space of the bellows portion from the outside by the double adsorption action of the first suction cup portion and the second suction cup portion. Moreover, since the suction pad has a configuration in which the second suction cup portion is provided between the end of the cap portion and the first suction cup portion of the bellows portion, the suction pad has a simpler configuration as compared with the configuration including two large and small suction cups. .

  In the configuration in which the cap portion has a shape that surrounds the bellows portion contracted on the inner side and abuts against the bellows portion, shaking of the bellows portion when the object is adsorbed is suppressed by the cap portion.

It is a figure which shows the suction pad by one Embodiment, (a) Front view, (b) Perspective view. It is sectional drawing of the suction pad of FIG. It is (a) front view and (b) perspective view of a suction pad when a target object is sucked. It is sectional drawing of a suction pad when a target object is adsorbed. It is a partially expanded sectional view of the suction pad of FIG. It is sectional drawing which shows the modification of the suction pad of FIG. It is a figure which shows the other modification of the suction pad of FIG. 1, (a) Front view, (b) Perspective view. It is sectional drawing of the suction pad of FIG. It is (a) front view and (b) perspective view of a suction pad when a target object is sucked. It is sectional drawing of a suction pad when a target object is adsorbed. It is a figure which shows the suction pad by other embodiment, (a) Front view, (b) It is a perspective view. It is a disassembled perspective view of the suction pad of FIG. It is sectional drawing of the suction pad of FIG. It is (a) front view and (b) perspective view of a suction pad when a target object is sucked. It is sectional drawing of a suction pad when a target object is adsorbed. It is a figure which shows the modification of the suction pad of FIG. 11, (a) Front view, (b) It is a perspective view. It is a disassembled perspective view of the suction pad of FIG. It is sectional drawing of the suction pad of FIG. It is sectional drawing of a suction pad when a target object is adsorbed. It is a figure which shows the suction pad by other embodiment, (a) Front view, (b) Perspective view. It is sectional drawing of the suction pad of FIG. It is (a) front view and (b) perspective view of a suction pad when a target object is sucked. It is sectional drawing of a suction pad when a target object is adsorbed. It is a partially expanded sectional view of the suction pad of FIG.

  Embodiments of the present invention will be described below with reference to the accompanying drawings. Corresponding components are denoted by common reference symbols throughout the drawings.

  1 and 2 show the suction pad 10 according to the first embodiment in a state where it is not deformed without receiving external force. 3 and 4 show the suction pad 10 in a deformed state by sucking the object 12. FIG. 5 shows an enlarged part of the suction pad 10 of FIG. The suction pad 10 is a hollow cylindrical part having a suction cup at the tip (lower end in the figure) as a whole. The suction pad is reduced in pressure from the surrounding environment of the suction pad 10, so that the suction cup is placed on the surface of the object 12. The adsorption state can be maintained by adsorbing to 12a.

  As shown in FIG. 1 and FIG. 2, the suction pad 10 has a cap portion 18 that extends from the base end 14 to the distal end 16 and a cylindrical shape that can be expanded and contracted in a foldable manner inside the cap portion 18 (lower side in the figure). The bellows part 20 is provided. As will be described later, the cap portion 18 and the bellows portion 20 are deformed as the internal space 22 of the bellows portion 20 is depressurized when the suction pad 10 sucks the object 12 (FIG. 3). To do.

  In this embodiment, the suction pad 10 further includes a base portion 24 connected to the base end 14 of the shade portion 18. The base 24 is a part for attaching the suction pad 10 to a desired structure (not shown) such as an article holding unit (for example, a robot hand) included in an article transfer machine such as a robot. The base portion 24 has a vent hole 26 that communicates with the internal space 22 of the bellows portion 20. In this embodiment, the suction pad 10 has a rotationally symmetric shape with respect to the axis 10a in a substantially undeformed state, and the cap portion 18, the bellows portion 20, and the base portion 24 are arranged coaxially with each other (see FIG. 2). The suction pad 10 may have a configuration in which the base portion 14 is not provided and the base end 14 of the shade portion 18 is directly attached to the structure.

  As shown in FIGS. 1 and 2, the shade portion 18 includes an elastically deformable shade-shaped annular wall 28 having a desired thickness. In this embodiment, the annular wall 28 of the shade portion 18 includes a frustoconical outer peripheral surface 28a that gradually increases in diameter from the base end 14 toward the distal end 16 about the axis 10a, and a base end 14 about the axis 10a. And a frustoconical inner peripheral surface 28b that gradually increases in diameter toward the distal end 16 (FIG. 2). The inclination angle of the outer peripheral surface 28a with respect to the axis line 10a is smaller than the inclination angle of the inner peripheral surface 28b with respect to the axis line 10a, and the annular wall 28 has a maximum thickness at the base end 14 while being adjacent to the distal end 16. And has a minimum thickness (FIG. 2).

  As shown in FIGS. 1 and 2, the bellows portion 20 includes a foldable cylindrical wall 30 having a desired thickness. The cylindrical wall 30 includes an annular valley fold portion 32 formed at an intermediate portion in a direction along the axis 10a, and a first suction cup extending from the valley fold portion 32 in a direction away from the cap portion 18 (downward in the drawing). Part 34. The first suction cup portion 34 is provided at the tip (lower end in the figure) of the suction pad 10 and contacts the object 12 when the suction pad 10 sucks the object 12 (FIG. 3). The first suction cup portion 34 has an annular outer edge 36 corresponding to one axial end (lower end in the figure) of the cylindrical wall 30. The first suction cup portion 34 is a portion along the outer edge 36 and can first contact the object 12 when the suction pad 10 sucks the object 12. At least the outer edge 36 and its vicinity region of the first suction cup portion 34 can be elastically deformed when in contact with the object 12. In this embodiment, the first sucker portion 34 includes a frustoconical outer peripheral surface 34a that gradually increases in diameter from the valley fold portion 32 toward the outer edge 36 about the axis 10a, and a valley fold portion 32 about the axis 10a. And a frustoconical inner peripheral surface 34b that gradually increases in diameter toward the outer edge 36 (FIG. 2). The inner peripheral surface 34b constitutes a suction surface (hereinafter also referred to as a suction surface 34b) that can contact the surface 12a (FIG. 3) of the object 12.

  In this embodiment, the cylindrical wall 30 of the bellows portion 20 has one valley fold portion 32, and in a direction approaching the cap portion 18 on the side opposite to the first suction cup portion 34 across the valley fold portion 32. It has an upper wall portion 38 extending from the valley fold portion 32 toward the end (upward in the figure). The upper wall portion 38 has a base end 40 corresponding to the other axial end of the cylindrical wall 30 (upper end in the figure), and gradually increases in diameter from the valley fold portion 32 toward the base end 40 about the axis 10a. A frustoconical outer peripheral surface 38a, and a frustoconical inner peripheral surface 38b that gradually increases in diameter from the valley fold 32 toward the base end 40 about the axis 10a (FIG. 2). The first suction cup portion 34 and the upper wall portion 38 are integrally connected to each other at a valley fold portion 32, and an angle formed between the first suction cup portion 34 and the upper wall portion 38 (that is, a valley fold angle) in advance is accompanied by deformation of the valley fold portion 32 and its peripheral portion. It can be changed within the defined range. The configuration in which the bellows portion 20 can be folded and retracted inside the cap portion 18 is configured so that the bellows portion 20 is more than the end 16 of the cap portion 18 when the suction pad 10 is viewed with the line of sight aligned with the axis 10a. This means that the cylindrical wall 30 can expand and contract along the axis 10 a while changing the valley folding angle in the valley folding portion 32 without protruding outward.

  As shown in FIGS. 1 and 2, the distal end 16 of the cap portion 18 is disposed so as to protrude outward from the outer edge 36 of the first suction cup portion 34. That is, when the suction pad 10 is viewed with the line of sight coincident with the axis 10 a, the outer edge 36 of the first suction cup portion 34 is located inside the end 16 of the cap 18. In this embodiment, the outer diameter D1 of the end 16 is larger than the outer diameter D2 of the outer edge 36 (FIG. 2). Further, in this embodiment, the cap portion 18 and the bellows portion 20 are formed integrally with each other. Particularly in this embodiment, the base end 40 of the upper wall portion 38 of the bellows portion 20 is integrally connected to the distal end 16 of the cap portion 18. Further, in this embodiment, the cap portion 18 and the base portion 24 are integrally formed with each other.

  As shown in FIG. 2, in this embodiment, the cylindrical wall 30 of the bellows portion 20 has a substantially uniform thickness over substantially the entire region excluding the vicinity of the outer edge 36 of the first suction cup portion 34. In the vicinity of the outer edge 36 of the first sucker portion 34, the thickness gradually decreases toward the outer edge 36 (FIG. 5). The thickness of the cylindrical wall 30 is smaller than the minimum thickness of the annular wall 28 of the shade portion 18. The connection region 42 between the distal end 16 of the cap portion 18 and the proximal end 40 of the bellows portion 20 locally has a thickness larger than the minimum thickness of the cap portion 18. The annular wall 28 of the cap portion 18 and the upper wall portion 38 of the bellows portion 20 can be elastically deformed at the connection region 42 and its peripheral portion, and with the elastic deformation, the annular wall 28 and the upper wall portion 38 The angle formed by can be changed within a predetermined range. The shade portion 18 can be regarded as a part of the bellows structure continuous to the bellows portion 20, and in this case, the connection region 42 can be regarded as one mountain fold portion of the bellows structure.

  The suction pad 10 has an annular second sucker portion 44 provided between the end 16 of the shade portion 18 and the outer edge 36 of the first suction portion 34 in a state where the bellows portion 20 is contracted inside the shade portion 18. . This configuration will be described in detail with reference to FIGS.

  As shown in FIGS. 3 to 5, when the suction pad 10 is brought into contact with the surface 12 a of the object 12 and the bellows part 20 is contracted in the axial direction inside the shade part 18, The portion 18 is configured to contact the surface 12 a of the object 12 at the end 16. The bellows portion 20 first contacts the surface 12a of the object 12 with the first suction cup portion 34 along the outer edge 36, and then brings the cap portion 18 closer to the object 12 so that the inner side of the cap portion 18 Thus, it collapses in a foldable manner along the axis 10a. During this time, the first sucker portion 34 and the upper wall portion 38 gradually reduce the valley fold angle while accompanying the deformation of the valley fold portion 32, and gradually bring the outer peripheral surfaces 34a, 38a closer to each other. At the same time, the annular wall 28 of the shade 18 and the upper wall portion 38 of the bellows portion 20 gradually increase the angle formed between the annular wall 28 and the upper wall portion 38 (that is, the mountain fold angle) with the elastic deformation of the connection region 42. The inner peripheral surfaces 28b and 38b of both are gradually approached.

  When the outer peripheral surface 34a of the first suction cup portion 34 and the outer peripheral surface 38a of the upper wall portion 38 are in contact with each other, and the inner peripheral surface 28b of the annular wall 28 and the inner peripheral surface 38b of the upper wall portion 38 are in contact with each other, The bellows portion 20 is in the most contracted state in the axial direction. When the bellows portion 20 is in the most contracted state in the axial direction, as shown in FIGS. 3 and 4, the bellows portion 20 is folded inside the cap portion 18 and covered with the cap portion 18 so as not to be seen from the outside. The end 16 of the cap 18 contacts the surface 12 a of the object 12 outside the outer edge 36 of the first suction cup portion 34. That is, the shade portion 18 has a shape that surrounds the bellows portion 20 and abuts against the bellows portion 20 when the bellows portion 20 contracts inside the shade portion 18. As shown in FIG. 5, an annular space is formed between the end 16, the outer edge 36 of the first suction cup portion 34, and the object surface 12 a in a state where the end 16 of the shade 18 is in contact with the surface 12 a of the object 12. 46 is formed.

  While the bellows portion 20 is in the most contracted state in the axial direction, the internal space 22 of the bellows portion 20 is decompressed, so that the first suction cup portion 34 has its inner peripheral surface (suction surface) 34b on the surface of the object 12. It contacts 12a and adsorbs on the surface 12a. By maintaining the reduced pressure state of the internal space 22, the state where the first suction cup portion 34 is adsorbed on the surface 12 a of the object 12 is maintained. For example, a vacuum device (not shown) such as a vacuum pump is connected to the internal space 22 (in this embodiment, through the vent hole 26 of the base 24), and the internal space 22 is operated to a desired degree of vacuum by operating the vacuum device. The pressure can be reduced. When the operation of the vacuum device is stopped and the internal space 22 is opened to the outside air, the bellows portion 20 can return to the initial state of FIG. 1, and the first sucker portion 34 can be detached from the surface 12 a of the object 12. it can.

  While the first suction cup portion 34 is adsorbed to the surface 12a of the object 12, the bellows portion 20 and the shade portion 18 are pressed against the surface 12a of the object 12 due to the pressure difference between the internal space 22 and the surrounding environment, and at least The outer edge 36 of the first sucker portion 34 and its peripheral portion, and the end 16 of the cap portion 18 and its peripheral portion are elastically deformed. Due to the elastic deformation under this pressure, at least a part of the air is pushed out from the space 46 between the end 16 of the cap 18 and the outer edge 36 of the first suction cup portion 34, and the space 46 becomes negative pressure. As a result, as shown in FIG. 5, an annular second sucker portion 44 is formed between the end 16 of the shade portion 18 and the outer edge 36 of the first sucker portion 34. The second suction cup portion 44 is formed in a form surrounding the first suction cup portion 34 in an annular shape. In this embodiment, the distal end 16 of the cap 18 and the proximal end 40 of the upper wall portion 38 of the bellows portion 20 cooperate with the outer edge 36 of the first suction cup portion 34 to form a second suction cup portion 44, An outer surface portion 44a of the connecting region 42 between the base 16 and the base end 40 that faces the object surface 12a constitutes a second suction surface (hereinafter also referred to as a suction surface 44a).

  In the suction pad 10 having the above-described configuration, when the object 12 is adsorbed, both the first sucker part 34 and the second sucker part 44 exert an adsorption action on the surface 12a of the object 12, so that as a whole Adsorption power is increased and the reliability of the adsorption action is improved. Even when the surface 12 a of the object 12 has irregularities, the double suction action of the first suction cup portion 34 and the second suction cup portion 44 causes the suction space 34 b and 46 a to enter the internal space 22 of the bellows portion 20 from the outside. Intrusion of air (also referred to as air leak, vacuum leak, etc.) can be prevented.

  For example, a local gap that communicates the internal space 22 of the bellows portion 20 between the suction surface 34b of the first suction cup portion 34 and the object surface 12a due to the unevenness of the surface 12a of the object 12. When this occurs, this gap merely communicates the internal space 22 with the space 46 between the outer edge 36 of the first suction cup portion 34 and the end 16 of the cap portion 18, and as a result, the decompressed state of the internal space 22 is reduced. Since the negative pressure degree of the space 46 is increased by spreading to the space 46, the second suction cup portion 44 is more firmly adsorbed to the object surface 12a. On the other hand, when a local gap that communicates the space 46 to the outside occurs between the suction surface 44a of the second suction cup portion 44 and the object surface 12a due to the unevenness of the surface 12a of the object 12. Only the suction force of the second suction cup portion 44 is weakened, and the first suction cup portion 34 can maintain the original suction action. There is a low probability that such a local gap will occur simultaneously in both the first suction cup portion 34 and the second suction cup portion 44.

  Further, in the suction pad 10 having the above-described configuration, the bellows part 20 is folded inside the shade part 18 while the first suction part 34 and the second suction part 44 are both attracted to the object 12, and the shade part 18 is folded. Covered by the portion 18, the upper wall portion 38 of the bellows portion 20 abuts on the annular wall 28 of the cap portion 18 and is supported by the annular wall 28. As a result, the shaking of the bellows part 20 at the time of object adsorption is suppressed by the shade part 18. In particular, in this embodiment, since the annular wall 28 of the cap portion 18 has a larger thickness than the cylindrical wall 30 of the bellows portion 20, the effect of suppressing the shaking of the bellows portion 20 by the cap portion 18 is improved.

  For example, when a local gap as described above is simultaneously generated in both the first suction cup portion 34 and the second suction cup portion 44 and the degree of vacuum in the internal space 22 is weakened, the operation of the vacuum device (not shown) is activated. It is assumed that the first suction cup portion 34 is attracted to the object 12 with a relatively weak suction force in a state where the bellows portion 20 is not completely contracted by continuing the above. If the object 12 is to be conveyed by an article conveying machine such as a robot equipped with the suction pad 10 in such an incompletely adsorbed state, the bellows part 20 that is not completely contracted during the conveyance becomes the object 12. As a result, it may be difficult for the article transport machine to transport the object 12 to the target position in the target posture. According to the suction pad 10, the upper wall portion 38 of the bellows portion 20 intermittently contacts the annular wall 28 of the cap portion 18 even when the incompletely contracted bellows portion 20 is shaken. The shaking of the bellows portion 20 is suppressed.

  Further, in the suction pad 10 having the above-described configuration, the bellows part 20 is folded inside the shade part 18 while the first suction part 34 and the second suction part 44 are both attracted to the object 12, and the shade part 18 is folded. Since it is covered with the portion 18, the first suction cup portion 34 being sucked can be protected by the shade portion 18. Therefore, for example, it is possible to prevent an object from colliding with the first sucker portion 34 from the outside and causing the suction action of the first sucker portion 34 to be lost.

  The suction pad 10 does not include any of the protrusions for reinforcement as described in, for example, the above-described Patent Document 1 in either the cap 18 or the bellows 20, but the bellows is shrunk inside the cap 18. 20 is configured so as to suppress the shaking of the bellows portion 20 by contacting the cap portion 18 with the cap portion 18, and thus has a simpler configuration than the configuration described in Patent Document 1. Further, the suction pad 10 is configured such that the end 16 of the cap portion 18 cooperates with the first suction cup portion 34 of the bellows portion 20 to form the second suction cup portion 44. Compared to the configuration including two large and small suction cups as described in (1), it has a simpler configuration. Therefore, according to the suction pad 10, it is possible to prevent air leakage due to the unevenness of the surface 12 a of the target object and to suppress the shaking of the bellows portion 20 when the target object is sucked with a simpler configuration.

  In the suction pad 10 described above, the vent hole 26 of the base portion 24 can be configured to have a minimum cross-sectional area larger than the minimum cross-sectional area of the internal space 22 of the bellows portion 20. In this embodiment, as shown in FIG. 2, the inner diameter D <b> 3 of the vent hole 26 is larger than the inner diameter D <b> 4 of the valley fold portion 32 of the bellows portion 22. As described above, the outer shape of the base 24 connected to the base end 14 of the cap 18 is adopted by adopting a configuration in which the distal end 16 of the cap 18 protrudes outward from the outer edge 36 of the first suction cup portion 34. The dimensions can be enlarged, and accordingly, the inner diameter D3 of the vent hole 26 can be enlarged. According to this configuration, the exhaust amount of the vacuum device for depressurizing the internal space 22 can be increased according to the inner diameter D3 of the vent hole 26, and the depressurization capability of the internal space 22 can be improved to increase the suction force of the suction pad 10. Can be increased. Further, by reducing the inner diameter D4 of the valley fold portion 32, the area of the suction surface 34b of the first suction cup portion 34 can be increased within a range in which the effective dimension of the second suction cup portion 44 can be secured. The larger the area of the suction surface 34b, the lower the possibility that a local gap that communicates the internal space 22 to the outside between the suction surface 34b and the surface 12a due to the unevenness of the surface 12a of the object 12 can be reduced. .

  FIG. 6 shows a modification of the suction pad 10. The suction pad 10 ′ according to this modification has a configuration in which the proximal end 40 of the upper wall portion 38 of the bellows portion 20 is integrally connected to a position slightly shifted from the distal end 16 of the cap portion 18 toward the proximal end 14. ing. That is, the connection region 42 between the shade 18 and the base end 40 of the bellows 20 is formed at a position slightly shifted from the distal end 16 of the shade 18 toward the proximal end 14. As a result, the end 16 of the cap portion 18 is disposed so as to protrude outside the upper wall portion 38 of the bellows portion 20. Other configurations are the same as those of the suction pad 10 described above. Also in the suction pad 10 ′, when the first suction cup portion 34 is brought into contact with the surface 12 a (FIG. 3) of the object 12 and the bellows portion 20 is contracted in the axial direction inside the shade portion 18, the shade portion 18 is terminated. 16, the object surface 12 a is contacted, and an annular second sucker portion 44 is formed between the end 16 of the cap portion 18 and the outer edge 36 of the first sucker portion 34.

  7 and 8 show another modification of the suction pad 10 in a state where it is not substantially deformed without receiving an external force. In the suction pad 10 ″ according to this modification, the bellows portion 20 includes two valley fold portions 32 and one annular mountain fold portion 48 positioned between the valley fold portions 32. In addition to the first sucker portion 34 and the upper wall portion 38, the shaped wall 30 faces the mountain fold portion 48 on the opposite side of the first sucker portion 34 across the valley fold portion 32 on one side (lower side in the figure). A second upper wall portion 50 extending in a diverging manner and a lower wall portion 52 extending in a diverging manner toward a mountain fold portion 48 on the opposite side of the upper wall portion 38 across the other (upper side in the figure) valley fold portion 32. The first suction cup portion 34 and the second upper wall portion 50 are integrally connected to each other at one (lower side in the figure) valley fold portion 32, so that the second upper wall portion 50 and the lower wall portion 52 are integrally connected to each other at the mountain fold portion 48, and the lower wall portion 52 and the upper wall portion 38 is integrally connected to each other at a valley fold portion 32 on the other side (upper side in the figure), and the upper wall portion 38 is integrally connected to the distal end 16 of the shade portion 18 at the connection region 42. 16 is disposed so as to protrude outward from both the outer edge 36 and the mountain fold portion 48 of the first suction cup portion 34. The other configuration is the same as the configuration of the suction pad 10 described above.

  9 and 10 show the suction pad 10 "in a deformed state by sucking the object 12. The suction pad 10" makes the first suction cup part 34 contact the surface 12a of the object 12 and the bellows part. When 20 is shrunk in the axial direction inside the shade 18, the shade 18 is configured to be able to contact the object surface 12 a at the end 16. In the suction pad 10 ″, the first suction cup portion 34 and the second upper wall portion 50 are in contact with each other, the second upper wall portion 50 and the lower wall portion 52 are in contact with each other, and the upper wall portion 38 and the lower wall portion are in contact with each other. When the portion 52 contacts each other and the annular wall 28 and the upper wall portion 38 contact each other, the bellows portion 20 is most contracted in the axial direction, and the bellows portion 20 is most contracted in the axial direction. Then, the bellows portion 20 is folded inside the shade portion 18 and is covered with the shade portion 18 so as not to be seen from the outside, and the end 16 of the shade portion 18 is outside the outer edge 36 of the first suction cup portion 34. In other words, the shade portion 18 has a shape that surrounds the bellows portion 20 and abuts against the bellows portion 20 when the bellows portion 20 contracts inside the shade portion 18. The end 16 of the shade portion 18 is in contact with the bellows portion 20. In contact with the surface 12a of the object 12, the end 1 An annular space 46 is formed between the outer edge 36 of the first sucker portion 34 and the object surface 12a, and an annular second space 16 is formed between the end 16 of the cap 18 and the outer edge 36 of the first sucker portion 34. A suction cup portion 44 is formed (FIG. 10) The cylindrical wall 30 of the bellows portion 20 may be configured to have three or more valley fold portions 32 and two or more mountain fold portions 48. it can.

  The suction pads 10 ′ and 10 ″ according to these modified examples have the same effects as the above-described effects of the suction pad 10. The suction pads 10 ′ and 10 ″ are similar to the suction pad 10 and the air holes 26 of the base portion 24. However, it can be configured to have a minimum cross-sectional area larger than the minimum cross-sectional area of the internal space 22 of the bellows part 20.

  The above suction pads 10, 10 ', 10 "can be formed of a rubber material generally used as a suction pad, at least the first suction cup portion 34 and the second suction cup portion 44. As such a rubber material, for example, Nitrile rubber (NBR), silicone rubber, urethane rubber, fluoro rubber (FKM), conductive NBR, conductive silicone rubber, natural rubber, etc. Adsorption pads 10, 10 ′, 10 ″ are all They may be formed from the same rubber material, or may be formed by a combination of different rubber materials or a combination of a rubber material and another synthetic resin, for example, by a known two-color molding method.

  The suction pads 10, 10 ′, 10 ″ have a configuration in which the cap portion 18 and the bellows portion 20 are integrally formed. Instead, the cap portion 18 and the bellows portion 20 are mutually connected. In this case, for example, the cap portion 18 and the bellows portion 20 that are separately formed are connected to each other by bonding, welding, or the like in the connection region 42. In this configuration, the cap portion 18 and the bellows portion 20 can be separately formed of materials satisfying the required physical properties, and the cap portion 18 and the base portion 24 are also formed in the above embodiment. Thus, the configuration is not limited to being formed integrally with each other, and may be formed separately from each other and connected to each other.

  FIGS. 11-13 shows the suction pad 60 according to the second embodiment having a separate structure in a state where it is not substantially deformed without receiving an external force. 14 and 15 show the suction pad 60 in a state in which the target object 12 is sucked and deformed. The suction pad 60 has substantially the same configuration as the suction pad 10 described above except that the cap portion 18 and the bellows portion 20 are formed separately from each other and connected to each other. Therefore, corresponding constituent elements are denoted by common reference numerals, and detailed description thereof is omitted as appropriate.

  As shown in FIGS. 11 and 12, the suction pad 60 is configured by combining a first component 62 having a cap portion 18 and a second component 64 having a bellows portion 20 with each other. The first component 62 includes a cap 18 that extends from the base end 14 to the end 16 and a first base 66 connected to the base end 14 of the cap 18. As shown in FIG. 13, in this embodiment, the annular wall 28 of the cap portion 18 has a frustoconical outer peripheral surface 28a that gradually increases in diameter from the proximal end 14 toward the distal end 16 about the axis 62a, and the axis. A frustoconical inner peripheral surface 28b having a diameter gradually increasing from the base end 14 toward the end 16 about the center 62a. The annular wall 28 has a maximum thickness at the proximal end 14 while having a minimum thickness at the distal end 16.

  The first base 66 is a part for attaching the suction pad 60 to a desired structure (not shown) such as an article holding unit (for example, a robot hand) included in an article transport machine such as a robot. The first base portion 66 has a through hole 68 extending along the axis 62a. As shown in FIG. 13, in this embodiment, the first component 62 has a rotationally symmetric shape with respect to the axis 62a in a substantially undeformed state, and the cap portion 18 and the first base portion 66 are coaxial with each other. Placed in. In this embodiment, the cap 18 and the first base 66 are integrally formed with each other.

  The second component 64 includes a cylindrical bellows portion 20 that can be expanded and contracted along an axis 64 a and a second base portion 70 that is connected to the base end 40 of the bellows portion 20. The cylindrical wall 30 of the bellows portion 20 includes an annular valley fold portion 32, a first suction cup portion 34, and an upper wall portion 38. As shown in FIG. 13, in this embodiment, the first suction cup portion 34 includes a frustoconical outer peripheral surface 34a that gradually increases in diameter from the valley fold portion 32 toward the outer edge 36 around the axis 64a, and the axis 64a. And a frustoconical inner peripheral surface (suction surface) 34b that gradually increases in diameter from the valley fold portion 32 toward the outer edge 36. In this embodiment, the upper wall portion 38 includes a frustoconical outer peripheral surface 38a that gradually increases in diameter from the valley fold portion 32 toward the base end 40 about the axis line 64a, and a valley fold portion about the axis line 64a. And a frustoconical inner peripheral surface 38 b that gradually increases in diameter from 32 toward the base end 40. The cylindrical wall 30 of the bellows portion 20 has a substantially uniform thickness over substantially the whole area except for the region near the outer edge 36 of the first suction cup portion 34. A region near the outer edge 36 of the first suction cup portion 34 gradually decreases in thickness toward the outer edge 36.

  The second base portion 70 has an outer shape that can be closely inserted into the through hole 68 of the first base portion 66, and has a vent hole 72 that communicates with the internal space 22 of the bellows portion 20. Moreover, the 2nd base 70 has the end surface 70a extended in the direction orthogonal to the axis line 64a adjacent to the base end 40 of the bellows part 20 (FIG. 13). As shown in FIG. 13, in this embodiment, the second component 64 has a rotationally symmetric shape with respect to the axis 64a in a substantially undeformed state, and the bellows portion 20 and the second base portion 70 are coaxial with each other. Placed in. In this embodiment, the bellows portion 20 and the second base portion 70 are integrally formed with each other.

  When the second base portion 70 is inserted into the through hole 68 of the first base portion 66 by press fitting or the like, for example, the axial line 62a of the first component 62 and the axial line 64a of the second component 64 are aligned with each other. The second component 64 is fixedly combined with each other. Both axes 62 a and 64 a coincide with the axis 60 a of the suction pad 60. In this combined state, the bellows portion 20 is disposed at a position that can be expanded and contracted in a foldable manner inside the cap portion 18 (lower side in the figure). In this combined state, the end 16 of the cap portion 18 is disposed so as to protrude outward from the outer edge 36 of the first suction cup portion 34. In this embodiment, the suction pad 60 has a rotationally symmetric shape with respect to the axis 60a in a state where the cap portion 18 and the bellows portion 20 are not substantially deformed, and the cap portion 18, the bellows portion 20 and the first and The second bases 66 and 70 are arranged coaxially with each other (FIG. 13). In addition, the 2nd base 70 can also be fixed to the through-hole 68 of the 1st base 66 with an adhesive agent, for example.

  The suction pad 60 has an annular second sucker portion 74 provided between the end 16 of the cap portion 18 and the outer edge 36 of the first sucker portion 34 in a state where the bellows portion 20 is contracted inside the cap portion 18. . This configuration will be described in detail with reference to FIGS.

  As shown in FIG. 14 and FIG. 15, when the suction pad 60 is brought into contact with the surface 12 a of the object 12 and the bellows portion 20 contracts in the axial direction inside the shade portion 18, The portion 18 is configured to contact the surface 12 a of the object 12 at the end 16. In the suction pad 60, the outer peripheral surface 34a of the first suction cup portion 34 and the outer peripheral surface 38a of the upper wall portion 38 are in contact with each other, and the end surface 70a of the second base 70 and the inner peripheral surface 38b of the upper wall portion 38 are in contact with each other. At that time, the bellows portion 20 is most contracted in the axial direction. When the bellows portion 20 is in the most contracted state in the axial direction, the bellows portion 20 is folded inside the cap portion 18 and covered with the cap portion 18 so as not to be seen from the outside, and the end 16 of the cap portion 18 is covered with the first suction cup. The surface 12 a of the object 12 is contacted outside the outer edge 36 of the portion 34. Similar to the annular space 46 shown in FIG. 5 between the end 16, the outer edge 36 of the first suction cup portion 34, and the object surface 12 a in a state where the end 16 of the cap 18 is in contact with the surface 12 a of the object 12. The space 76 is formed (FIG. 15).

  While the bellows portion 20 is in the most contracted state in the axial direction, the internal space 22 of the bellows portion 20 is decompressed, so that the first suction cup portion 34 has its inner peripheral surface (suction surface) 34b on the surface of the object 12. It contacts 12a and adsorbs on the surface 12a. While the first suction cup portion 34 is adsorbed to the surface 12a of the object 12, the bellows portion 20 and the shade portion 18 are pressed against the surface 12a of the object 12 due to the pressure difference between the internal space 22 and the surrounding environment, and at least The outer edge 36 of the first sucker portion 34 and its peripheral portion, and the end 16 of the cap portion 18 and its peripheral portion are elastically deformed. Due to the elastic deformation under this pressure, at least a part of the air is pushed out from the space 76 between the end 16 of the cap 18 and the outer edge 36 of the first suction cup portion 34, and the space 76 becomes negative pressure. As a result, an annular second sucker portion 74 is formed between the end 16 of the cap portion 18 and the outer edge 36 of the first sucker portion 34. The second suction cup portion 74 is formed in a form surrounding the first suction cup portion 34 in an annular shape. In this embodiment, the distal end 16 of the cap 18 cooperates with the outer edge 36 of the first sucker portion 34 to form a second sucker portion 74, and the inner peripheral surface 28 b of the annular wall 28 of the cap 18. A surface portion 74a facing the object surface 12a constitutes a second suction surface (hereinafter also referred to as a suction surface 74a).

  In the suction pad 60 having the above configuration, when the object 12 is adsorbed, both the first suction cup portion 34 and the second suction cup portion 74 simultaneously exert an adsorption action on the surface 12a of the target object 12. As with the suction pad 10, the suction force as a whole increases, and the reliability of the suction action is improved. Even when the surface 12a of the object 12 has irregularities, the double suction action of the first suction cup portion 34 and the second suction cup portion 74 causes the suction space 34b, 74a to enter the internal space 22 of the bellows portion 20 from the outside. Intrusion of air (also referred to as air leak, vacuum leak, etc.) can be prevented. Since the suction pad 60 does not include any of the protrusions for reinforcement as described in, for example, the above-described Patent Document 1 in any of the shade portion 18 and the bellows portion 20, the object surface 12a can be formed with a simpler configuration. Air leakage due to the unevenness of the surface can be prevented. In the suction pad 60, the bellows portion 20 is folded inside the shade portion 18 and covered with the shade portion 18 while both the first suction portion 34 and the second suction portion 74 are attracted to the object 12. Therefore, the first sucker portion 34 being sucked can be protected by the shade portion 18. Furthermore, according to the suction pad 60, the first component 62 having the cap portion 18 and the second component 64 having the bellows portion 20 can be separately formed of materials satisfying the required physical properties.

  FIGS. 16-18 shows the modification of the suction pad 60 which has a separate structure in the state which does not receive external force and is not substantially deform | transforming. The suction pad 60 ′ according to this modification is configured by combining a first component 62 ′ having a cap portion 18 and a second component 64 ′ having a bellows portion 20 with each other. The first part 62 includes a cap 18 that extends from the base end 14 to the end 16 about the axis 62 a and a first base 66 ′ connected to the base 14 of the cap 18. The first base portion 66 ′ has a vent hole 67 extending along the axis 62 a and a recess 68 ′ that extends to the base end 14 of the cap portion 18 adjacent to the vent hole 67. The second component 64 ′ includes a cylindrical bellows portion 20 that can be expanded and contracted along an axis 64 a, and a second base portion 70 ′ connected to the base end 40 of the bellows portion 20. The second base portion 70 ′ has an outer shape that can be closely fitted in the recess 68 ′ of the first base portion 66, and has a vent hole 72 ′ that communicates with the internal space 22 of the bellows portion 20. The vent hole 67 and the vent hole 72 'have substantially the same inner diameter. When the second base portion 70 'is inserted into the recess 68' of the first base portion 66 'closely, for example, by press-fitting, the axis 62a of the first component 62' and the axis 64a of the second component 64 'match each other, The ventilation hole 67 and the ventilation hole 72 'communicate with each other, and the first part 62' and the second part 64 'are fixedly combined with each other. Other configurations are the same as those of the suction pad 60 described above.

  FIG. 19 shows the suction pad 60 ′ in a deformed state by sucking the object 12. The suction pad 60 ′ has the first suction cup portion 34 in contact with the surface 12 a of the object 12, and when the bellows portion 20 contracts in the axial direction inside the shade portion 18, the shade portion 18 is at the end 16 and the surface of the subject. It is comprised so that it can contact 12a. In the suction pad 60 ′, as in the suction pad 60, when the bellows portion 20 is most contracted in the axial direction, the bellows portion 20 is folded inside the cap portion 18 so that it cannot be seen from the outside. And the distal end 16 of the cap 18 contacts the surface 12a of the object 12 outside the outer edge 36 of the first suction cup portion 34. An annular space 76 is formed between the end 16, the outer edge 36 of the first suction cup portion 34, and the object surface 12 a in a state where the end 16 of the cap 18 is in contact with the surface 12 a of the object 12. An annular second suction cup portion 74 is formed between the distal end 16 of the first suction cup portion 34 and the outer edge 36 of the first suction cup portion 34.

  The suction pad 60 ′ according to the modified example has the same effect as that of the suction pad 60 described above. The suction pads 60, 60 ′ can be made of the same material as the material of the suction pad 10 described above, and an appropriate portion can be formed as a separate structure like the suction pad 10. Similarly to the suction pad 10, the suction pads 60, 60 ′ have the vent hole 72 of the second base portion 70, the vent hole 67 of the first base portion 66 ′, and the vent hole 72 ′ of the second base portion 70 ′. The inner space 22 can have a minimum cross-sectional area that is larger than the minimum cross-sectional area.

  20 and 21 show the suction pad 80 according to the third embodiment in which the suction cup portion is further increased in a state in which the suction pad 80 is not substantially deformed without receiving an external force. 22 and 23 show the suction pad 80 in a state where the target 12 is sucked and deformed. FIG. 24 is an enlarged view of a part of the suction pad 80 of FIG. The suction pad 80 is substantially the same as the suction pad 10 described above (particularly, the suction pad 10 ″) except that the suction pad 80 includes a third suction cup portion in addition to the first suction cup portion 34 and the second suction cup portion 44. Therefore, corresponding components are denoted by common reference numerals, and detailed description thereof is omitted as appropriate.

  As shown in FIGS. 20 and 21, the suction pad 80 has a cap portion 18 that extends from the base end 14 to the distal end 16 and a cylindrical shape that can be expanded and contracted inside the cap portion 18 (lower side in the drawing). The bellows part 82 is provided. As will be described later, when the suction pad 80 sucks the object 12 (FIG. 22), the cap portion 18 and the bellows portion 82 are deformed along with the decompression of the internal space 84 of the bellows portion 82 and exhibit a suction action. To do. The suction pad 80 includes a base 24 connected to the base end 14 of the cap 18. The cap 18 and the base 24 have the same configuration as the cap 18 and the base 24 of the suction pad 10.

  The bellows portion 82 includes a foldable cylindrical wall 86 having a desired thickness. The cylindrical wall 86 includes two annular valley fold portions 32, one annular mountain fold portion 88 positioned between the valley fold portions 32, and one (lower side in the drawing) the valley fold portion 32. From the first sucker portion 34 extending toward the end in the direction away from the shade 18 (downward in the figure) and the valley fold portion 32 on the other side (upper in the drawing), toward the end in the direction approaching the shade 18 (upward in the figure) An upper wall portion 38 that extends, and a second upper wall portion 90 that extends toward the mountain fold portion 88 on the opposite side of the first sucker portion 34 across the valley fold portion 32 on one side (lower side in the figure) In addition, a lower wall portion 92 that extends toward the mountain fold portion 88 on the opposite side to the upper wall portion 38 across the other valley fold portion 32 (upper side in the drawing) is provided. The first suction cup portion 34 and the second upper wall portion 90 are integrally connected to each other at one (lower side in the figure) valley fold portion 32, and the second upper wall portion 90 and the lower wall portion 92 are A mountain fold portion 88 is integrally connected to each other, and the lower wall portion 92 and the upper wall portion 38 are integrally connected to each other at the other (upper side in the drawing) valley fold portion 32, and the upper wall portion 38 is connected to the connection region 42. And integrally connected to the end 16 of the cap 18. The first suction cup portion 34 and the upper wall portion 38 have the same configuration as the first suction cup portion 34 and the upper wall portion 38 of the suction pad 10.

  As shown in FIGS. 20 and 21, the distal end 16 of the shade portion 18 is disposed so as to protrude outward from the outer edge 36 of the first suction cup portion 34, and the mountain folded portion 88 of the cylindrical wall 86 of the bellows portion 82. It is arranged to protrude outward. Further, the mountain fold portion 88 is disposed so as to protrude outward from the outer edge 36 of the first suction cup portion 34. The annular wall 28 of the cap portion 18 and the upper wall portion 38 of the bellows portion 82 can be elastically deformed at the connection region 42 and its peripheral portion, and the annular wall 28 and the upper wall portion 38 are The angle formed by can be changed within a predetermined range. The lower wall portion 92 and the second upper wall portion 90 can be elastically deformed at the mountain fold portion 88 and its peripheral portion, and the lower wall portion 92 and the second upper wall portion 90 are accompanied by this elastic deformation. The angle formed by 90 can be changed within a predetermined range.

  The suction pad 80 has an annular second sucker portion 44 provided between the distal end 16 of the cap portion 18 and the outer edge 36 of the first sucker portion 34 with the bellows portion 82 contracted inside the cap portion 18. . Further, the suction pad 80 is surrounded by the second sucker portion 44 between the mountain folded portion 88 of the bellows portion 82 and the outer edge 36 of the first sucker portion 34 in a state where the bellows portion 82 is contracted inside the cap portion 18. And an annular third sucker portion 94 provided as described above. This configuration will be described in detail with reference to FIGS.

  As shown in FIGS. 22 to 24, when the suction pad 80 is brought into contact with the surface 12 a of the object 12 and the bellows portion 82 is contracted in the axial direction inside the shade portion 18, the suction pad 80 is shaded. The portion 18 is configured to be able to contact the surface 12 a of the object 12 at the end 16, and the bellows portion 82 is configured to be able to contact the surface 12 a of the object 12 at the mountain folded portion 88. The bellows part 82 is configured such that after the first suction cup part 34 is first brought into contact with the surface 12a of the object 12 at a portion along the outer edge 36, the cap part 18 is brought close to the object 12 so Thus, it is retracted in a foldable manner along the axis 80a. In the bellows portion 82, the first sucker portion 34 and the second upper wall portion 90 are in contact with each other on their outer peripheral surfaces, and the second upper wall portion 90 and the lower wall portion 92 are in contact with each other on their inner peripheral surfaces. When the upper wall portion 38 and the lower wall portion 92 are in contact with each other on the outer peripheral surface thereof, and the annular wall 28 and the upper wall portion 38 are in contact with each other on the inner peripheral surface thereof, they are most contracted in the axial direction. It becomes a state.

  When the bellows portion 82 is in the most contracted state in the axial direction, the bellows portion 82 is folded inside the cap portion 18 so as not to be seen from the outside, and the end portion 16 of the cap portion 18 is covered with the first suction cup. The surface 12 a of the object 12 is brought into contact with the outer edge 36 of the portion 34 and the outside of the mountain fold portion 88. That is, the shade portion 18 has a shape that surrounds the bellows portion 82 and contacts the bellows portion 82 when the bellows portion 82 contracts inside the shade portion 18. When the bellows portion 82 is in the most contracted state in the axial direction, the mountain fold portion 88 comes into contact with the surface 12a of the object 12 outside the outer edge 36 of the first suction cup portion 34 and inside the end 16 of the cap portion 18. . An annular space 46 is formed between the end 16, the mountain fold portion 88, and the object surface 12 a in a state where the end 16 of the cap portion 18 and the mountain fold portion 88 of the bellows portion 82 are in contact with the surface 12 a of the object 12. An annular space 96 is formed between the mountain fold portion 88, the outer edge 36 of the first suction cup portion 34, and the object surface 12a (FIG. 24).

  While the bellows portion 82 is in the most contracted state in the axial direction, the internal space 84 of the bellows portion 82 is decompressed, so that the first suction cup portion 34 has its inner peripheral surface (suction surface) 34b on the surface of the object 12. It contacts 12a and adsorbs on the surface 12a. While the first suction cup portion 34 is adsorbed to the surface 12a of the object 12, the bellows portion 82 and the cap portion 18 are pressed against the surface 12a of the object 12 due to the pressure difference between the internal space 22 and the surrounding environment, and at least The outer edge 36 of the first sucker portion 34 and its peripheral portion, the mountain fold portion 88 and its peripheral portion, and the end 16 of the cap portion 18 and its peripheral portion are elastically deformed. Due to the elastic deformation under this pressure, at least part of the space 46 between the end 16 of the shade portion 18 and the mountain fold portion 88 and the space 96 between the mountain fold portion 88 and the outer edge 36 of the first suction cup portion 34 are provided. The air is pushed out, and the space 46 and the space 96 become negative pressure. As a result, as shown in FIG. 24, an annular second sucker portion 44 is formed between the end 16 of the shade portion 18 and the mountain fold portion 88, and the outer edge 36 of the mountain fold portion 88 and the first sucker portion 34. An annular third sucker portion 94 is formed between the two.

  The second suction cup portion 44 is formed in a shape surrounding the third suction cup portion 94 in an annular shape, and the third suction cup portion 94 is formed in a shape surrounding the first suction cup portion 34 in an annular shape. In this embodiment, the distal end 16 of the cap portion 18 and the proximal end 40 of the upper wall portion 38 of the bellows portion 82 cooperate with the mountain fold portion 88 to form the second sucker portion 44, and the distal end 16 and the proximal end An outer surface portion 44a of the connection area 42 to the surface 40 facing the object surface 12a constitutes a second suction surface (hereinafter also referred to as a suction surface 44a). A portion of the second upper wall portion 90 adjacent to the mountain fold portion 88 cooperates with the outer edge 36 of the first suction cup portion 34 to form a third suction cup portion 94, and the second upper wall portion 90. The outer surface portion 94a facing the object surface 12a constitutes a third suction surface (hereinafter also referred to as a suction surface 94a).

  In the suction pad 80 having the above-described configuration, when the object 12 is sucked, all of the first suction cup portion 34, the second suction cup portion 44, and the third suction cup portion 94 simultaneously adsorb the surface 12a of the target object 12. Therefore, like the suction pad 10 described above, the suction force increases as a whole, and the reliability of the suction action is improved. Even when the surface 12a of the object 12 has unevenness, the triple suction action of the first suction part 34, the second suction part 44 and the third suction part 94 causes the bellows from the outside through the suction surfaces 34b, 44a and 94a. Air can be prevented from entering the internal space 22 of the portion 20 (also referred to as air leakage, vacuum leakage, etc.). Since the suction pad 80 does not include any of the protrusions for reinforcement as described in, for example, Patent Document 1 described above, in any of the shade portion 18 and the bellows portion 20, the object surface 12a can be formed with a simpler configuration. Air leakage due to the unevenness of the surface can be prevented. In the suction pad 80, the bellows portion 20 is folded inside the cap portion 18 while all of the first suction cup portion 34, the second suction cup portion 44, and the third suction cup portion 94 are adsorbed to the object 12. Since it is covered with the cap 18, the first sucker portion 34 and the third sucker portion 94 being sucked can be protected by the cap 18.

  In the suction pad 80, the cylindrical wall 86 of the bellows portion 82 is provided with three or more valley fold portions 32 and two or more mountain fold portions 88, and the bellows portion 82 is contracted inside the cap portion 18. Thus, by allowing each of the individual mountain folded portions 88 to come into contact with the object surface 12a, a configuration having a plurality of suction cup portions can be provided.

  The suction pad 80 can be made of the same material as that of the suction pad 10 described above, and an appropriate portion can be formed as a separate structure in the same manner as the suction pad 10. Similarly to the suction pad 10, the suction pad 80 can be configured such that the vent hole 26 of the base portion 24 has a minimum cross-sectional area larger than the minimum cross-sectional area of the internal space 84 of the bellows portion 82.

10, 60, 80 Suction pad 12 Object 16 Terminal 18 Cap portion 20, 82 Bellows portion 22, 84 Internal space 24 Base portion 26 Vent hole 32 Valley fold portion 34 First sucker portion 36 Outer edge 44, 74 Second sucker portion 48, 88 Mountain folded part 62 First part 64 Second part 94 Third sucker part

Claims (9)

A cap portion extending from the base end to the end portion, and a cylindrical bellows portion that is foldable and expandable inside the cap portion, the bellows portion having a first suction cup portion at the tip end, and the cap portion In the suction pad, the distal end of the suction pad is arranged to protrude outward from the outer edge of the first suction cup part.
A suction pad having an annular second sucker portion provided between the end of the cap portion and the outer edge of the first sucker portion in a state in which the bellows portion is contracted inside the cap portion.   The suction pad according to claim 1, wherein the cap portion has a shape that surrounds the bellows portion and contacts the bellows portion when the bellows portion contracts inside the cap portion.   The suction pad according to claim 1, wherein the cap portion has a larger wall thickness than the bellows portion.   The suction pad according to claim 1, wherein the cap portion and the bellows portion are integrally formed with each other.   The suction pad according to claim 4, wherein a base end of the bellows portion is integrally connected to the distal end of the cap portion.   The suction pad according to claim 1, wherein the cap portion and the bellows portion are formed separately from each other and connected to each other.   The base further includes a base connected to the base end of the cap part, and the base has a vent hole communicating with the internal space of the bellows part, and the vent hole has a minimum cross-sectional area of the internal space of the bellows part The suction pad according to claim 1, which has a larger minimum cross-sectional area.   The suction pad according to claim 1, wherein the bellows portion has one or more valley fold portions. The bellows portion has two valley fold portions and one mountain fold portion located between the valley fold portions,
The end of the cap portion is arranged to protrude outward from the mountain fold portion,
In a state where the bellows portion is contracted inside the cap portion, an annular third portion is provided between the mountain fold portion and the outer edge of the first suction cup portion so as to be surrounded by the second suction cup portion. Further having a sucker part,
The suction pad according to claim 8.

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