Conveying device

Abstract

A conveying device (100) includes a support portion (2), a first contact portion (1a), and a second contact portion (1b). The support portion (2) is configured to be movable in an up-down direction. The first contact portion (1a) and the second contact portion (1b) are supported by the support portion (2). The first contact portion (1a) and the second contact portion (1b) are configured to be openable and closable in an opening-closing direction that intersects the up-down direction. The first contact portion (1a) and the second contact portion (1b) are configured to be rotatable about a rotation axis (CL) along the opening-closing direction.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a conveying device. BACKGROUND

[0002] In the past, there has been a conveying device provided with a pair of contact portions (a first contact portion and a second contact portion) that sandwiches a workpiece. For example, a conveying device provided with the above configuration is described in Japanese Patent Application Publication No. 9-124268 (Patent Literature 1). The pair of contact portions can sandwich the workpiece at positions different from the position of the center of gravity of the workpiece.

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent Application Publication No. 9-124268 SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] In the case where the pair of contact portions of the conveying device described in the above publication sandwiches the workpiece at positions different from the position of the center of gravity of the workpiece, a rotational moment is generated on the workpiece. Therefore, the workpiece rotates with respect to the pair of contact portions. As a result, the workpiece is detached from the pair of contact portions.

[0008] The present disclosure was completed in view of the above problem, and aims to provide a conveying device capable of inhibiting detachment of a workpiece from a first contact portion and a second contact portion.

[0009] MEANS FOR SOLVING THE PROBLEMS

[0010] The conveying device of the present disclosure includes a support portion, a first contact portion, and a second contact portion. The support portion is configured to be movable in a vertical direction. The first contact portion and the second contact portion are supported by the support portion. The first contact portion and the second contact portion are configured to be openable and closable in an opening and closing direction that intersects the vertical direction. The first contact portion and the second contact portion are configured to be rotatable about a rotational axis along the opening and closing direction.

[0011] EFFECTS OF THE INVENTION

[0012] According to the conveying device of the present disclosure, the first contact portion and the second contact portion are configured to be rotatable about a rotational axis along the opening and closing direction. Therefore, even in the case where the workpiece rotates with respect to the support portion, the first contact portion and the second contact portion can rotate together with the workpiece. Therefore, detachment of the workpiece from the first contact portion and the second contact portion can be inhibited. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 is a side view that schematically shows the structure of the conveying device of Embodiment 1 in a state where a workpiece is sandwiched.

[0014] Figure 2 This is a side view schematically showing the structure of the conveying device according to the first embodiment in a state where no workpiece is clamped.

[0015] Figure 3 yes Figure 2 An enlarged cross-sectional view of region III.

[0016] Figure 4 This is an enlarged side view schematically showing the structure of the first contact portion or the second contact portion of the conveying device according to the first embodiment, as viewed from the inside in the opening and closing direction.

[0017] Figure 5 It is a side view schematically showing the structure of the conveying device according to the first embodiment in a state where a first workpiece is sandwiched and the structure of the conveying device according to the first embodiment in a state where a second workpiece is sandwiched.

[0018] Figure 6 It is a side view schematically showing the structure of the conveying device of the comparative example in a state where the first workpiece is sandwiched therebetween and the structure of the conveying device of the comparative example in a state where the second workpiece is sandwiched therebetween.

[0019] Figure 7 This is a side view schematically showing the structure of the conveying device according to the first embodiment in a state where a workpiece is not lifted.

[0020] Figure 8 This is a side view schematically showing the structure of the conveying device according to the first embodiment in a state where a workpiece is suspended.

[0021] Figure 9 This is a perspective view schematically showing the structure of a conveying device according to a first modified example of the first embodiment.

[0022] Figure 10 This is a flowchart showing the operation of the conveying device according to the first modified example of the first embodiment.

[0023] Figure 11 This is a perspective view schematically showing the structure of a conveying device according to a second modified example of the first embodiment.

[0024] Figure 12 This is a cross-sectional view schematically showing the structure of the conveying device according to the second embodiment in a state where no workpiece is sandwiched.

[0025] Figure 13 This is a cross-sectional view schematically showing the structure of the conveying device according to the second embodiment in a state where a workpiece is sandwiched.

[0026] Figure 14 This is a side view schematically showing the structure of the conveying device according to the second embodiment as viewed from the opening and closing direction.

[0027] Figure 15 This is a cross-sectional view schematically showing the structure of the conveying device according to the third embodiment in a state where no workpiece is sandwiched.

[0028] Figure 16 This is a cross-sectional view schematically showing the structure of the conveying device according to the third embodiment in a state where a workpiece is sandwiched.

[0029] Figure 17 This is a side view schematically showing the structure of the conveying device according to the third embodiment as viewed from the opening and closing direction.

[0030] Figure 18 This is an enlarged cross-sectional view schematically showing the structure of the conveying device according to the third embodiment in a state where no workpiece is clamped.

[0031] Figure 19 It is along Figure 18 Cross-sectional view along line XIX-XIX.

[0032] Figure 20 This is an enlarged cross-sectional view schematically showing the structure of the conveying device according to the third embodiment in a state where a workpiece is sandwiched.

[0033] Figure 21 This is an enlarged cross-sectional view schematically showing the structure of the conveying device according to the third embodiment in a state where a workpiece is sandwiched and the first contact portion and the second contact portion are rotated. DETAILED DESCRIPTION

[0034] Hereinafter, the embodiment will be described based on the drawings. In addition, in the following, the same reference numerals are attached to the same or corresponding parts, and repeated description will not be repeated.

[0035] Implementation method 1.

[0036] use Figures 1-6 , the structure of the conveying device 100 according to the first embodiment is described. Figure 1 This is a side view schematically showing the structure of the conveying device 100 according to the first embodiment in a state where the workpiece W is sandwiched. Figure 2 It schematically shows the workpiece W not being clamped (see Figure 1 ) is a side view of the structure of the conveying device 100 according to embodiment 1.

[0037] like Figure 1 As shown, the conveyor device 100 is used to hold a workpiece W. The conveyor device 100 is used to transport multiple workpieces W one by one. Examples of the multiple workpieces W include discarded household appliances such as air conditioners, televisions, refrigerators, and washing machines. The multiple workpieces W may have different sizes and weights. Therefore, the center of gravity of the multiple workpieces W may differ. The conveyor device 100 is used, for example, in recycling plants.

[0038] As shown in Figure 1 The conveying device 100 includes a first contact portion 1a, a second contact portion 1b, a support portion 2, a locking device 3, and a lifting device 4. The support portion 2 is configured to be movable in an up-down direction (Z-axis direction). The first contact portion 1a and the second contact portion 1b are supported by the support portion 2. The first contact portion 1a and the second contact portion 1b are configured to be openable and closable in an opening-closing direction (X-axis direction) that intersects the up-down direction (Z-axis direction). In the present embodiment, the opening-closing direction (X-axis direction) is orthogonal to the up-down direction (Z-axis direction). The first contact portion 1a and the second contact portion 1b are configured to be rotatable about a rotation axis CL along the opening-closing direction (X-axis direction). The rotation axis CL of the first contact portion 1a is the same as the rotation axis CL of the second contact portion 1b. That is, the rotation axis CL of the first contact portion 1a and the rotation axis CL of the second contact portion 1b are located on the same straight line. The lifting device 4 is configured to move the first contact portion 1a, the second contact portion 1b, the support portion 2, the locking device 3, and the workpiece W in the up-down direction (Z-axis direction).

[0039] In the present embodiment, a direction along the up-down direction is set as a Z-axis direction. A direction along the opening-closing direction is set as an X-axis direction. A direction orthogonal to the up-down direction (Z-axis direction) and the opening-closing direction (X-axis direction) is set as a Y-axis direction.

[0040] As shown in Figure 1 The first contact portion 1a and the second contact portion 1b are configured to be capable of gripping the workpiece W by sandwiching the workpiece W therebetween. In the present embodiment, a force acting on the workpiece W when the conveying device 100 lifts the workpiece W is set as a gripping force. The gripping force acts in the opening-closing direction (X-axis direction). A position at which the conveying device 100 sandwiches the workpiece W is set as a gripping position.

[0041] As shown in Figure 1 The support portion 2 includes a first top end portion 20a, a second top end portion 20b, and a movable direction control plate 21. The first top end portion 20a supports the first contact portion 1a. The second top end portion 20b supports the second contact portion 1b. The first top end portion 20a and the second top end portion 20b are connected to the movable direction control plate 21. The movable direction control plate 21 extends in the opening-closing direction (X-axis direction). The first contact portion 1a is moved in the opening-closing direction (X-axis direction) by moving the first top end portion 20a along the movable direction control plate 21 in the opening-closing direction (X-axis direction). The second contact portion 1b is moved in the opening-closing direction (X-axis direction) by moving the second top end portion 20b along the movable direction control plate 21 in the opening-closing direction (X-axis direction). The first contact portion 1a and the second contact portion 1b are capable of sandwiching the workpiece W in the opening-closing direction (X-axis direction) by moving the first contact portion 1a and the second contact portion 1b in the opening-closing direction (X-axis direction).

[0042] like Figure 1 and Figure 2 As shown, the distance between the first contact portion 1 a and the second contact portion 1 b in a state where the workpiece W is clamped is smaller than the distance between the first contact portion 1 a and the second contact portion 1 b in a state where the workpiece W is not clamped.

[0043] like Figure 3 As shown, the first contact portion 1a includes a first flange portion 10a, a first retainer 11a, a plurality of first pins 12a, a first planar portion 1Pa, and a first shaft portion 14a. The first contact portion 1a may also include a first pad portion 13a. The second contact portion 1b includes a second flange portion 10b, a second retainer 11b, a plurality of second pins 12b, a second planar portion 1Pb, and a second shaft portion 14b. The second contact portion 1b may also include a second pad portion 13b.

[0044] like Figure 3 As shown, the first flange portion 10a is connected to the support portion 2. The second flange portion 10b is connected to the support portion 2. The first flange portion 10a and the second flange portion 10b include a cylindrical portion TP and a brim portion SP. In the present embodiment, the cylindrical portion TP is hollow, but the cylindrical portion TP may also be solid. The brim portion SP protrudes radially outward from the cylindrical portion TP. The brim portion SP of the first flange portion 10a is connected to the first clamp 11a by a screw not shown in the figure. The brim portion SP of the second flange portion 10b is connected to the second clamp 11b by a screw not shown in the figure.

[0045] like Figure 3 As shown, the first flange portion 10a is connected to the first top portion 20a via the first shaft portion 14a. The second flange portion 10b is connected to the second top portion 20b via the second shaft portion 14b. The first shaft portion 14a and the second shaft portion 14b are, for example, bearings or oil-free bushings with the opening and closing direction (X-axis direction) as the rotation axis. The first shaft portion 14a and the second shaft portion 14b have a structure that is applied to the workpiece W (refer to Figure 1 The first tip portion 20a is provided with a first hole H1 for inserting the first shaft portion 14a. The second tip portion 20b is provided with a second hole H2 for inserting the second shaft portion 14b.

[0046] like Figure 3 As shown, the support portion 2 includes a first damper 2Da and a second damper 2Db. The first damper 2Da is connected to the first contact portion 1a. The second damper 2Db is connected to the second contact portion 1b. The first damper 2Da fills the first hole H1. The second damper 2Db fills the second hole H2. The first damper 2Da and the second damper 2Db are, for example, viscous fluids. The first damper 2Da is configured to dampen the rotation of the first contact portion 1a. The second damper 2Db is configured to dampen the rotation of the second contact portion 1b.

[0047] As Figure 3 illustrated, the first holder 11a is connected with the first flange portion 10a. The second holder 11b is connected with the second flange portion 10b. The first holder 11a faces the second holder 11b. The first holder 11a and the second holder 11b have a disc shape.

[0048] The first holder 11a and the second holder 11b include a first surface and a second surface. The diameter of the first surface is smaller than the diameter of the second surface. Therefore, an inclination is provided between the second surface and the first surface. A screw hole not illustrated for connecting with the first flange portion 10a is provided on the first surface of the first holder 11a. A screw hole not illustrated for connecting with the second flange portion 10b is provided on the first surface of the second holder 11b. The second surface of the first holder 11a faces the second surface of the second holder 11b.

[0049] The first holder 11a and the second holder 11b have a strength to the extent that they do not deform when a gripping force is applied. The material and thickness of the first holder 11a and the second holder 11b can also be appropriately selected in such a way that the first holder 11a and the second holder 11b do not deform when a gripping force is applied.

[0050] As Figure 3 illustrated, a plurality of first pins 12a are installed to the first holder 11a. Specifically, the plurality of first pins 12a are installed to the second surface of the first holder 11a. A plurality of second pins 12b are installed to the second holder 11b. Specifically, the plurality of second pins 12b are installed to the second surface of the second holder 11b.

[0051] As Figure 3 illustrated, the plurality of first pins 12a protrude from the first holder 11a toward the second holder 11b. The plurality of second pins 12b protrude from the second holder 11b toward the first holder 11a. The first pins 12a and the second pins 12b include a cylindrical portion CP and a protruding portion PP. The protruding portion PP is installed to one end of the cylindrical portion CP. The cylindrical portion CP of the first pins 12a and the second pins 12b has a strength to the extent that it does not deform even when a gripping force and the mass of the workpiece W (refer to Figure 1 ) are applied. The other end of the cylindrical portion CP of the first pins 12a is fixed to the first holder 11a by being inserted into the hole HL of the first holder 11a. The other end of the cylindrical portion CP of the second pins 12b is fixed to the second holder 11b by being inserted into the hole HL of the second holder 11b.

[0052] As Figure 3As shown, the first pad 13a and the second pad 13b face each other. The first pad 13a is mounted on the first clamp 11a in a manner facing the second clamp 11b. The second pad 13b is mounted on the second clamp 11b in a manner facing the first clamp 11a. The diameters of the first pad 13a and the second pad 13b are the same as the diameters of the second surfaces of the first clamp 11a and the second clamp 11b. The material of the first pad 13a and the second pad 13b is an elastomer that can expand and contract in the opening and closing direction (X-axis direction). A plurality of through holes TH are provided in the first pad 13a and the second pad 13b. The diameters of the through holes TH of the first pad 13a and the second pad 13b are greater than the diameters of the plurality of first pins 12a and the plurality of second pins 12b.

[0053] The first pad 13a and the second pad 13b are respectively bonded to the first clamp 11a and the second clamp 11b using, for example, an adhesive sheet (not shown). Countersunk holes (not shown) may be provided on the first pad 13a and the second pad 13b, for example. If the first pad 13a is countersunk, the first pad 13a may be fixed to the first clamp 11a using screws (not shown). If the second pad 13b is countersunk, the second pad 13b may be fixed to the second clamp 11b using screws (not shown).

[0054] The surface of the first pad portion 13a facing the second pad portion 13b may also be configured to reduce friction by being coated. A hard plate (not shown) may also be attached to the surface of the first pad portion 13a facing the second pad portion 13b. The surface of the second pad portion 13b facing the first pad portion 13a may also be configured to reduce friction by being coated. A hard plate (not shown) may also be attached to the surface of the second pad portion 13b facing the first pad portion 13a.

[0055] In the case where the conveying device 100 does not include the plurality of first pins 12a and the plurality of second pins 12b, the friction force of the first pad 13a and the second pad 13b is large enough to hold the workpiece W (see FIG. Figure 1 In this case, the first contact portion 1a may not include the plurality of first pins 12a, and the second contact portion 1b may not include the plurality of second pins 12b. In addition, in this case, the first pad 13a and the second pad 13b are formed by contacting the workpiece W (refer to Figure 1 ) is formed by materials that produce high friction between them.

[0056] like Figure 1 As shown, in the state where the conveying device 100 holds the workpiece W, the first pad 13a and the second pad 13b have a plurality of first pins 12a (see Figure 3 ) and a plurality of second pins 12b (refer to Figure 3) is thick enough to protrude from the first pad portion 13a and the second pad portion 13b. Figure 2 As shown, the conveying device 100 does not hold the workpiece W (see Figure 1 ) state, the first pad portion 13a and the second pad portion 13b have a plurality of first pins 12a (see Figure 3 ) and a plurality of second pins 12b (refer to Figure 3 ) does not protrude from the first pad portion 13a and the second pad portion 13b. Figure 1 and Figure 2 As shown, the first pad portion 13 a and the second pad portion 13 b in the state where the conveying device 100 grips the workpiece W are compressed compared to the state where the conveying device 100 does not grip the workpiece W.

[0057] like Figure 4 As shown, the plurality of first pins 12a are arranged at equal intervals on concentric circles with the rotation axis CL as the center, and the plurality of second pins 12b are arranged at equal intervals on concentric circles with the rotation axis CL as the center.

[0058] like Figure 5 As shown, the first planar portion 1Pa and the second planar portion 1Pb face each other. In this embodiment, the first planar portion 1Pa is the surface of the first pad portion 13a. The second planar portion 1Pb is the surface of the second pad portion 13b. In the conveying device 100 of this embodiment, since the first planar portion 1Pa and the second planar portion 1Pb face each other, the first contact portion 1a and the second contact portion 1b contact the workpiece W as planes. If the first contact portion 1a does not include the first pad portion 13a, the first planar portion 1Pa may also be the surface of the first clamper 11a. If the second contact portion 1b does not include the second pad portion 13b, the second planar portion 1Pb may also be the surface of the second clamper 11b.

[0059] exist Figure 5 The figure shows the conveying device 100 of this embodiment sandwiching a first workpiece W1 and a second workpiece W2. The dimension L1 of the first workpiece W1 in the opening and closing direction (X-axis direction) is larger than the dimension L2 of the second workpiece W2 in the opening and closing direction (X-axis direction). Because the first contact portion 1a and the second contact portion 1b move in the opening and closing direction (X-axis direction), even if the dimensions of the first and second workpieces W1 and W2 in the opening and closing direction (X-axis direction) differ, the height positions of the first and second contact portions 1a and 1b in the vertical direction (Z-axis direction) remain constant.

[0060] exist Figure 6The comparative example's conveyance device 101 is shown gripping the first workpiece W1 and the comparative example's conveyance device 101 is shown gripping the second workpiece W2. The comparative example's conveyance device 101 does not have the first flat portion 1Pa and the second flat portion 1Pb. The comparative example's conveyance device 101 has the first curved portion 1Ca and the second curved portion 1Cb. Therefore, the first contact portion 1a and the second contact portion 1b contact the workpiece W with a curved surface. The contact area of the first contact portion 1a and the second contact portion 1b with the workpiece W in the comparative example is smaller than when the first contact portion 1a and the second contact portion 1b have the first flat portion 1Pa and the second flat portion 1Pb.

[0061] In addition, in the comparative example's conveyance device 101, the first contact portion 1a and the second contact portion 1b move in both the opening and closing direction (X-axis direction) and the up and down direction (Z-axis direction). Therefore, the height position of the first contact portion 1a and the second contact portion 1b in the up and down direction (Z-axis direction) is different in the case of gripping the first workpiece W1 and in the case of gripping the second workpiece W2. Therefore, in the comparative example's conveyance device 101, it is difficult to control the gripping position.

[0062] Next, the action of the first contact portion 1a and the second contact portion 1b when the conveyance device 100 of Embodiment 1 lifts the workpiece W will be described using Figure 7 and Figure 8 . Figure 7 is a side view that schematically shows the structure of the conveyance device 100 of Embodiment 1 in a state in which the workpiece W is not lifted. Figure 8 is a side view that schematically shows the structure of the conveyance device 100 of Embodiment 1 in a state in which the workpiece W is lifted.

[0063] As shown in Figure 7 , the workpiece W is gripped by the first contact portion 1a and the second contact portion 1b at the gripping position. The rotational axis CL of the first contact portion 1a and the second contact portion 1b is located at the gripping position. The center of gravity of the workpiece W is located at the center of gravity position C. The gravitational force acting on the center of gravity of the workpiece W is indicated by a double dotted line.

[0064] As shown in Figure 7 , in a state in which the workpiece W is not lifted, the center of gravity position C of the workpiece W is different from the gripping position in the opening and closing direction (X-axis direction). Therefore, when the workpiece W is lifted, the workpiece W will rotate due to the rotational moment that is generated by the gravitational force. The rotational moment acting on the workpiece W is indicated by a dotted line.

[0065] As shown in Figure 7 and Figure 8As shown, the workpiece W in the lifted state rotates about the rotation axis CL relative to the workpiece W in the unlifted state. The first contact portion 1a and the second contact portion 1b in the lifted state rotate about the rotation axis CL relative to the first contact portion 1a and the second contact portion 1b in the unlifted state. The first contact portion 1a and the second contact portion 1b rotate together with the workpiece W.

[0066] like Figure 8 As shown, when the workpiece W is lifted, the center of gravity position C of the workpiece W is the same as the holding position in the opening and closing direction (X-axis direction). Figure 3 ) and the second pad 13b (see Figure 3 ) is compressed, so that the plurality of first pins 12a (refer to Figure 3 ) and a plurality of second pins 12b (refer to Figure 3 ) penetrates the workpiece W. In addition, the force acting upward when the workpiece W is hoisted is indicated by a hollow arrow.

[0067] Assuming that the first contact portion 1a and the second contact portion 1b do not rotate, the first contact portion 1a and the second contact portion 1b do not rotate even if the workpiece W rotates. Therefore, the workpiece W deviates from the contact surface with the first contact portion 1a and the second contact portion 1b, and the workpiece W may be separated from the first contact portion 1a and the second contact portion 1b.

[0068] Next, use Figure 1 and Figure 2 , the structure of the support portion 2 of embodiment 1 is described in detail.

[0069] like Figure 1 As shown, the support portion 2 further includes a protrusion 22, a first link 23a, a second link 23b, an upper rotation shaft 234, a control handle 24, a first horizontal control pin 25a, a second horizontal control pin 25b, a first handle 26a, a second handle 26b, and a lifting portion 27. The first link 23a is connected to the movable direction control plate 21 and the first top end 20a. The second link 23b is connected to the movable direction control plate 21 and the second top end 20b.

[0070] The movable direction control plate 21 is provided with a first through-hole THa and a second through-hole THb extending in the opening and closing direction (X-axis direction). The first through-hole THa is provided on the first tip portion 20a side relative to the center of the movable direction control plate 21 in the opening and closing direction (X-axis direction). The second through-hole THb is provided on the second tip portion 20b side relative to the center of the movable direction control plate 21 in the opening and closing direction (X-axis direction). The first through-hole THa and the second through-hole THb are provided at a distance from each other.

[0071] The first horizontal control pin 25a is installed to the first top end portion 20a in a state of penetrating the first through-hole THa and a non-illustrated through-hole of the first top end portion 20a. The non-illustrated through-hole of the first top end portion 20a is orthogonal to a direction in which the holding force against the workpiece W acts. The first top end portion 20a is configured to be movable in the opening / closing direction (X-axis direction) by the first horizontal control pin 25a moving along the first through-hole THa in the opening / closing direction (X-axis direction). The first horizontal control pin 25a has a strength to the extent that it does not deform when subjected to the mass and the holding force of the workpiece W.

[0072] The first horizontal control pin 25a includes a first pin portion, a first one-side brim portion, and a first other-side brim portion. The first pin portion penetrates the first through-hole THa and the non-illustrated through-hole of the first top end portion 20a. The first pin portion is sandwiched by the first one-side brim portion and the first other-side brim portion. The first one-side brim portion is disposed on the side (front side on the paper) opposite the first top end portion 20a with respect to the movable direction control plate 21 in the Y-axis direction. The first other-side brim portion is disposed on the side (rear side on the paper) opposite the movable direction control plate 21 with respect to the first top end portion 20a in the Y-axis direction. The first one-side brim portion has a larger size than the first through-hole THa in the up / down direction (Z-axis direction). The first other-side brim portion has a larger size than the non-illustrated through-hole of the first top end portion 20a. The movable direction control plate 21, the first pin portion, and the first top end portion 20a are sandwiched by the first one-side brim portion and the first other-side brim portion. Thus, the movable direction control plate 21 and the first top end portion 20a are configured not to come off each other.

[0073] The second horizontal control pin 25b is installed to the second top end portion 20b in a state of penetrating the second through-hole THb and a non-illustrated through-hole of the second top end portion 20b. The non-illustrated through-hole of the second top end portion 20b is orthogonal to a direction in which the holding force against the workpiece W acts. The second top end portion 20b is configured to be movable in the opening / closing direction (X-axis direction) by the second horizontal control pin 25b moving along the second through-hole THb in the opening / closing direction (X-axis direction). The second horizontal control pin 25b has a strength to the extent that it does not deform when subjected to the mass and the holding force of the workpiece W.

[0074] The second horizontal control pin 25b includes a second pin portion, a second one-side brim portion, and a second other-side brim portion. The second pin portion passes through the second through-hole THb and the through-hole (not shown) of the second top end portion 20b. The second pin portion is sandwiched between the second one-side brim portion and the second other-side brim portion. The second one-side brim portion is located on the side opposite to the second top end portion 20b in the Y-axis direction relative to the movable direction control plate 21 (near the front side of the paper). The second other-side brim portion is located on the side opposite to the movable direction control plate 21 in the Y-axis direction relative to the second top end portion 20b (in the back side of the paper). The second one-side brim portion has a larger dimension than the second through-hole THb in the vertical direction (Z-axis direction). The second other-side brim portion has a larger dimension than the through-hole (not shown) of the second top end portion 20b. The movable direction control plate 21, the second pin portion, and the second top end portion 20b are sandwiched between the second one-side brim portion and the second other-side brim portion. When the first and second horizontal control pins 25a and 25b pass through the first and second through holes THa and THb, respectively, the first and second pads 13a and 13b face each other in parallel.

[0075] like Figure 1 As shown, the protrusion 22 protrudes from the movable direction control plate 21 toward the side opposite the first and second tip portions 20a, 20b. The protrusion 22 and the movable direction control plate 21 form a T-shape. The protrusion 22 protrudes upward from the movable direction control plate 21 at a position between the first through-hole THa and the second through-hole THb in the opening and closing direction (X-axis direction). The protrusion 22 is provided with a third through-hole THc extending in the vertical direction (Z-axis direction). The direction in which the third through-hole THc extends is orthogonal to the direction in which the gripping force on the workpiece W is applied.

[0076] like Figure 1 As shown, the control handle 24 is attached to the protrusion 22, the first connecting rod 23a, and the second connecting rod 23b. Specifically, the control handle 24 is attached to the first connecting rod 23a and the second connecting rod 23b while extending through the third through-hole THc. The control handle 24 is positioned at the intersection of the first and second connecting rods 23a and 23b. The control handle 24 serves as one of the rotation axes of the first and second connecting rods 23a and 23b. The first and second connecting rods 23a and 23b are arranged in an X-shape with the control handle 24 as the intersection point.

[0077] By tightening the control handle 24, the protrusion 22 is fixed to the control handle 24 between the first link 23a and the second link 23b and the control handle 24. By loosening the control handle 24, the protrusion 22 can move between the first link 23a and the second link 23b and the control handle 24. Figure 1As shown, in the state where the conveying device 100 clamps the workpiece W, the control handle 24 is tightened. Figure 2 As shown, the conveying device 100 does not clamp the workpiece W (refer to Figure 1 ) state, the control handle 24 is released.

[0078] like Figure 1 As shown, when the control handle 24 is tightened, the control handle 24 fixes the first link 23a and the second link 23b to the protrusion 22, thereby fixing the first contact portion 1a and the second contact portion 1b to the support portion 2. When the control handle 24 is tightened, the control handle 24 has a tightening torque large enough to fix the first link 23a and the second link 23b to the protrusion 22. When the control handle 24 is loosened, the control handle 24 moves in the vertical direction (Z-axis direction) along the third through hole THc, thereby enabling the first link 23a and the second link 23b to move in the vertical direction (Z-axis direction).

[0079] The first link 23a and the second link 23b have sufficient dimensions to exert a gripping force on the workpiece W. The first link 23a includes a first lower link portion 230a, a first upper link portion 231a, and a first lower rotation shaft portion 232a. The second link 23b includes a second lower link portion 230b, a second upper link portion 231b, and a second lower rotation shaft portion 232b.

[0080] The lower end of the first lower link portion 230a is connected to the first top end portion 20a. The lower end of the second lower link portion 230b is connected to the second top end portion 20b. The first lower link portion 230a and the second lower link portion 230b intersect.

[0081] The upper end of the first lower link portion 230a is connected to the lower end of the first upper link portion 231a. The first lower link portion 230a and the first upper link portion 231a are connected so as to be smoothly rotatable via the first lower rotation shaft portion 232a. The upper end of the second lower link portion 230b is connected to the lower end of the second upper link portion 231b. The second lower link portion 230b and the second upper link portion 231b are connected so as to be smoothly rotatable via the second lower rotation shaft portion 232b.

[0082] The upper end of the first upper link portion 231a and the upper end of the second upper link portion 231b are connected so as to be smoothly rotatable via the upper rotating shaft portion 234. The upper ends of the first upper link portion 231a and the second upper link portion 231b are connected to the hoisting device 4 via the hoisting portion 27. The hoisting portion 27 has a high strength such that it will not be damaged even when the mass of the first contact portion 1a, the second contact portion 1b, the support portion 2, and the workpiece W is applied.

[0083] like Figure 1 As shown, the first link 23a and the second link 23b are connected to the lifting device 4. The lifting device 4 moves the first contact portion 1a, the second contact portion 1b, and the support portion 2 in the vertical direction (Z-axis direction). The lifting device 4 is, for example, a crane or a chain hoist. The lifting device 4 is connected to the lifting portion 27 via a hook (not shown) of the lifting device 4.

[0084] The first handle 26a is attached to the first distal end portion 20a. The second handle 26b is attached to the second distal end portion 20b. The first handle 26a and the second handle 26b each have a substantially ring shape so that the operator can grip the first handle 26a and the second handle 26b, respectively.

[0085] Next, use Figure 1 and Figure 2 , the structure of the locking device 3 of embodiment 1 is described in detail.

[0086] like Figure 1 As shown, the locking device 3 is attached to the movable direction control plate 21. The locking device 3 restricts the movement of either the first tip portion 20a or the second tip portion 20b relative to the movable direction control plate 21, thereby restricting the movement of the first contact portion 1a and the second contact portion 1b relative to the support portion 2. In this embodiment, the locking device 3 is configured to restrict the movement of the second tip portion 20b relative to the movable direction control plate 21.

[0087] like Figure 1 As shown, the state in which the movement of the first contact portion 1a and the second contact portion 1b relative to the support portion 2 is not restricted by the locking device 3 is defined as a movable state. In the movable state, the first contact portion 1a and the second contact portion 1b can move in both directions, toward and away from each other, along the opening and closing direction (X-axis direction).

[0088] like Figure 2The state in which the movement of the first contact portion 1a and the second contact portion 1b relative to the support portion 2 is restricted by the locking device 3 is referred to as a restricted state. In the restricted state, the first contact portion 1a and the second contact portion 1b are restricted from moving in the direction in which they approach each other along the opening / closing direction (X-axis direction). In the restricted state, the movement of the first contact portion 1a and the second contact portion 1b in the direction in which they separate from each other is not restricted, and thus the first contact portion 1a and the second contact portion 1b can move in the direction in which they separate from each other. The locking device 3 is configured to be able to switch between the restricted state and a movable state.

[0089] As shown in Figure 2 , the locking device 3 includes a locking plate 30, a spring portion 31, a knob portion 32, a housing 33, and a baffle plate 34.

[0090] The locking plate 30 has a zigzag shape. The locking plate 30 includes a base portion and a plurality of protrusion portions. The plurality of protrusion portions protrude downward from the base portion. The plurality of protrusion portions have a substantially right-angled triangular shape. The plurality of protrusion portions include a straight portion and an inclined portion. The straight portion extends downward in a state in which it is orthogonal to the base portion. The inclined portion extends obliquely downward relative to the base portion.

[0091] The base portion of the locking plate 30 is attached to the upper portion of the housing 33 by the spring portion 31. The spring portion 31 is sandwiched by the base portion of the locking plate 30 and the housing 33 in the up-down direction (Z-axis direction). The spring portion 31 is compressed in either of the restricted state and the movable state.

[0092] The baffle plate 34 is attached to the upper portion of the housing 33. The baffle plate 34 is provided with an L-shaped through-hole having an L shape. The L-shaped through-hole includes a through-hole that extends in the up-down direction (Z-axis direction) and a through-hole that extends in the opening / closing direction (X-axis direction). The through-hole that extends in the opening / closing direction (X-axis direction) communicates with the upper end of the through-hole that extends in the up-down direction (Z-axis direction).

[0093] The knob portion 32 is attached to the locking plate 30 in a state in which it penetrates the L-shaped through-hole of the baffle plate 34. The locking plate 30 is configured to move in the up-down direction (Z-axis direction) and the opening / closing direction (X-axis direction) by the knob portion 32 moving along the L-shaped through-hole in the up-down direction (Z-axis direction) and the opening / closing direction (X-axis direction).

[0094] Next, the operation of the locking device 3 of Embodiment 1 will be described using Figure 1 and Figure 2 .

[0095] As shown in Figure 1 and Figure 2 , the locking device 3 includes a locking plate 30, a spring portion 31, a knob portion 32, a housing 33, and a baffle plate 34.As shown, the lock plate 30 is moved in the up-down direction (Z-axis direction) and the opening-closing direction (X-axis direction) to switch between the restriction state and the movable state. Specifically, the lock plate 30 is moved in the up-down direction (Z-axis direction) and the opening-closing direction (X-axis direction) by moving the pinch grip 32 along the L-shaped through hole of the baffle 34 to switch between the restriction state and the movable state.

[0096] As shown in Figure 2 the restriction state, the lock plate 30 is in contact with the second horizontal control pin 25b in a state where the spring portion 31 is pressed against the second horizontal control pin 25b. Therefore, the second horizontal control pin 25b is engaged with the linear portion of the base portion and the protruding portion of the lock plate 30. Thus, the movement of the second horizontal control pin 25b in the opening-closing direction (X-axis direction) toward the first top end portion 20a is suppressed, and thus the movement of the second top end portion 20b toward the first top end portion 20a is suppressed. On the other hand, since the movement of the second horizontal control pin 25b in the opening-closing direction (X-axis direction) away from the first top end portion 20a is not restricted, the first top end portion 20a and the second top end portion 20b can move in a direction away from each other.

[0097] As shown in Figure 2 the restriction state, the pinch grip 32 is in contact with the lower end of the through hole of the L-shaped through hole of the baffle 34 extending in the up-down direction (Z-axis direction). Therefore, the lock plate 30 in the restriction state is positioned lower than the lock plate 30 in the movable state (see Figure 1 ).

[0098] As shown in Figure 1 the movable state, the lock plate 30 is not in contact with the second horizontal control pin 25b. Therefore, the second horizontal control pin 25b can move in the opening-closing direction (X-axis direction) toward the first horizontal control pin 25a and away from the first horizontal control pin 25a. In the movable state, the spring portion 31 is compressed. In the movable state, the pinch grip 32 is in contact with the through hole of the L-shaped through hole of the baffle 34 extending in the opening-closing direction (X-axis direction).

[0099] Next, the structure of the conveyance device 100 of the first modification of Embodiment 1 will be described using Figure 9 . The conveyance device 100 of the first modification of Embodiment 1 is a conveyance device 100 for conveying a plurality of workpieces W arranged in a container 8. The conveyance device 100 of the first modification of Embodiment 1 includes the supply device 5, the receiving device 6, and the discharge device 7. The plurality of workpieces W are arranged in the container 8.

[0100] As shown in Figure 9As shown, the lifting device 4 includes a frame portion 40, a moving device 41 and a lifting portion 42. The frame portion 40 has a size that allows the container 8 and the receiving device 6 to be arranged in the internal space of the frame portion 40. The moving device 41 is configured to be movable along the Y-axis direction on the frame portion 40. The lifting portion 42 is connected to the moving device 41. The lifting portion 42 is configured to be movable in the opening and closing direction (X-axis direction) through the moving device 41. The lifting portion 42 is configured to enable the first contact portion 1a, the second contact portion 1b, the support portion 2 and the workpiece W to be moved in the up and down direction (Z-axis direction). Through the lifting device 4, the first contact portion 1a, the second contact portion 1b, the support portion 2 and the workpiece W are configured to be movable along the up and down direction (Z-axis direction), the opening and closing direction (X-axis direction) and the Y-axis direction. In addition, Figure 9 In the figure, the hoisting device 4 is shown as a gantry crane, but the hoisting device 4 may also be a jib crane.

[0101] like Figure 9 As shown, the supply device 5 has a conveyor extending in the opening and closing direction (X-axis direction). At least one container 8 is arranged on the conveyor of the supply device 5. The conveyor of the supply device 5 overlaps with the lifting unit 42 when viewed from above. The supply device 5 is configured so that the container 8 containing a plurality of workpieces W can be conveyed by the conveyor along the opening and closing direction (X-axis direction) to directly below the lifting unit 42. In addition, for ease of explanation, the conveyor arranged below the container 8 of the supply device 5 is not shown.

[0102] like Figure 9 As shown, the receiving device 6 is configured to be able to convey the workpiece W conveyed from the container 8 to the receiving device 6 by the lifting device 4 to the discharge device 7. The receiving device 6 has an L-shape. The size of the receiving device 6 in the opening and closing direction (X-axis direction) is larger than the workpiece W. The receiving device 6 includes a first receiving part 61, a second receiving part 62 and a receiving rotating part 63. The first receiving part 61 constitutes the long side of the L-shape. The first receiving part 61 has a conveyor of the receiving device 6. The conveying mechanism of the receiving device 6 is configured to be able to rotate in the direction toward the discharge device 7. The second receiving part 62 constitutes the short side of the L-shape. The receiving rotating part 63 is installed between the first receiving part 61 and the second receiving part 62. The receiving rotating part 63 constitutes the corner of the L-shape. The receiving first part 61 and the receiving second part 62 are rotated by the rotation axis of the receiving rotating part 63, so that the receiving first part 61 and the receiving second part 62 can rotate.

[0103] The receiving device 6 is configured to switch between the receiving state and the output state by rotating about the rotation shaft of the receiving rotating portion 63. In the receiving state of the receiving device 6, the receiving second portion 62 extends along the Y-axis direction. In the receiving state, the receiving first portion 61 stands up from the receiving second portion 62 along the up-down direction (Z-axis direction). In the receiving state, the workpiece W can be arranged on the receiving second portion 62. In the output state of the receiving device 6, the receiving first portion 61 extends along the Y-axis direction. In the output state, the workpiece W can be arranged on the conveyor of the receiving first portion 61. In the output state, the receiving second portion 62 stands up from the receiving first portion 61 along the up-down direction (Z-axis direction). In the output state, the height of the conveyor of the receiving device 6 is the same as the height of the conveyor of the discharging device 7.

[0104] As shown in Figure 9 , the discharging device 7 is configured to convey the workpiece W conveyed to the discharging device 7 by the receiving device 6 to the next process. The discharging device 7 has a conveyor of the discharging device 7 extending along the Y-axis direction. The workpiece W is loaded on the conveyor of the discharging device 7.

[0105] Next, the operation of the conveying device 100 of the first modified example of Embodiment 1 will be described using Figure 9 and Figure 10 . As shown in Figure 10 , the operation of the conveying device 100 includes a gripping preparation process S101, an insertion process S102, a lifting process S103, a conveying process S104, and a release process S105.

[0106] As shown in Figure 9 , at the start of the operation, the first contact portion 1a, the second contact portion 1b, and the support portion 2 can be arranged at a position higher than the height position of the upper end of the container 8. The control handle 24 (see Figure 1 ) is in a released state. The locking device 3 can be in a restricted state or a movable state. The receiving device 6 is in the receiving state.

[0107] As shown in Figure 9 , in the gripping preparation process S101 (see Figure 10 ), the container 8 loaded with a plurality of workpieces W is arranged on the conveyor of the supply device 5. The container 8 arranged on the conveyor of the supply device 5 moves to the inner space of the frame portion 40 of the lifting device 4. The container 8 arranged on the conveyor of the supply device 5 moves directly below the hoisting portion 42. The first contact portion 1a, the second contact portion 1b, and the support portion 2 are lowered to the inner space of the container 8 by the hoisting portion 42. The height position of the first contact portion 1a, the second contact portion 1b, and the support portion 2 is a height position at which an operator can easily operate the first contact portion 1a, the second contact portion 1b, and the support portion 2. In the gripping preparation process S101 (see Figure 10), the control handle 24 (refer to Figure 1 ) is in a released state. Therefore, the interval between the first contact portion 1a and the second contact portion 1b can be changed.

[0108] Next, in the inserting step S102 (see Figure 10 ), the interval between the first contact portion 1a and the second contact portion 1b is enlarged according to the size of the workpiece W. In the inserting step S102 (refer to Figure 10 ), the operator performs the operation while holding the first handle 26a and the second handle 26b. Figure 10 ), the locking device 3 is in the restricted state. Therefore, due to the second horizontal control pin 25b (refer to Figure 1 ) and the locking plate 30 (refer to Figure 1 ) engages with the linear portion of the protrusion, thereby restricting movement of the second tip portion 20b toward the first tip portion 20a. However, movement of the second tip portion 20b away from the first tip portion 20a is not restricted. Consequently, the gap between the first and second contact portions 1a, 1b can be limited from decreasing, while the gap between the first and second contact portions 1a, 1b can be increased. Consequently, the gap between the first and second contact portions 1a, 1b can be determined based on the size of the workpiece W.

[0109] Next, by turning the control handle 24 (refer to Figure 1 ) is tightened, thereby fixing the first top end portion 20a and the second top end portion 20b to the support portion 2. As a result, the interval between the first contact portion 1a and the second contact portion 1b is temporarily fixed. Figure 1 The distance between the first contact portion 1a and the second contact portion 1b in the tightened state is a desired dimension for the first contact portion 1a and the second contact portion 1b to clamp the workpiece W. The control handle 24 (see Figure 1 ) in a tightened state, the distance between the first contact portion 1a and the second contact portion 1b is, for example, greater than the dimension in the opening and closing direction (X-axis direction) of the workpiece W. By moving the lifting portion 42 downward, the first contact portion 1a and the second contact portion 1b are inserted between the multiple workpieces W. As a result, the first contact portion 1a and the second contact portion 1b are capable of gripping the workpieces W.

[0110] After the first contact portion 1a and the second contact portion 1b are inserted between the plurality of workpieces W, the control handle 24 (see Figure 1 ), and the locking device 3 becomes movable. As a result, the first contact portion 1a and the second contact portion 1b can move in a manner of clamping the workpiece W. The operator confirms that the first pad 13a (see Figure 1 ) and the second pad 13b (see Figure 1 ) The case where the workpiece W is clamped.

[0111] Next, in the lifting process S103 (refer to Figure 10 ), the first contact portion 1a, the second contact portion 1b, and the support portion 2 are lifted by the hoisting portion 42, and thereby moved upward. Since the first contact portion 1a, the second contact portion 1b, and the support portion 2 are moved upward, the interval between the first contact portion 1a and the second contact portion 1b becomes small due to the weight of the first contact portion 1a, the second contact portion 1b, and the support portion 2. Thereby, the gripping force acts on the workpiece W. The plurality of first pins 12a (refer to Figure 1 ) and the plurality of second pins 12b (refer to Figure 1 ) are exposed from the first pad portion 13a (refer to Figure 1 ) and the second pad portion 13b (refer to Figure 1 ) and pierce the workpiece W. Therefore, the workpiece W can be sufficiently gripped.

[0112] The workpiece W is rotated together with the first contact portion 1a and the second contact portion 1b while being lifted by the hoisting portion 42, with the rotation axis CL (refer to Figure 1 ) of the first contact portion 1a and the second contact portion 1b as the center. Thereby, the center of gravity position of the workpiece W is located on the same line as the lifting direction.

[0113] Next, in the conveying process S104 (refer to Figure 10 ), the lifted workpiece W is conveyed to the receiving device 6 by the hoisting portion 42. In the conveying process S104 (refer to Figure 10 ), the workpiece W is sandwiched by the first contact portion 1a and the second contact portion 1b.

[0114] Next, in the releasing process S105 (refer to Figure 10 ), the first contact portion 1a and the second contact portion 1b are detached from the workpiece W. Next, the locking device 3 becomes the restricted state. Thereby, the interval between the first contact portion 1a and the second contact portion 1b becomes small. Next, in a state where the first handle 26a (refer to Figure 1 ) and the second handle 26b (refer to Figure 1 ) are gripped by the operator, the interval between the first contact portion 1a and the second contact portion 1b is expanded. Thereby, the workpiece W is released.

[0115] The receiving device 6 is switched from the receiving state to the output state. After the height position of the conveyor of the receiving first portion 61 is the same as the height position of the conveyor of the discharge device 7, the conveyor of the receiving device 6 is rotated toward the discharge device 7. Thereby, the workpiece W is conveyed to the discharge device 7 by the receiving device 6. The discharge device 7 conveys the workpiece W to the next process.

[0116] After the workpiece W is transported to the next process, the hoisting portion 42, the first contact portion la, the second contact portion lb, and the support portion 2 are moved upward of the container 8. In a case where the workpiece W is arranged in the inner space of the container 8, the insertion process S102 (refer to Figure 10 ) is performed. In a case where the workpiece W is not arranged in the inner space of the container 8, the gripping preparation process S101 (refer to Figure 10 ) is performed.

[0117] Next, the structure of the transport device 100 of the second modification example of Embodiment 1 is described using Figure 11 . As shown in Figure 11 , the transport device 100 of the second modification example of Embodiment 1 includes a transport robot arm 90, a sensor 91, and a controller 92. In the present embodiment, the transport robot arm 90 is applied to the first contact portion la, the second contact portion lb, and the support portion 2. Further, in Figure 11 , the transport robot arm 90 is illustrated as a normal robot arm, but the transport robot arm 90 can also be a vertical multi-joint robot arm.

[0118] The sensor 91 recognizes the workpiece W arranged in the container 8. The sensor 91 and the transport robot arm 90 are connected to the controller 92. The controller 92 receives information related to the workpiece W recognized by the sensor 91 from the sensor 91. The controller 92 transmits the information related to the workpiece W to the transport robot arm 90. The first contact portion la and the second contact portion lb to which the transport robot arm 90 is applied are configured to automatically grip the workpiece W in accordance with the information related to the workpiece W recognized by the sensor 91.

[0119] Next, the effects of the present embodiment are described.

[0120] According to the transport device 100 of the present embodiment, as shown in Figure 1 , the first contact portion la and the second contact portion lb are rotatable about the rotation axis CL in the opening / closing direction (X-axis direction). Therefore, even in a case where the workpiece W rotates with respect to the support portion 2, the first contact portion la and the second contact portion lb are able to rotate with the workpiece W. Therefore, it is possible to suppress the workpiece W from being detached from the first contact portion la and the second contact portion lb.

[0121] Regardless of the position of the center of gravity of the workpiece W, the first contact portion la and the second contact portion lb are rotatable, and therefore even if a plurality of workpieces W have mutually different positions of the center of gravity, it is possible to suppress the workpiece W from being detached from the first contact portion la and the second contact portion lb.

[0122] As shown in Figure 1As shown, the first contact portion 1a has a first flat surface portion 1Pa, and the second contact portion 1b has a second flat surface portion 1Pb. Therefore, the first and second contact portions 1a, 1b sandwich the workpiece W with flat surfaces. Consequently, the contact area between the first and second contact portions 1a, 1b and the workpiece W is larger than when the workpiece W is sandwiched with a curved surface. Consequently, the gripping force is more efficiently exerted than when the workpiece W is sandwiched with a curved surface. Consequently, the conveying device 100 can lift the workpiece W with less force than when the workpiece W is sandwiched with a curved surface.

[0123] like Figure 3 As shown, the first contact portion 1a includes a plurality of first pins 12a, and the second contact portion 1b includes a plurality of second pins 12b. Therefore, the conveying device 100 can grasp the workpiece W using the plurality of first pins 12a and the plurality of second pins 12b. Therefore, when the conveying device 100 grasps the workpiece W, the plurality of first pins 12a and the plurality of second pins 12b penetrate the workpiece W. Consequently, the conveying device 100 can lift the workpiece W with less force than when the plurality of first pins 12a and the plurality of second pins 12b are not included.

[0124] like Figure 3 As shown, the first contact portion 1a includes a first pad 13a, and the second contact portion 1b includes a second pad 13b. When the conveying device 100 grips the workpiece W, the first pad 13a and the second pad 13b are compressed by being pressed against the workpiece W. Therefore, in addition to the gripping force in the opening and closing direction (X-axis direction), the repulsive force in the opening and closing direction (X-axis direction) generated by the first pad 13a and the second pad 13b acts on the workpiece W from the first contact portion 1a and the second contact portion 1b. As a result, the conveying device 100 can lift the workpiece W with less force than when the first pad 13a and the second pad 13b are not included.

[0125] Since the conveyor device 100 can lift the workpiece W with a relatively small force, the workpiece W can be gripped with a relatively small force compared to when the conveyor device 100 lifts the workpiece W with a relatively large force. Therefore, damage to the workpiece W can be suppressed. Since the conveyor device 100 can lift the workpiece W with a relatively small force, the size of the conveyor device 100 can be reduced compared to when the conveyor device 100 lifts the workpiece W with a relatively large force.

[0126] like Figure 3As shown, the support portion 2 includes a first damper 2Da configured to dampen the rotation of the first contact portion 1a, and a second damper 2Db configured to dampen the rotation of the second contact portion 1b. As a result, as the first and second contact portions 1a, 1b rotate, their rotational speeds gradually slow, and thus the rotational speed of the workpiece W also gradually slows. Consequently, the conveying apparatus 100 can hold the workpiece W in a stable state.

[0127] like Figure 3 As shown, the support portion 2 includes a first damper 2Da and a second damper 2Db. Therefore, the rotational speed of the first contact portion 1a and the second contact portion 1b is slower than when the first damper 2Da and the second damper 2Db are not included. Consequently, the rotational speed of the workpiece W is slower than when the first damper 2Da and the second damper 2Db are not included. Consequently, the conveying device 100 can hold the workpiece W in a stable state. Furthermore, during conveyance of the workpiece W, shaking of the first contact portion 1a, the second contact portion 1b, and the workpiece W can be suppressed.

[0128] like Figure 4 As shown, the plurality of first pins 12a are arranged at equal intervals on concentric circles centered on the rotation axis CL, and the plurality of second pins 12b are arranged at equal intervals on concentric circles centered on the rotation axis CL. Therefore, even when the first contact portion 1a and the second contact portion 1b rotate, the plurality of first pins 12a and the plurality of second pins 12b can still contact the workpiece W at equal intervals on the concentric circles before and after rotation. Consequently, the plurality of first pins 12a and the plurality of second pins 12b can evenly grip the workpiece W around the rotation axis CL. Consequently, the conveyor device 100 can reliably grip the workpiece W.

[0129] like Figure 5 As shown, the first and second contact portions 1a and 1b are configured to move in the opening and closing direction (X-axis direction) by moving the first and second tip portions 20a and 20b along the movable direction control plate 21. Therefore, if the height position of the support portion 2 is fixed, the first and second contact portions 1a and 1b can move in the opening and closing direction (X-axis direction) at a fixed height. Therefore, if the height position of the support portion 2 is fixed, even if multiple workpieces W have different shapes, the first and second contact portions 1a and 1b can each clamp multiple workpieces W at a fixed height. Thus, regardless of the shapes of the multiple workpieces W, the conveying device 100 can clamp multiple workpieces W at a fixed height. This makes the conveying device 100 easier to operate.

[0130] like Figure 1As shown, the first link 23a and the second link 23b are fixed to the protrusion 22 by the control handle 24, thereby fixing the first contact 1a and the second contact 1b to the support 2. Thus, the distance of the first contact 1a and the second contact 1b in the opening and closing direction (X-axis direction) can be suppressed from changing.

[0131] Regarding the fixation of the first contact 1a and the second contact 1b, when one workpiece W is lifted from among the plurality of workpieces W, the first contact 1a and the second contact 1b are inserted between the plurality of workpieces W by being pressed from above. In the case where the first contact 1a and the second contact 1b are movable, when the first contact 1a and the second contact 1b are pressed from above between the plurality of workpieces W, the first contact 1a and the second contact 1b can move in a direction away from each other. Thus, the force from above of the first contact 1a and the second contact 1b is not transmitted, and thus the insertion of the first contact 1a and the second contact 1b between the plurality of workpieces W can be hindered.

[0132] The conveying device 100 according to the present embodiment, as shown in Figure 1 The first contact 1a and the second contact 1b are fixed to the support 2. Thus, in a state where the interval of the first contact 1a and the second contact 1b is fixed, the first contact 1a and the second contact 1b can be pressed between the plurality of workpieces W. Thus, the force from above of the first contact 1a and the second contact 1b is transmitted. Thus, the first contact 1a and the second contact 1b can be inserted between the plurality of workpieces W.

[0133] As shown, the first contact 1a and the second contact 1b are fixed to the support 2. Thus, in a state where the interval of the first contact 1a and the second contact 1b is fixed, the first contact 1a and the second contact 1b can be pressed between the plurality of workpieces W. Thus, the force from above of the first contact 1a and the second contact 1b is transmitted. Thus, the first contact 1a and the second contact 1b can be inserted between the plurality of workpieces W. Figure 1 As shown, the first contact 1a and the second contact 1b are fixed to the support 2. Thus, in a state where the interval of the first contact 1a and the second contact 1b is fixed, the first contact 1a and the second contact 1b can be pressed between the plurality of workpieces W. Thus, the force from above of the first contact 1a and the second contact 1b is transmitted. Thus, the first contact 1a and the second contact 1b can be inserted between the plurality of workpieces W.

[0134] The conveying device 100 according to the first modification of the present embodiment, Figure 9 The conveying device 100 shown can convey the workpieces W arranged in the container 8 according to Figure 10 The conveying device 100 can convey the workpieces W arranged in the container 8 according to Figure 10 The conveying device 100 can convey the workpieces W arranged in the container 8 according to

[0135] The conveying device 100 according to the second modification of the present embodiment, as shown in FIG. 2, includes a conveying robot arm 90, a sensor 91, and a controller 92. The first contact portion la and the second contact portion lb of the conveying robot arm 90 are configured to automatically grip the workpiece W in accordance with information related to the workpiece W identified by the sensor 91. Thus, the conveying device 100 is capable of automatically conveying the workpiece W. Figure 11

[0136] Embodiment 2

[0137] Next, the structure of the conveying device 100 according to Embodiment 2 will be described with reference to FIG. 3. Embodiment 2 has the same structure and effects as those of Embodiment 1 described above, unless otherwise specified. Thus, the same reference numerals are assigned to the same structures as those of Embodiment 1 described above, and the description thereof will not be repeated. Figures 12-14 As shown in FIG. 3, in the conveying device 100 according to Embodiment 2, the first contact portion la includes a first flange portion 10a, a first gripper 11a, a first shaft portion 14a, a plurality of first spring portions 94a, a plurality of first shaft root portions 95a, a plurality of first shaft tip portions 97a, and a first gripper cover 96a. The second contact portion lb includes a second flange portion 10b, a second gripper 11b, a second shaft portion 14b, a plurality of second spring portions 94b, a plurality of second shaft root portions 95b, a plurality of second shaft tip portions 97b, and a second gripper cover 96b. As will be described later, the conveying device 100 according to Embodiment 2 differs from the conveying device 100 according to Embodiment 1 in that the plurality of first shaft tip portions 97a and the plurality of second shaft tip portions 97b are movable in the opening / closing direction.

[0138] Figure 12 The structure of the first contact portion la will be described with reference to FIG. 4. In addition, the second contact portion lb has the same structure as that of the first contact portion la.

[0139] As shown in FIG. 4, a plurality of first opening portions OP1 are provided in the first face 11a1 of the first gripper 11a. Thus, each of a plurality of bearings, not shown, can be disposed in the inside of the first gripper 11a. Figures 12-14 The plurality of first spring portions 94a are each connected to the first gripper 11a. The plurality of first spring portions 94a are each connected to each of the plurality of first shaft root portions 95a on the side opposite to the second contact portion lb with respect to the plurality of first shaft root portions 95a. The plurality of first spring portions 94a are each connected to the first gripper 11a with respect to each of the plurality of first shaft root portions 95a.

[0140] Figure 12 As shown in FIG. 4, a plurality of first opening portions OP1 are provided in the first face 11a1 of the first gripper 11a. Thus, each of a plurality of bearings, not shown, can be disposed in the inside of the first gripper 11a.

[0141] The plurality of first spring portions 94a are each connected to the first gripper 11a. The plurality of first spring portions 94a are each connected to each of the plurality of first shaft root portions 95a on the side opposite to the second contact portion lb with respect to the plurality of first shaft root portions 95a. The plurality of first spring portions 94a are each connected to the first gripper 11a with respect to each of the plurality of first shaft root portions 95a.

[0142] ​​​Each of the plurality of first shaft base portions 95a is connected to each of the plurality of first spring portions 94a on the side opposite the first flange portion 10a relative to the plurality of first spring portions 94a. Each of the plurality of first shaft base portions 95a is connected to each of the plurality of first shaft top portions 97a on the side opposite the second contact portion 1b relative to the plurality of first shaft top portions 97a. Each of the plurality of first shaft top portions 97a is connected to each of the first spring portions 94a via each of the plurality of first shaft base portions 95a.

[0143] Each of the first shaft bases 95a has a cylindrical shape. Each of the first shaft bases 95a is inserted into each of the first openings OP1. The outer diameter of each of the first shaft bases 95a is less than or equal to the inner diameter of each of the first openings OP1. Thus, each of the first shaft bases 95a can be inserted into each of the first openings OP1.

[0144] When the bearing is disposed inside the first holder 11a through the first opening OP1, the first shaft base 95a is inserted into the bearing. In this case, the outer diameter of the first shaft base 95a is large enough to be inserted into the bearing.

[0145] Alternatively, the first ends 95a1 of the plurality of first shaft bases 95a may be provided with internal threads (not shown). In this case, the first shaft tip 97a is fixed to the first ends 95a1 of the first shaft bases 95a via external threads (not shown) that engage with the internal threads. Each of the plurality of first spring portions 94a is connected to the second ends 95a2 of the plurality of first shaft bases 95a.

[0146] The first clamp cover 96a is connected to the first clamp 11a in a manner overlapping the first clamp 11a. The first clamp cover 96a has a diameter approximately the same as that of the first clamp 11a. The first clamp cover 96a is provided with a plurality of first through holes TH1. Each of the plurality of first through holes TH1 is provided so as to overlap with each of the plurality of first openings OP1. The inner diameter of the first through hole TH1 is smaller than the inner diameter of the plurality of first openings OP1. The first clamp cover 96a is connected to the first clamp 11a in a manner such that the center of each of the plurality of first through holes TH1 is aligned with the center of each of the plurality of first openings OP1. The first clamp cover 96a is fixed to the first clamp 11a, for example, by screws (not shown).

[0147] The first clamper cover 96a is provided with a clamping member for the workpiece W (see Figure 13 ) is made of a material with a strength that does not deform when the holding force of the workpiece W (see Figure 13 ) is a thickness that does not deform when a holding force is applied.

[0148] The conveying device 100 can further include a first rubber sheet, not shown. The first rubber sheet covers the first holder cover 96a on the side opposite to the first holder 11a with respect to the first holder cover 96a. That is, the first rubber sheet is disposed on the outer side. The first rubber sheet is not in contact with the first holder 11a. Specifically, the first rubber sheet is attached to the first holder cover 96a. The first rubber sheet is provided with a plurality of through holes. The plurality of through holes of the first rubber sheet are each disposed at a position overlapping each of the first through holes TH1 of the first holder cover 96a, respectively. The plurality of through holes of the first rubber sheet each have an inner diameter to the same extent as the inner diameter of each of the first through holes TH1 of the first holder cover 96a.

[0149] Each of the plurality of first shaft tip portions 97a is configured to be detachable and replaceable with respect to each of the plurality of first shaft base portions 95a, respectively. The first shaft tip portion 97a is detachable and replaceable with respect to the first shaft base portion 95a through the first through hole TH1 of the first holder cover 96a. Specifically, by screwing the external thread formed in the first shaft tip portion 97a to the internal thread formed in the first shaft base portion 95a, the first shaft tip portion 97a is detachable and replaceable with respect to the first shaft base portion 95a. By pressing the first shaft tip portion 97a toward the first flange portion 10a along the opening and closing direction, the first spring portion 94a is contracted. Thus, the first shaft tip portion 97a is movable from the outside of the first holder 11a to the inside of the first holder 11a. Further, the first shaft tip portion 97a is configured such that, in the state where the first spring portion 94a is contracted, the tip end of the first shaft tip portion 97a does not protrude from the first holder cover 96a.

[0150] The plurality of first shaft tip portions 97a have a cylindrical shape. The outer diameter of each of the plurality of first shaft tip portions 97a is smaller than the inner diameter of each of the plurality of first through holes TH1 provided in the first holder cover 96a, respectively. Thus, each of the plurality of first shaft tip portions 97a is insertable into each of the plurality of first through holes TH1 provided in the first holder cover 96a. The first shaft tip portion 97a is made of a material having a strength to the extent that it does not deform when the gripping force on the workpiece W (refer to FIG. 1) acts. Figure 13 ) is not deformed.

[0151] As Figure 12 and Figure 13As shown, the plurality of first shaft tips 97a are configured to be movable in the opening and closing direction. The plurality of first shaft bases 95a are configured to be movable in the opening and closing direction via the plurality of first spring portions 94a. Specifically, when the workpiece W is not gripped, the plurality of first spring portions 94a extend. Furthermore, when the workpiece W is gripped, the plurality of first spring portions 94a contract. Therefore, due to the contraction of the plurality of first spring portions 94a, the plurality of first shaft tips 97a in the gripped state can move in the opening and closing direction toward the side opposite to the second contact portion 1b, compared to the gripped state.

[0152] Figure 14 1 is a side view showing the first contact portion 1a and the first top end portion 20a. Figure 14 As shown, the plurality of first openings OP1 and the plurality of first through holes TH1 are arranged at equal intervals in the circumferential direction with the rotation axis CL of the first clamper 11a as the center. In addition, the plurality of first shaft top ends 97a are arranged at equal intervals in the circumferential direction with the rotation axis CL of the first clamper 11a as the center. Figure 14 In FIG. 1 , the outer shapes of the plurality of first openings OP1 are indicated by dotted lines.

[0153] Next, use Figures 12-14 The structure of the second contact portion 1 b will be described.

[0154] like Figure 12 As shown in FIG. 1 , a plurality of second openings OP2 are provided on the first surface 11 b 1 of the second clamper 11 b .

[0155] Each of the plurality of second spring portions 94b is connected to the second clamper 11b. Each of the plurality of second spring portions 94b is connected to each of the plurality of second axial root portions 95b on the side opposite to the first contact portion 1a relative to the plurality of second axial root portions 95b. Each of the plurality of second spring portions 94b connects each of the plurality of second axial root portions 95b to the second clamper 11b.

[0156] Each of the plurality of second axial root portions 95b is connected to each of the plurality of second spring portions 94b on the side opposite the second flange portion 10b relative to the plurality of second spring portions 94b. Each of the plurality of second axial root portions 95b is connected to each of the plurality of second axial tip portions 97b on the side opposite the first contact portion 1a relative to the plurality of second axial tip portions 97b. Each of the plurality of second axial tip portions 97b is connected to each of the second spring portions 94b via each of the plurality of second axial root portions 95b.

[0157] Each of the plurality of second shaft root portions 95b has a cylindrical shape. Each of the plurality of second shaft root portions 95b is inserted into each of the plurality of second opening portions OP2, respectively. Each of the plurality of second shaft root portions 95b has an outer diameter that is smaller than an inner diameter of each of the plurality of second opening portions OP2. Thus, each of the plurality of second shaft root portions 95b is inserted into each of the plurality of second opening portions OP2.

[0158] Further, in a case where the bearing is disposed inside the second gripper 11b through the second opening portion OP2, the second shaft root portion 95b is inserted into the bearing. Further, in this case, the second shaft root portion 95b has an outer diameter that is capable of being inserted into the bearing.

[0159] An inner thread, not shown, can be provided at the first end 95b1 of the plurality of second shaft root portions 95b. In this case, at the first end 95b1 of the second shaft root portion 95b, a second shaft tip portion 97b is fixed by an outer thread, not shown, that is screwed into the inner thread. Each of the plurality of second spring portions 94b is connected to the second end 95b2 of the plurality of second shaft root portions 95b, respectively.

[0160] The second gripper cover 96b is connected to the second gripper 11b in a manner that overlaps the second gripper 11b. The second gripper cover 96b has a diameter that is the same as the second gripper 11b. The plurality of second through holes TH2 is provided in the second gripper cover 96b. Each of the plurality of second through holes TH2 is provided in a manner that overlaps each of the plurality of second opening portions OP2, respectively. The plurality of second through holes TH2 has an inner diameter that is smaller than the inner diameter of the plurality of second opening portions OP2. The second gripper cover 96b is connected to the second gripper 11b in a manner that each of the centers of the plurality of second through holes TH2 coincides with each of the centers of the plurality of second opening portions OP2. The second gripper cover 96b is fixed to the second gripper 11b, for example, by a screw, not shown.

[0161] The second gripper cover 96b is made of a material that has a strength to the extent that the second gripper cover 96b does not deform when a gripping force against the workpiece W (refer to Figure 13 ) is applied. The thickness of the second gripper cover 96b is a thickness to the extent that the second gripper cover 96b does not deform when a gripping force against the workpiece W (refer to Figure 13 ) is applied.

[0162] The conveying device 100 can further include a second rubber sheet not shown. The second rubber sheet covers the second holder cover 96b on the side opposite to the second holder 11b with respect to the second holder cover 96b. That is, the second rubber sheet is disposed on the outer side. The second rubber sheet is not in contact with the second holder 11b. Specifically, the second rubber sheet is attached to the second holder cover 96b. The second rubber sheet is provided with a plurality of through holes. The plurality of through holes of the second rubber sheet are each disposed at a position overlapping each of the second through holes TH2 of the second holder cover 96b, respectively. The plurality of through holes of the second rubber sheet each have an inner diameter to the same extent as the respective inner diameters of the second through holes TH2 of the second holder cover 96b.

[0163] The plurality of second shaft tip portions 97b are each configured to be detachable and replaceable with respect to each of the plurality of second shaft base portions 95b, respectively. The second shaft tip portion 97b is detachable and replaceable with respect to the second shaft base portion 95b through the second through hole TH2 of the second holder cover 96b. Specifically, by screwing the external thread formed in the second shaft tip portion 97b to the internal thread formed in the second shaft base portion 95b, the second shaft tip portion 97b is detachable and replaceable with respect to the second shaft base portion 95b. By pressing the second shaft tip portion 97b toward the second flange portion 10b in the opening and closing direction, the second spring portion 94b is contracted. Thus, the second shaft tip portion 97b is movable from the outside of the second holder 11b to the inside of the second holder 11b. Further, the second shaft tip portion 97b is configured such that, in the state in which the second spring portion 94b is contracted, the tip of the second shaft tip portion 97b does not protrude from the second holder cover 96b.

[0164] The plurality of second shaft tip portions 97b have a cylindrical shape. The plurality of second shaft tip portions 97b each have an outer diameter smaller than the respective inner diameters of the plurality of second through holes TH2 provided in the second holder cover 96b. Thus, the plurality of second shaft tip portions 97b are each insertable into the plurality of second through holes TH2 provided in the second holder cover 96b. The second shaft tip portion 97b is made of a material having a strength to the extent that it does not deform when the gripping force on the workpiece W (refer to FIG. 1) acts. Figure 13 ) is not deformed.

[0165] As Figure 12 and Figure 13As shown, the plurality of second shaft tips 97b are configured to be movable in the opening and closing direction. The plurality of second shaft bases 95b are configured to be movable in the opening and closing direction via the plurality of second spring portions 94b. Specifically, when the workpiece W is not gripped, the plurality of second spring portions 94b extend. Furthermore, when the workpiece W is gripped, the plurality of second spring portions 94b contract. Therefore, due to the contraction of the plurality of second spring portions 94b, the plurality of second shaft tips 97b in the gripped state can move in the opening and closing direction toward the side opposite to the first contact portion 1a, compared to the gripped state.

[0166] Figure 14 1b is a side view showing the second contact portion 1b and the second top end portion 20b. Figure 14 As shown, the plurality of second openings OP2 and the plurality of second through holes TH2 are arranged at equal intervals in the circumferential direction with the rotation axis CL of the second clamper 11b as the center. In addition, the plurality of second shaft top ends 97b are arranged at equal intervals in the circumferential direction with the rotation axis CL of the second clamper 11b as the center. Figure 14 In FIG, the outer shapes of the plurality of second openings OP2 are indicated by dotted lines.

[0167] Next, mainly use Figure 9 、 Figure 12 and Figure 13 , the operation of the conveying device 100 according to the second embodiment will be described.

[0168] The operation of the conveying device 100 of the second embodiment is different from that of the conveying device 100 of the first embodiment in that ... Figure 10 ) is different. In addition, the operation of the conveying device 100 of embodiment 2 is the same as that of embodiment 1 in other processes.

[0169] like Figure 9 、 Figure 12 and Figure 13 As shown, in the lifting process S103 (refer to Figure 10 ), the first contact portion 1a, the second contact portion 1b, and the support portion 2 are lifted by the lifting portion 42 along with the workpiece W, thereby moving the first contact portion 1a, the second contact portion 1b, the support portion 2, and the workpiece W upward. As described above, the weight of the first contact portion 1a, the second contact portion 1b, and the support portion 2 reduces the distance between the first contact portion 1a and the second contact portion 1b. Consequently, the gripping force of the first contact portion 1a and the second contact portion 1b acts on the workpiece W.

[0170] In this embodiment, if Figure 13 As shown, the first and second spring portions 94 a and 94 b are contracted, so that the first and second shaft tip portions 97 a and 97 b move along the surface of the workpiece W in the opening and closing directions.

[0171] Next, the effects of this embodiment will be described.

[0172] According to the conveying device 100 of embodiment 2, Figure 12 and Figure 13 As shown, the multiple first shaft tips 97a are configured to be movable in the opening and closing directions. The multiple second shaft tips 97b are also configured to be movable in the opening and closing directions. Therefore, when the first contact portion 1a and the second contact portion 1b grip the workpiece W, the multiple first shaft tips 97a and the multiple second shaft tips 97b can move in the opening and closing directions along the surface of the workpiece W. As a result, the tips of the first and second shaft tips 97a and 97b can hook onto the uneven surface of the workpiece W. Therefore, the first and second contact portions 1a and 1b can reliably grip the workpiece W.

[0173] In addition, the tips of the first shaft tip portion 97a and the second shaft tip portion 97b can be hooked on the uneven surface of the workpiece W. Thus, the first contact portion 1a and the second contact portion 1b can hold the first pin 12a (see Figure 3 ) and the second pin 12b (refer to Figure 3 ) A hard workpiece W of a hardness that does not penetrate.

[0174] Furthermore, the tips of the first and second shaft tips 97 a and 97 b can be hooked onto the unevenness on the surface of the workpiece W. Thus, even when the friction on the surface of the workpiece W is low, the first and second shaft tips 97 a and 97 b catch the unevenness on the surface of the workpiece W, and thus the first and second contact portions 1 a and 1 b can grip the workpiece W.

[0175] like Figure 12 As shown, each of the plurality of first shaft tips 97a is configured to be detachable and replaceable relative to each of the plurality of first shaft bases 95a. Each of the plurality of second shaft tips 97b is configured to be detachable and replaceable relative to each of the plurality of second shaft bases 95b. Therefore, if the first shaft tips 97a and the second shaft tips 97b become worn, the worn first shaft tips 97a and the second shaft tips 97b can be replaced with new ones.

[0176] Implementation method 3.

[0177] Next, use Figures 15-21 , the structure of the conveying device 100 of embodiment 3 will be described. Unless otherwise specified, embodiment 3 has the same structure and effects as embodiment 2. Therefore, the same reference numerals are used for the same structures as embodiment 2, and the description thereof will not be repeated.

[0178] like Figure 15 As shown, the conveying device 100 of the third embodiment is different from the conveying device 100 of the second embodiment mainly in the structures of the first contact portion 1 a and the second contact portion 1 b .

[0179] The first contact portion 1a and the second contact portion 1b are configured to be switchable between a state in which they can rotate about the rotation axis CL and a state in which they cannot rotate. Figure 15 As shown, in the workpiece W (refer to Figure 16 ) is not held, the first contact portion 1a and the second contact portion 1b do not rotate relative to the rotation axis CL. Figure 16 As shown, the first contact portion 1a and the second contact portion 1b are rotatable about the rotation axis CL when the workpiece W is held. The structure for switching between the rotatable state and the non-rotatable state about the rotation axis CL will be described later.

[0180] like Figure 15 As shown, the conveying device 100 further includes a first counterweight Wta and a second counterweight Wtb. The first counterweight Wta is mounted on the first contact portion 1a below the rotation axis CL in the vertical direction. The second counterweight Wtb is mounted on the second contact portion 1b below the rotation axis CL in the vertical direction.

[0181] In this embodiment, a first counterweight groove GWo is provided at the lower end of the first clamper 11a. The first counterweight portion Wta is mounted in the first counterweight groove GWo. A second counterweight groove GWb is provided at the lower end of the second clamper 11b. The second counterweight portion Wtb is mounted in the second counterweight groove GWb.

[0182] The density of the first and second weights Wta and Wtb is greater than that of the first and second contact portions 1a and 1b. Therefore, given the same volume as the first weight Wta and the first contact portion 1a, the first weight Wta is heavier. Furthermore, given the same volume as the second weight Wtb and the second contact portion 1b, the second weight Wtb is heavier.

[0183] When the first contact portion 1a and the second contact portion 1b are each rotatable, the first counterweight portion Wta and the second counterweight portion Wtb are positioned at the lowest end along the circumferential direction of the rotation axis CL of the first contact portion 1a and the second contact portion 1b. Furthermore, when the first contact portion 1a and the second contact portion 1b are each rotatable, and the first counterweight portion Wta and the second counterweight portion Wtb are positioned above the lowest end along the circumferential direction of the rotation axis CL of the first contact portion 1a and the second contact portion 1b, the first contact portion 1a and the second contact portion 1b rotate. This allows the first counterweight portion Wta and the second counterweight portion Wtb to move to their lowest end along the circumferential direction of the rotation axis CL.

[0184] The shape of each of the multiple first shaft top ends 97a is a shape having an inclined surface by cutting one corner of a rectangular parallelepiped. Each of the multiple first shaft top ends 97a includes a first inclined surface SAa, a first bottom surface SBa, and a first top end surface SCa. The first bottom surface SBa faces the first inclined surface SAa and the first top end surface SCa along the opening and closing direction. The first bottom surface SBa is not adjacent to the first inclined surface SAa. The size of one side of the first bottom surface SBa is smaller than the diameter of the first shaft root 95a. The first top end surface SCa is connected to the first inclined surface SAa. The first top end surface SCa is preferably parallel to the first bottom surface SBa. The first inclined surface SAa is a surface that approaches from the first top end surface SCa toward the first bottom surface SBa. The first inclined surface SAa of each of the multiple first shaft top ends 97a is aligned downward along the up-down direction. A countersunk hole (through hole) connected to the first bottom surface SBa can also be provided on the first inclined surface SAa of the first shaft top end 97a. In this case, the first shaft tip portion 97a is fixed to the first shaft base portion 95a by a screw passed through a countersunk hole (through hole).

[0185] The shape of each of the plurality of second shaft top ends 97b is a shape having an inclined surface by cutting off one corner of a rectangular parallelepiped. Each of the plurality of second shaft top ends 97b includes a second inclined surface SAb, a second bottom surface SBb, and a second top end surface SCb. The second bottom surface SBb faces the second inclined surface SAb and the second top end surface SCb along the opening and closing direction. The second bottom surface SBb is not adjacent to the second inclined surface SAb. The size of one side of the second bottom surface SBb is smaller than the diameter of the second shaft root 95b. The second top end surface SCb is connected to the second inclined surface SAb. The second top end surface SCb is preferably parallel to the second bottom surface SBb. The second inclined surface SAb is a surface that approaches from the second top end surface SCb toward the second bottom surface SBb. The second inclined surface SAb of each of the plurality of second shaft top ends 97b is aligned downward along the vertical direction. A countersunk hole (through hole) connected to the second bottom surface SBb can also be provided on the second inclined surface SAb of the second shaft top end 97b. In this case, the second shaft tip portion 97b is fixed to the second shaft base portion 95b by a screw passed through a countersunk hole (through hole).

[0186] like Figure 17 As shown, as long as each of the plurality of first shaft tips 97a can be inserted into each of the plurality of first through-holes TH1, the shape of each of the plurality of first through-holes TH1 may be a square hole. Furthermore, as long as each of the plurality of second shaft tips 97b can be inserted into each of the plurality of second through-holes TH2, the shape of each of the plurality of second through-holes TH2 may be a square hole. Although not shown, the shape of the plurality of first through-holes TH1 and the plurality of second through-holes TH2 may also be, for example, round holes.

[0187] Next, use Figures 18-21The structure of the first contact portion 1a and the second contact portion 1b of Embodiment 3 will be described in detail. Figures 18-21 is an enlarged cross-sectional view showing the first contact portion 1a and the first tip portion 20a. Figures 18-21 is an enlarged cross-sectional view showing the second contact portion 1b and the second tip portion 20b. As Figure 18 shown, in the present embodiment, the first contact portion 1a further includes a first bearing 114a, a first inner bearing 115a, a first inner spring portion 116a, a first convex portion COa, and a first groove portion GOa. The first bearing 114a is disposed within the first hole H1. The first inner bearing 115a is disposed inside the first bearing 114a.

[0188] The first shaft portion 14a includes a first cylindrical portion TPa and a first inner flange portion FPa. The first cylindrical portion TPa extends from the inside of the first bearing 114a to the outside of the first bearing 114a. The first inner flange portion FPa is disposed inside the first bearing 114a. The first inner flange portion FPa is connected to the first bearing 114a by the first inner spring portion 116a.

[0189] The second contact portion 1b further includes a second bearing 114b, a second inner bearing 115b, a second inner spring portion 116b, a second convex portion COb, and a second groove portion GOb. The second bearing 114b is disposed within the second hole H1. The second inner bearing 115b is disposed inside the second bearing 114b.

[0190] The second shaft portion 14b includes a second cylindrical portion TPb and a second inner flange portion FPb. The second cylindrical portion TPb extends from the inside of the second bearing 114b to the outside of the second bearing 114b. The second inner flange portion FPb is disposed inside the second bearing 114b. The second inner flange portion FPb is connected to the second bearing 114b by the second inner spring portion 116b.

[0191] As Figure 18 and Figure 19 shown, the first convex portion COa is disposed on the upper side with respect to the rotation axis CL along the up-down direction inside the first bearing 114a. The first groove portion GOa is provided at the upper end of the first inner flange portion FPa. The second convex portion COb is disposed on the upper side with respect to the rotation axis CL along the up-down direction inside the second bearing 114b. The second groove portion GOb is provided at the upper end of the second inner flange portion FPb. Further, in Figure 19 , the broken lines indicate the positions at which the first cylindrical portion TPa and the first inner flange portion FPa overlap and the positions at which the second cylindrical portion TPb and the second inner flange portion FPb overlap.

[0192] As Figure 15 and Figure 18 shown, in the workpiece W (refer to Figure 16) is not grasped, the first inner spring portion 116a presses the first shaft portion 14a toward the second contact portion 1b in the opening and closing direction. As a result, when the first groove portion GOa and the first protrusion COa are engaged, the first groove portion GOa is pressed against the first protrusion COa. Therefore, the first contact portion 1a does not rotate.

[0193] In addition, in the workpiece W (refer to Figure 16 ) is not grasped, the second inner spring portion 116b presses the second shaft portion 14b toward the first contact portion 1a in the opening and closing direction. As a result, when the second groove portion GOb and the second protrusion COb are engaged, the second groove portion GOb is pressed against the second protrusion COb. Therefore, the second contact portion 1b does not rotate.

[0194] In addition, if Figure 18 As shown, in the state where the first groove portion GOa and the first convex portion COa are engaged, as shown in FIG. Figure 15 As shown, the first inclined surface SAa of the first shaft tip 97a faces downward. Furthermore, when the first groove GOa and the first protrusion COa are engaged, the first counterweight Wta is positioned at the lowest end of the first contact portion 1a. When the second groove GOb and the second protrusion COb are engaged, the second inclined surface SAb of the second shaft tip 97b faces downward. Furthermore, when the second groove GOb and the second protrusion COb are engaged, the second counterweight Wtb is positioned at the lowest end of the second contact portion 1b.

[0195] like Figure 15 and Figure 18 As shown, when the first counterweight Wta and the second counterweight Wtb are positioned at the bottom, the first inclined surface SAa and the second inclined surface SAb face downward. When the first counterweight Wta and the second counterweight Wtb are positioned at the bottom, the first convex portion COa, the second convex portion COb, the first groove portion GOa, and the second groove portion GOb are positioned at the top.

[0196] like Figure 16 and Figure 20 As shown, when the workpiece W is gripped, the first shaft portion 14a is pressed against the first inner spring portion 116a. Furthermore, when the workpiece W is gripped, the second shaft portion 14b is pressed against the second inner spring portion 116b. Consequently, the first protrusion COa separates from the first groove GOa. This releases the engagement between the first protrusion COa and the first groove GOa. Similarly, the engagement between the second protrusion COb and the second groove GOb is released.

[0197] like Figure 21 As shown, in the workpiece W (refer to Figure 16) is gripped, the first shaft portion 14a is rotatable about the rotation axis CL. Also, the second shaft portion 14b is rotatable about the rotation axis CL. That is, in the state in which the workpiece W (refer to Figure 16 ) is gripped, the first contact portion la and the second contact portion lb are rotatable about the rotation axis CL. Therefore, as shown in Figure 20 , after the engagement of the first protrusion portion COa and the first groove portion GOa is released, as shown in Figure 21 , the first protrusion portion COa moves downward from the uppermost end along the up-down direction. Also, as shown in Figure 20 , after the engagement of the second protrusion portion COb and the second groove portion GOb is released, as shown in Figure 21 , the second protrusion portion COb moves downward from the uppermost end along the up-down direction.

[0198] Next, the operation of the conveyance device 100 of Embodiment 3 will be described mainly using Figure 15 and Figure 16 .

[0199] The operation of the conveyance device 100 of Embodiment 3 differs from that of the conveyance device 100 of Embodiment 1 in the insertion process S102 (refer to Figure 10 ), the lifting process S103 (refer to Figure 10 ), and the release process S105 (refer to Figure 10 ). Also, the other operation of the conveyance device 100 of Embodiment 3 is the same as that of the conveyance device 100 of Embodiment 2.

[0200] In the insertion process S102 (refer to Figure 10 ), as shown in Figure 15 and Figure 16 , the interval between the first contact portion la and the second contact portion lb is enlarged according to the size of the opening-closing direction of the workpiece W. Next, the first contact portion la and the second contact portion lb are respectively inserted between the adjacent workpieces W. At the time when the first contact portion la and the second contact portion lb are inserted, the workpieces W come into contact with the inclined surfaces of the first shaft tip end portion 97a and the second shaft tip end portion 97b, so that the first spring portion 94a and the second spring portion 94b are contracted. Thus, the first shaft tip end portion 97a moves into the first gripper 11a. Also, the second shaft tip end portion 97b moves into the second gripper 11b. Further, since the first protrusion portion COa and the first groove portion GOa are engaged in the state in which the first inner side spring portion 116a presses the first shaft portion 14a, the first contact portion la is inhibited from rotating. Also, the second contact portion lb is inhibited from rotating.

[0201] In the lifting process S103 (refer to Figure 10), the first inner side spring portion 116a contracts due to the gripping force. Thereby, the fitting of the first protrusion portion COa and the first groove portion GOa is released. Therefore, the first contact portion la can rotate. Also, the second inner side spring portion 116b contracts due to the gripping force. Thereby, the fitting of the second protrusion portion COb and the second groove portion GOb is released. Therefore, the second contact portion lb can rotate.

[0202] In the releasing process S105 (refer to Figure 10 ), the first contact portion la and the second contact portion lb are detached from the work W. Next, the locking device 3 (refer to Figure 1 ) becomes the restricting state. Thereby, it is possible to suppress the interval of the first contact portion la and the second contact portion lb along the opening and closing direction to become small. Next, in a state where the first handle 26a (refer to Figure 1 ) and the second handle 26b (refer to Figure 1 ) are gripped by the operator, the interval of the first contact portion la and the second contact portion lb is expanded. Thereby, the work W is released.

[0203] When the work W is released, as shown in Figure 15 , the first gripper 11a rotates in a manner that the first counterweight portion Wta moves to the lowermost side due to the weight of the first counterweight portion Wta. Thereby, the first protrusion portion COa and the first groove portion GOa are fitted again. Also, the second gripper 11b rotates in a manner that the second counterweight portion Wtb moves to the lowermost side due to the weight of the second counterweight portion Wtb. Thereby, the second protrusion portion COb and the second groove portion GOb are fitted again. Also, the first slope SAa and the second slope SAb are directed downward.

[0204] Next, the effects of the present embodiment are described.

[0205] According to the conveying device 100 of Embodiment 3, as shown in Figure 15 and Figure 16As shown, the first contact portion 1a and the second contact portion 1b are configured to switch between a state in which they can rotate about the rotation axis CL and a state in which they do not rotate. Therefore, when the workpiece W is not being grasped, the first contact portion 1a and the second contact portion 1b do not rotate relative to the rotation axis CL. Therefore, when the workpiece W is not being grasped, the first contact portion 1a and the second contact portion 1b do not need to be manually rotated so that the angle (phase) of the first contact portion 1a relative to the rotation axis CL matches the angle (phase) of the second contact portion 1b relative to the rotation axis CL. If the first contact portion 1a and the second contact portion 1b need to be manually rotated, the operator must approach the workpiece W. Therefore, if adjacent workpieces W are close together, the operator cannot approach the workpieces W, making it difficult to grasp the workpieces W. According to this embodiment, the first contact portion 1a and the second contact portion 1b do not need to be manually rotated, thereby preventing difficulty in grasping the workpieces W even when adjacent workpieces W are close together.

[0206] like Figure 15 and Figure 16 As shown, the first contact portion 1a and the second contact portion 1b are configured to switch between a state in which they can rotate about the rotation axis CL and a state in which they cannot rotate. Thus, when the workpiece W is not gripped, it can be secured with the first inclined surfaces SAa of each of the plurality of first shaft tips 97a and the second inclined surfaces SAb of each of the plurality of second shaft tips 97b facing downward. Therefore, the workpiece W can be gripped along the first inclined surfaces SAa and the second inclined surfaces SAb. Consequently, the first contact portion 1a and the second contact portion 1b can easily hold the workpiece W.

[0207] like Figure 15 and Figure 16 As shown, the first counterweight Wta is attached to the first contact portion 1a at a position below the rotation axis CL in the vertical direction. The second counterweight Wtb is attached to the second contact portion 1b at a position below the rotation axis CL in the vertical direction. Therefore, when the workpiece W is grasped, after the first counterweight Wta and the second counterweight Wtb are moved upward by the workpiece W, the first counterweight Wta and the second counterweight Wtb are moved downward due to the gravity acting on the first counterweight Wta and the second counterweight Wtb. Therefore, the first contact portion 1a and the second contact portion 1b do not need to be manually rotated in such a manner that the angle (phase) of the first contact portion 1a relative to the rotation axis CL is aligned with the angle (phase) of the second contact portion 1b relative to the rotation axis CL. Therefore, even when adjacent workpieces W are close to each other, it is possible to prevent the workpieces W from becoming difficult to grasp.

[0208] It should be considered that the embodiments disclosed herein are illustrative and not restrictive in all aspects. The scope of the present disclosure is not shown by the above description but by the claims, and is intended to include all modifications within the meaning and scope of the claims.

[0209] BRIEF DESCRIPTION OF DRAWINGS

[0210] 1a first contact portion, 1b second contact portion, 10a first flange portion, 10b second flange portion, 11a first clamp, 11b second clamp, 12a first pin, 12b second pin, 1Pa first flat portion, 1Pb second flat portion, 2 support portion, 20a first tip portion, 20b second tip portion, 21 movable direction control plate, 22 protruding portion, 23a first link, 23b second link, 24 control handle, 2Da first damper, 2Db second damper, 3 locking device, 4 hoisting device, 94a first spring portion, 94b second spring portion, 95a first shaft root portion, 95b second shaft root portion, 97a first shaft tip portion, 97b second shaft tip portion, Wta first counterweight portion, Wtb second counterweight portion.

Claims

1. A conveying device, wherein: The conveying device comprises: a support portion configured to be movable in an up-down direction; and a first contact portion and a second contact portion, the first contact portion and the second contact portion being supported by the support portion and configured to be openable and closable in an opening and closing direction intersecting the up-down direction; The first contact portion and the second contact portion are configured to sandwich the workpiece at a gripping position different from the center of gravity of the workpiece and to be rotatable around a rotation axis along the opening and closing direction. The first contact portion includes: a first flange portion connected to the support portion; a first holder connected to the first flange portion; and a plurality of first pins mounted on the first holder. The second contact portion includes: a second flange portion connected to the support portion; a second holder connected to the second flange portion; and a plurality of second pins mounted on the second holder. The first clamper faces the second clamper, The plurality of first pins protrude from the first holder toward the second holder, the plurality of second pins protrude from the second holder toward the first holder, The first contact portion includes a first planar portion, The second contact portion includes a second planar portion, The support portion includes a first top end portion supporting the first contact portion, a second top end portion supporting the second contact portion, and a movable direction control plate connected to the first top end portion and the second top end portion and extending in the opening and closing direction. The first tip portion moves along the movable direction control plate in the opening and closing direction, whereby the first contact portion moves in the opening and closing direction. The second tip portion moves along the movable direction control plate in the opening and closing direction, whereby the second contact portion moves in the opening and closing direction. The first plane portion faces the second plane portion, The support portion includes: a protrusion, the protrusion protruding from the movable direction control plate to the side opposite to the first top end portion and the second top end portion relative to the movable direction control plate; a first link, the first link connected to the movable direction control plate and the first top end portion; a second link, the second link connected to the movable direction control plate and the second top end portion; and a control handle, the control handle being mounted on the protrusion, the first link, and the second link. The first link and the second link are fixed to the protruding portion by the control handle, thereby fixing the first contact portion and the second contact portion to the supporting portion. When the workpiece is held and lifted at the holding position, the first contact portion and the second contact portion rotate about a rotation axis along the opening and closing direction so that the center of gravity of the workpiece in the opening and closing direction is aligned with the holding position.

2. The conveying device according to claim 1, wherein The plurality of first pins are arranged at equal intervals on concentric circles with the rotation axis as the center. The plurality of second pins are arranged at equal intervals on concentric circles around the rotation axis.

3. The conveying device according to claim 1 or 2, wherein: The supporting portion includes a first damper connected to the first contact portion and a second damper connected to the second contact portion, The first damper is configured to dampen the rotation of the first contact portion. The second damper is configured to dampen rotation of the second contact portion.

4. The conveying device according to claim 1, wherein The conveying device comprises: a lifting device connected to the first link and the second link, and causing the first contact portion, the second contact portion, and the support portion to move in the vertical direction; as well as a locking device mounted on the movable direction control plate, The lock device is configured to restrict movement of either the first distal end portion or the second distal end portion relative to the movable direction control plate, thereby restricting movement of the first contact portion and the second contact portion relative to the support portion.

5. The conveying device according to claim 1 or 2, wherein: The first contact portion includes a first pad mounted on the first holder, The second contact portion includes a second pad mounted on the second holder, The first pad portion faces the second pad portion, In a state where a workpiece is not gripped, the plurality of first pins and the plurality of second pins do not protrude from the first pad portion and the second pad portion.

6. The conveying device according to claim 1 or 2, wherein: The first contact portion includes a plurality of first shaft tip portions arranged to face the second contact portion along the opening and closing direction. The second contact portion includes a plurality of second shaft tip portions arranged to face the first contact portion along the opening and closing direction. The plurality of first shaft tip portions are configured to be movable in the opening and closing directions. The plurality of second shaft tip portions are configured to be movable in the opening and closing directions.

7. The conveying device according to claim 6, wherein: The first contact portion includes: a plurality of first shaft roots, each of the plurality of first shaft top portions being connected to each of the plurality of first shaft top portions on a side opposite to the second contact portion relative to the plurality of first shaft top portions; and a plurality of first spring portions, each of the plurality of first spring portions being connected to each of the plurality of first shaft roots on a side opposite to the second contact portion relative to the plurality of first shaft roots. The second contact portion includes: a plurality of second shaft roots, each of the plurality of second shaft top ends being connected to each of the plurality of second shaft top ends on a side opposite to the first contact portion relative to the plurality of second shaft roots; and a plurality of second spring portions, each of the plurality of second spring portions being connected to each of the plurality of second shaft roots on a side opposite to the first contact portion relative to the plurality of second shaft roots. The plurality of first shaft bases are configured to be movable along the opening and closing direction by the plurality of first spring portions. The plurality of second shaft bases are configured to be movable along the opening and closing direction via the plurality of second spring portions. Each of the plurality of first shaft tip portions is configured to be detachable and replaceable relative to each of the plurality of first shaft base portions. Each of the plurality of second shaft tip portions is configured to be detachable and replaceable relative to each of the plurality of second shaft base portions.

8. The conveying device according to claim 6, wherein: The first contact portion and the second contact portion are configured to be switchable between a state rotatable about the rotation axis and a state not to rotate.

9. The conveying device according to claim 6, wherein: The conveying device further comprises a first counterweight portion and a second counterweight portion, The first weight portion is attached to the first contact portion at a position below the rotation axis along the vertical direction. The second weight is attached to the second contact portion at a position below the rotation axis along the up-down direction.

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