| 摘要 |
PURPOSE: To reliably move an object such as a work piece by arranging a plurality of suction cups on a carrier through a process of facing their action surfaces in the same direction, and by providing a function for reducing pressure of a suction space formed when the action surface of an opening of each suction cup is closed lower than pressure of the suction space formed when the action surface is released. CONSTITUTION: A plurality of suction cups 45 are arranged on a carrier 39 while their action surfaces 45 face in the same direction and are flush with each other. A sucker 47 having plasticity is attached on the lower side of each suction cup 45, and a plate-shaped sensor 9 similar to the shape of the sucker 47 is attached on the upper side with a clearance 10 on the peripheral edge. When the sucker 47 is brought into complete-contact with an object, the sucker is extended by the weight, the peripheral edge 3 is brought into contact with the sensor 9 to shut off the clearance 10, and a suction space 48 of the sucker 47 is evacuated by a vacuum device 54. When the sucker is brought into incomplete-contact with the object, the clearance 10 is opened as it is, air is sucked from the clearance 10 and the suction space 48 through sensor pipes 11, 12, and a check valve 13 is closed. |
