Conveying device

Abstract

The present disclosure provides a transport device for raising and moving at least one target object. The conveying device is provided with a base part and at least three rod-shaped parts. Each of the at least three rod-shaped portions is rotatable with respect to a rotation axis extending in the vertical direction, and has a protruding portion. The protrusion protrudes from the first side surface in a direction away from the rotation axis, and does not protrude toward the second side surface that does not have the protrusion. The distance from the rotating shaft to a portion of the protruding portion where the amount of protrusion is the largest is configured to be larger than the distance from the rotating shaft to the second side surface.

Description

Technical Field

[0001] This disclosure relates to conveying devices. Background Technology

[0002] Japanese Patent No. 5766767 (hereinafter referred to as Document 1) discloses a robotic hand for gripping and transporting a cylindrical object. The robotic hand has three fingers that move radially in a concentric circle pattern. Two rollers are provided at the lower ends of the three fingers, which grip the object by holding its ends. Summary of the Invention

[0003] Robotic arms and other conveying devices used to lift and move objects perform the actions of lifting the object and placing it down at the destination. In the robotic arm described in document 1, each action requires controlling the movement of three fingers horizontally towards or away from the object.

[0004] One aspect of this disclosure is to provide a technique that enables, with a simple construction, the action of lifting an object and the action of putting down the lifted object at a moving destination.

[0005] One aspect of this disclosure is a conveying device configured to lift and move at least one object. The conveying device includes a base and at least three rod-shaped portions. The base is a component that holds the at least three rod-shaped portions horizontally with a predetermined width. The base is mountable on a moving device that moves the conveying device from a position where the at least one object is positioned to a conveying destination for the at least one object. Each of the at least three rod-shaped portions is a rod-shaped component mounted on the base and extending downwards from the base. Furthermore, each of the at least three rod-shaped portions is rotatable relative to a rotation axis extending vertically and has a protrusion. The protrusion protrudes from a portion of the side surface of the at least three rod-shaped portions and is capable of abutting against the lower surface of the at least one object. Here, it is assumed that the side surface of each of the at least three rod-shaped portions is virtually divided by a virtual plane. This virtual plane is a virtual plane extending vertically, and the side surface of each of the at least three rod-shaped portions is divided by this virtual plane into a first side surface with the protrusion and a second side surface without the protrusion. In this case, the protrusion protrudes from the first side surface in a direction away from the rotation axis and does not protrude towards the second side surface. On the cross-sections of at least three rod-shaped portions orthogonal to the axis of rotation at the location of the protrusion, the distance from the axis of rotation to the portion of the protrusion with the largest protrusion is greater than the distance from the axis of rotation to the second side.

[0006] If the rod-shaped part is configured to be non-rotatable, then when performing the action of lifting the object and the action of putting down the lifted object at the destination, the rod-shaped part needs to be moved parallel to the length of the protruding part.

[0007] However, according to the above configuration, when the protrusion is facing the object, the object can be lifted by the protrusion. On the other hand, when the protrusion is facing the opposite side of the object, the object can be lowered. By rotating the rod-shaped part, it is possible to switch between these two states. Therefore, there is no need for a mechanism that allows the rod-shaped part to move in parallel to perform each action, and the actions of lifting the object and lowering the lifted object at the destination can be performed with a simple structure.

[0008] In one embodiment of this disclosure, a clamping member may also be included. The clamping member may be a rod-shaped component extending downwards from the base. Furthermore, the clamping member may have a moving mechanism capable of moving between a first position and a second position. The first position is a position where the lower end of the clamping member abuts against the upper surface of at least one object. The second position is a position above the upper surface of at least one object.

[0009] According to the above configuration, when the lower end of the clamping member is in the first position, the object can be clamped by the protrusion and the clamping member. This allows for stable transport of the object.

[0010] In one embodiment of this disclosure, at least three rod-shaped portions may each have a first rod-shaped portion and a second rod-shaped portion. The first rod-shaped portion is connected to a base. The second rod-shaped portion extends downward from the lower end of the first rod-shaped portion. Furthermore, the second rod-shaped portion may have a protrusion. When the first and second rod-shaped portions are virtually divided into two parts by a virtual plane, the maximum distance from the rotation axis to the first side surface on the cross-section of the second rod-shaped portion orthogonal to the rotation axis at the location where the protrusion is positioned may be greater than the distance from the rotation axis to the second side surface. The second side surface of the second rod-shaped portion may be formed at a position more inward than the second side surface of the first rod-shaped portion. Furthermore, "inward" refers to the side facing the rotation axis from the side surface of the first rod-shaped portion.

[0011] Based on the above configuration, the side of the protrusion that does not protrude is recessed inward. Therefore, when the protrusion faces the opposite side to the object, a gap is formed between the object and the second side of the second rod-shaped part. As a result, when the object falls, it is less likely to hit the second side of the second rod-shaped part, making it easier to put down without damaging the object.

[0012] In one embodiment of this disclosure, the radius of curvature of the first side of the second rod-shaped portion may be the same as the radius of curvature of the second side of the second rod-shaped portion. "Same" includes being substantially the same.

[0013] Based on the above configuration, since the second rod-shaped portion has no sharp edges or protrusions, it is less likely to collide with the object when the rod-shaped portion rotates. Therefore, it is less likely to damage the object when the rod-shaped portion rotates.

[0014] In one embodiment of this disclosure, at least one of the at least three rod-shaped portions may have a telescopic mechanism capable of switching the length of at least one rod-shaped portion between a first length and a second length, wherein the second length is longer than the first length.

[0015] Based on the above configuration, the height positions of the protrusions of each rod-shaped part can be varied. Therefore, even if the lower surface of the object has different height positions, the protrusions can be adjusted to ensure that they can support the object by adjusting the length of the rod-shaped parts.

[0016] In one embodiment of this disclosure, at least one of the at least three rod-shaped portions may have an upper rod-shaped portion and a lower rod-shaped portion. The upper rod-shaped portion is connected to the base. The lower rod-shaped portion extends downward from the lower end of the upper rod-shaped portion. Furthermore, the lower rod-shaped portion may have a protrusion, and at least one rod-shaped portion has an interchangeable mechanism for replacing the lower rod-shaped portion with another lower rod-shaped portion.

[0017] Based on the above configuration, for example, the height position of the protrusion can be changed by replacing the lower rod-shaped portion with one of different lengths. Therefore, even if the lower surface of the object has different height positions, the protrusion can be guaranteed to support the object by adjusting the length of the lower rod-shaped portion.

[0018] In one embodiment of this disclosure, at least three rod-shaped portions are capable of moving horizontally. The distance each rod-shaped portion can move horizontally from a predetermined position can be set.

[0019] Based on the above configuration, the position of the rod-shaped part in the horizontal direction can be set according to the shape of the object. Therefore, it can handle objects of various shapes, thereby improving the versatility of the conveying device. Attached Figure Description

[0020] Figure 1 This is a schematic perspective view of the conveyor system as seen from an oblique angle.

[0021] Figure 2 This is a schematic perspective view of the conveyor system as seen from a slightly downward angle.

[0022] Figure 3 This is a schematic top view of the conveying device.

[0023] Figure 4 This is a schematic front view of the conveying device.

[0024] Figure 5 This is a schematic right-side view of the conveying device.

[0025] Figure 6 It is a schematic perspective view of the rod-shaped part and the clamping component.

[0026] Figure 7A 7B is a schematic diagram illustrating the shape of the rod-shaped part; 7B is a schematic bottom view of the rod-shaped part.

[0027] Figure 8A It is a diagram used to illustrate the state of the rod-shaped part before it clamps the object; Figure 8B 8C is a diagram used to illustrate the state when an object is being held; 8C is a diagram used to illustrate the state when an object is being released.

[0028] Figure 9 This is a schematic diagram of the conveying device when replacing the second rod-shaped part.

[0029] Figure 10 This is a diagram used to illustrate how modified Example 1 is used.

[0030] Figure 11 This is a diagram used to illustrate how modified example 2 is used.

[0031] Figure 12 This is a diagram used to illustrate how variation 3 is used. Detailed Implementation

[0032] Exemplary embodiments of this disclosure will now be described with reference to the accompanying drawings.

[0033] [1. Implementation Method]

[0034] [1-1. Overall Composition]

[0035] like Figures 1-5 The conveying device 1 shown is a device for lifting and moving the object 10. The object 10 is, for example, a stamped product. As an example, the object 10 can be used as a center pillar mounted on a vehicle. In the following text, the longitudinal direction of the first plate-shaped portion 2, described later, will be referred to as the front-rear direction. Furthermore, the longitudinal directions of the second plate-shaped portion 3a and the third plate-shaped portion 3b, described later, will be referred to as the left-right direction. Furthermore, the longitudinal direction of the rod-shaped portion 5, described later, will be referred to as the up-down direction. In addition, these directions are defined only for ease of explanation and do not limit the use of the conveying device 1.

[0036] The object 10 includes a top plate portion 10a, a longitudinal wall portion 10b, and a flange portion 10c. The top plate portion 10 is a flat, extended plate-like portion. The longitudinal wall portion 10b is a plate-like portion extending substantially downward from the left and right ends of the top plate portion 10a. The flange portion 10c is a plate-like portion extending from the end of the longitudinal wall portion 10b in a direction intersecting with the longitudinal wall portion 10b, the end of which is located on the opposite side of the connection portion where the longitudinal wall portion 10b connects to the top plate portion 10a. The flange portion 10c extends in the opposite direction to the extension direction of the top plate portion 10a relative to the longitudinal wall portion 10b. In this embodiment, multiple object objects 10 are stacked in the vertical direction.

[0037] The conveying device 1 has a base 20, four rod-shaped parts 5, and four clamping parts 6.

[0038] The base 20 is a component that holds four rod-shaped portions 5 with a predetermined width in the horizontal direction. In this embodiment, the base 20 is a plate-shaped component that extends in the horizontal direction. The base 20 includes a first plate-shaped portion 2, a second plate-shaped portion 3a, and a third plate-shaped portion 3b. The first plate-shaped portion 2 is a rectangular component whose length in the front-back direction is greater than its length in the left-right direction. A mounting portion 4 is provided on the upper surface of the first plate-shaped portion 2. The mounting portion 4 is a connecting mechanism for connecting a robotic arm (not shown) to the base 20. Furthermore, the shape of the base 20 is not limited to a plate shape. For example, the base 20 can also be formed by combining rod-shaped components that extend in the horizontal direction.

[0039] The second plate-shaped portion 3a and the third plate-shaped portion 3b are rectangular plate-shaped members whose length in the left-right direction is greater than their length in the front-back direction. The second plate-shaped portion 3a and the third plate-shaped portion 3b are disposed on the lower surface of the first plate-shaped portion 2. The second plate-shaped portion 3a and the third plate-shaped portion 3b are arranged such that the longitudinal direction of the second plate-shaped portion 3a and the third plate-shaped portion 3b is approximately orthogonal to the longitudinal direction of the first plate-shaped portion 2. The second plate-shaped portion 3a is disposed at the front end of the first plate-shaped portion 2. The third plate-shaped portion 3b is disposed at the rear end of the first plate-shaped portion 2.

[0040] A guide rail 3c is provided on the lower surface of the second plate-shaped portion 3a. The guide rail 3c extends along the longitudinal direction of the second plate-shaped portion 3a. Two sliders 3d, capable of sliding on the guide rail 3c, are provided on the lower surface of the second plate-shaped portion 3a. Each slider 3d is a plate-shaped component that appears approximately rectangular when viewed from above. The distance that each slider 3d can move horizontally from a predetermined position can be set separately. For example, the sliders 3d are configured to slide using an electric cylinder.

[0041] Another guide rail 3c is provided on the lower surface of the third plate-shaped portion 3b. The guide rail 3c extends along the longitudinal direction of the third plate-shaped portion 3b. Two other sliders 3d that can slide on the guide rail 3c are provided on the lower surface of the third plate-shaped portion 3b. Similarly, the distance that the two sliders 3d can move horizontally from a predetermined position on the third plate-shaped portion 3b can be set separately.

[0042] The four rod-shaped portions 5 are rod-shaped components extending in the vertical direction. The four rod-shaped portions 5 are mounted on the base 20 and extend downwards from the base 20. More specifically, the four rod-shaped portions 5 are respectively mounted on four sliding bodies 3d. That is, each rod-shaped portion 5 is linked to its corresponding sliding body 3d and can move in the horizontal direction. In other words, the four rod-shaped portions 5 can move in the horizontal direction via the four sliding bodies 3d. In this embodiment, each rod-shaped portion 5 can move in the left-right direction. The shape of the rod-shaped portions 5 will be described in detail below.

[0043] The four clamping members 6 are rod-shaped components extending vertically. The clamping members 6 are mounted on the base 20 and extend downwards from the base 20. More specifically, the four clamping members 6 are respectively mounted on four sliding bodies 3d. That is, each clamping member 6 is linked to its corresponding sliding body 3d and can move horizontally. In this embodiment, each clamping member 6 can move horizontally. When viewed from above, each of the four clamping members 6 is disposed within the area enclosed by the four rod-shaped portions 5.

[0044] The clamping member 6 has a moving mechanism that can move between a first position and a second position. The first position is a position where the lower end of the clamping member 6 abuts against the upper surface of the object 10, and the second position is a position above the upper surface of the object 10. As an example, the moving mechanism is a cylinder that uses compressed air to move the lower end of the clamping member 6 up and down. More specifically, as... Figure 6 As shown, the moving mechanism includes a cylinder 61 and a piston rod 62. The moving mechanism adjusts the length of the piston rod 62 extending from the cylinder 61 by moving the piston rod 62 up and down within the internal space of the cylinder 61.

[0045] [1-2. Rod-shaped part]

[0046] Since the four rod-shaped parts 5 have the same structure, only one rod-shaped part 5 will be used as an example in the following description. Figure 7A and Figure 7BAs shown, the rod-shaped portion 5 has a first rod-shaped portion 51 and a second rod-shaped portion 52. The first rod-shaped portion 51 has a cylindrical shape. The first rod-shaped portion 51 is located above the second rod-shaped portion 52 and is connected to the base 20. The second rod-shaped portion 52 extends downward from the lower end of the first rod-shaped portion 51. The main body of the second rod-shaped portion 52 has a shape formed by joining two different semi-cylinders together with their rectangular surfaces.

[0047] More specifically, the lower end of the first rod-shaped portion 51 is inserted into the upper end of the second rod-shaped portion 52. A through hole 53a is provided at the overlapping portion of the first rod-shaped portion 51 and the second rod-shaped portion 52, and the through hole 53a penetrates the first rod-shaped portion 51 and the second rod-shaped portion 52 in a direction orthogonal to the vertical direction. A first pin 53b is inserted into the through hole 53a, thereby fixing the first rod-shaped portion 51 and the second rod-shaped portion 52.

[0048] The rod-shaped portion 5 has a rotation axis 5A extending in the vertical direction. More specifically, the rotation axis 5A is an axis passing through the center of a circle in a cross section orthogonal to the vertical direction of the first rod-shaped portion 51. The rod-shaped portion 5 is configured to be rotatable relative to the rotation axis 5A. More specifically, the rod-shaped portion 5 is configured to... Figure 8B The first drive unit 58 shown can rotate. The first drive unit 58 is, for example, a rotary actuator.

[0049] The rod-shaped portion 5 has a protrusion 53. This protrusion 53 protrudes from a portion of the side surface of the rod-shaped portion 5 and is configured to abut against the lower surface of the object 10. More specifically, when the side surface of the rod-shaped portion 5 is virtually divided into a first side surface 54a with the protrusion 53 and a second side surface 54b without the protrusion 53 by a virtual plane 5B having a plane extending in the vertical direction (in other words, the vertical direction), the protrusion 53 is configured to protrude from the first side surface 54a in a direction away from the rotation axis 5A. On the other hand, the protrusion 53 does not protrude toward the side of the second side surface 54b.

[0050] In this embodiment, the virtual plane 5B is a plane that passes through the rotation axis 5A. Figure 7A and Figure 7B In the rod-shaped part 5, the side located to the right of the virtual plane 5B corresponds to the first side 54a, and the side located to the left of the virtual plane 5B corresponds to the second side 54b.

[0051] A protrusion 53 is provided at the lower end of the rod-shaped portion 5. In other words, the protrusion 53 is provided at the lower end of the second rod-shaped portion 52. The protrusion 53 protrudes from the first side surface 54a in such a way that it has a flat surface that extends in the horizontal direction. That is, the protrusion 53 protrudes in such a way that the object 10 can be supported on its upper surface. When viewed from above, the protrusion 53 has a crescent shape. Alternatively, the protrusion 53 can also be formed by inserting a separate component having the protrusion 53 into the lower end of the second rod-shaped portion 52. The separate component having the protrusion 53 can be fixed to the second rod-shaped portion 52 by a second pin 53c.

[0052] On the cross-section of the rod-shaped portion 5, which is orthogonal to the rotation axis 5A at the location of the protrusion 53, the distance W4 from the rotation axis 5A to the portion of the protrusion 53 with the largest protrusion is designed to be greater than the distance W2 from the rotation axis 5A to the second side surface 54b. Furthermore, the maximum distance W1 from the rotation axis 5A to the first side surface 54a is designed to be greater than the maximum distance W2 from the rotation axis 5A to the second side surface 54b. Since the maximum distance W5 from the rotation axis 5A to the second side surface 54b of the first rod-shaped portion 51 is the same as distance W1, distance W5 is also designed to be greater than distance W2.

[0053] When the first rod-shaped portion 51 and the second rod-shaped portion 52 are virtually divided into two parts by a virtual plane 5B, with the direction from the side of the first rod-shaped portion 51 toward the rotation axis 5A as the inner side, the second side 54b of the second rod-shaped portion 52 is formed at a position further inward than the second side 54b of the first rod-shaped portion 51. The radius of curvature of the first side 54a of the second rod-shaped portion 52 is approximately the same as the radius of curvature of the second side 54b of the second rod-shaped portion 52. The first side 54a of the first rod-shaped portion 51 and the first side 54a of the second rod-shaped portion 52 are formed on the same plane. In other words, the rod-shaped portion 5 has a shape in which a crescent-shaped columnar member is cut from the lower half of the cylindrical member, with a cross-section orthogonal to the rotation axis 5A. In other words, the second side 54b of the second rod-shaped portion 52 is offset inward relative to the second side 54b of the first rod-shaped portion 51 by the difference between a distance W5 and a distance W2.

[0054] exist Figure 7B In the diagram, center point 5C represents the center of the shape of the bottom surface of the second rod-shaped portion 52 and the protrusion 53. Center point 5C does not coincide with the rotation axis 5A, but is offset to the right by a distance W3. That is, center point 5C is set at a position off-center from the center point of the cross-sectional shape of the first rod-shaped portion 51 (i.e., the rotation axis 5A).

[0055] [1-2. Operation of the conveying device]

[0056] Reference Figures 8A-8C The operation of conveying device 1 will be explained. Figures 8A-8C In this configuration, three objects 10 are arranged in an overlapping manner. The conveying device 1 can switch between a clamped state and a released state. The clamped state refers to, for example... Figure 8B As shown, this is the state in which the object 10 is clamped by the rod-shaped part 5 and the clamping part 6. The released state refers to, as... Figure 8A and Figure 8C As shown, the object 10 is not clamped by the rod-shaped part 5 and the clamping part 6.

[0057] First, the operator of the robotic arm pre-sets the horizontal positions of the four rod-shaped parts 5 according to the shape of the object 10. More specifically, the operator moves the positions of each sliding body 3d to the pre-set positions. In addition, the operator pre-sets the robotic arm so that it can move from the position where the object 10 is positioned to the position where the object 10 is transported.

[0058] When the operator starts the robotic arm, the conveying device 1 installed on the robotic arm will stop above the object 10 at the designated position of the object 10.

[0059] Subsequently, the conveying device 1 descends so that the four rod-shaped portions 5 surround the object 10. At this time, the four rod-shaped portions 5 descend with their second side surface 54b facing the object 10. More specifically, the four rod-shaped portions 5 descend with the second side surface 54b of the second rod-shaped portion 52 facing the object 10. That is, as... Figure 8A As shown, the protrusion 53 is positioned on the opposite side of the object 10. The end of the object 10 is positioned on a virtual line 5D formed by extending the second side surface 54b of the first rod-shaped portion 51 downwards. That is, a gap is formed between the object 10 and the second rod-shaped portion 52. This gap corresponds to the distance between the second side surface 54b of the first rod-shaped portion 51 and the second side surface 54b of the second rod-shaped portion 52 in the left-right direction. Each of the four rod-shaped portions 5 is lowered to a position such that the upper surface of the protrusion 53 is lower than the lower surface of the object 10, which is positioned at the bottom. The clamping member 6 is configured such that the lower end of the clamping member 6 is in a second position.

[0060] Subsequently, the four rod-shaped portions 5 are rotated 180 degrees so that the first side surface 54a faces the object 10. After the rod-shaped portions 5 are rotated, the first side surface 54a of the second rod-shaped portion 52 abuts against the object 10.

[0061] Subsequently, the conveying device 1 rises so that the upper surface of the protrusion 53 abuts against the lower surface of the object 10 disposed at the lowest point. In this embodiment, the conveying device 1 rises so that the upper surface of the protrusion 53 abuts against the lower surface of the flange portion 10c disposed at the lowest point of the object 10.

[0062] Subsequently, the conveying device 1 moves the lower end of the clamping member 6 to the first position. More specifically, the conveying device 1 moves the lower end of the clamping member 6 to a position abutting against the upper surface of the uppermost object 10. In this embodiment, the conveying device 1 moves the lower end of the clamping member 6 to a position abutting against the upper surface of the flange 10c of the uppermost object 10. Thus, the object is positioned as follows... Figure 8B In the clamping state shown, the flange portion 10c of the object 10 is clamped together by the protrusion 53 and the clamping member 6. Alternatively, the conveying device 1 can operate only a portion of the clamping member 6, moving the lower end of that clamping member 6 to the first position. The operator can preset whether the lower end of each clamping member 6 moves to the first position. The operator can make appropriate settings according to the shape of the object 10.

[0063] Subsequently, the conveying device 1 rises while holding the object 10 and moves in parallel until it reaches the delivery destination of the object 10.

[0064] When the conveying device 1 reaches the destination position of the object 10, it descends while maintaining the clamping state. Then, the clamping member 6 moves so that its lower end is in the second position. Furthermore, the four rod-shaped parts 5 rotate 180 degrees so that the second side 54b faces the object 10. That is, as... Figure 8C As shown, the orientation is changed to the state where the protrusion 53 faces the opposite side of the object 10. In other words, it is changed to the released state. The end of the object 10 is positioned on a virtual line 5D formed by extending the second side 54b of the first rod-shaped portion 51 downwards. That is, a gap is formed between the object 10 and the second rod-shaped portion 52, which corresponds to the distance between the second side 54b of the first rod-shaped portion 51 and the second side 54b of the second rod-shaped portion 52 in the left-right direction. The object 10 falls to the delivery destination under the action of gravity.

[0065] Subsequently, the conveyor 1 rises and moves to the configuration position of the object 10 in order to convey other object 10.

[0066] [1-3. Effects]

[0067] The following effects can be obtained by implementing the methods described in detail above.

[0068] (1a) The rod-shaped portion 5 is rotatable relative to the rotation axis 5A and has a protrusion 53. The protrusion 53 protrudes from the first side surface 54a in a direction away from the rotation axis 5A and does not protrude toward the side of the second side surface 54b.

[0069] If the rod-shaped portion 5 is configured to be non-rotatable, then in order to lift the object 10, the rod-shaped portion 5 needs to be moved parallel to the object 10 from a position away from it to a position that touches it, with the protrusion 53 facing the object 10. In order to put the lifted object 10 down at the destination, the rod-shaped portion 5 needs to be moved parallel to the object 10 from a position that touches it to a position away from it. In other words, when performing the actions of lifting the object 10 and putting it down at the destination, the rod-shaped portion 5 needs to be moved parallel to the length of the protrusion 53.

[0070] However, according to the above configuration, in order to lift the object 10, it is only necessary to rotate the protrusion 53 180 degrees from the state where it is facing the opposite side of the object 10. Therefore, there is no need to move the rod-shaped part 5 in parallel. Furthermore, in order to put down the lifted object 10 at the destination, it is only necessary to rotate the protrusion 53 180 degrees to switch it to the state facing the opposite side of the object 10. Therefore, there is no need to move the rod-shaped part 5 in parallel. Thus, when performing the actions of lifting the object 10 and putting down the lifted object 10 at the destination, there is no need to equip a guide device for adjusting the position of the rod-shaped part 5 in parallel movement. Therefore, the actions of lifting the object 10 and putting down the lifted object 10 at the destination can be performed with a simple structure.

[0071] Furthermore, when performing the action of lifting the object 10 and the action of putting down the lifted object 10 at the destination, it is not necessary to move the length of the protrusion 53 parallel to the rod-shaped portion 5. Therefore, for example, when the object 10 is arranged horizontally at its designated position, the distance between the object 10s can be reduced. Similarly, when the object 10 is arranged horizontally at its destination, the distance between the object 10s can also be reduced. Therefore, compared to a structure where the rod-shaped portion 5 cannot rotate, the arrangement space for the object 10s can be reduced.

[0072] Furthermore, since no guiding device is required, the conveying device 1 can be miniaturized and made lighter.

[0073] Furthermore, since the operation of moving the rod-shaped part 5 in parallel is not required when performing the action of lifting the object 10 and the action of putting down the lifted object 10 at the destination, the actions performed by the conveying device 1 can be reduced accordingly. This can speed up the cycle time and improve the conveying efficiency of the object 10.

[0074] Furthermore, when the lifted object 10 is placed at the destination, if the rod-shaped part 5 is configured not to rotate, the object 10 may fall at an angle if the conveying device 1 tilts when the rod-shaped part 5 separates from the object 10, potentially making it impossible to lower the object 10 to the target position. However, according to the above configuration, when the lifted object 10 is placed at the destination, although there is a small gap between the object 10 and the second side 54b, no gap is created by the parallel movement of the rod-shaped part 5. Therefore, even if the conveying device 1 tilts, the object 10 falls while still abutting the rod-shaped part 5, thus preventing significant tilting and facilitating the lowering of the object 10 to the target position.

[0075] (1b) The clamping member 6 has a moving mechanism that allows the lower end of the clamping member 6 to move between a first position and a second position. According to this configuration, when the lower end of the clamping member 6 is in the first position, the object 10 can be clamped by the protrusion 53 and the clamping member 6. This allows for stable transport of the object 10.

[0076] (1c) The second side surface 54b of the second rod-shaped portion 52 is formed at a position more inward than the second side surface 54b of the first rod-shaped portion 51. According to the above configuration, the side of the protrusion 53 that does not protrude is formed to be recessed inward. Therefore, when changing from a clamped state to a released state, a gap is formed between the object 10 and the second side surface 54b of the second rod-shaped portion 52, making it less likely for the object 10 to hit the second side surface 54b of the second rod-shaped portion 52 when it falls. Therefore, it is easier to put the object down without damaging it.

[0077] (1d) The radius of curvature of the first side surface 54a of the second rod-shaped portion 52 is approximately the same as the radius of curvature of the second side surface 54b. Based on the above configuration, since the second rod-shaped portion 52 has no sharp edges or protrusions, it is less likely to collide with the object 10 when the rod-shaped portion 5 rotates. Therefore, it is less likely to damage the object 10 when the rod-shaped portion 5 rotates.

[0078] (1e) The lower end of the first rod-shaped portion 51 is inserted into the second rod-shaped portion 52 from the upper end of the second rod-shaped portion 52. A through hole 53a is provided at the overlapping portion of the first rod-shaped portion 51 and the second rod-shaped portion 52. A first pin 53b is inserted into the through hole 53a, thereby fastening the first rod-shaped portion 51 and the second rod-shaped portion 52. According to the above configuration, the second rod-shaped portion 52 can be disassembled by removing the first pin 53b from the through hole 53a. Therefore, the second rod-shaped portion 52 can be replaced with other second rod-shaped portions 52. That is, the rod-shaped portion 5 has an exchange mechanism for replacing the second rod-shaped portion 52 with other second rod-shaped portions 52. For example, the height position of the protrusion 53 can be changed by replacing the second rod-shaped portion 52 with a different length. Therefore, as Figure 9 As shown, even if the lower surface of the object 10 is at a different height, the protrusion 53 can be made to support the object 10 by adjusting the length of the second rod-shaped part 52.

[0079] Furthermore, the switching mechanism is not limited to a structure having a through hole 53a and a first pin 53b. For example, as Figure 9 As shown, the switching mechanism may also include a first engaging portion 59a and a second engaging portion 59b. The first engaging portion 59a may have a spiral groove inside, and the second engaging portion 59b may have a protrusion that engages with the spiral groove. Furthermore, the first engaging portion 59a and the second engaging portion 59b may also have a shape that engages via a snap-fit ​​mechanism.

[0080] (1f) The distance that each rod-shaped part 5 moves horizontally from a predetermined position can be set. Based on the above configuration, the position of the rod-shaped part 5 in the horizontal direction can be set according to the shape of the object 10. Therefore, it can accommodate object 10s of various shapes, thereby improving the versatility of the conveying device 1.

[0081] [1-4. Correspondence]

[0082] In the above embodiment, the first rod-shaped portion 51 corresponds to the upper rod-shaped portion, and the second rod-shaped portion 52 corresponds to the lower rod-shaped portion.

[0083] [2. Other Implementation Methods]

[0084] The embodiments of this disclosure have been described above. However, this disclosure is not limited to the above embodiments and can be implemented in various modifications.

[0085] (2a) In the above embodiment, a conveying device 1 having four rod-shaped portions 5 is shown. However, the number of rod-shaped portions 5 is not limited to this. For example, the conveying device 1 may have three rod-shaped portions 5, or it may have five or more rod-shaped portions 5.

[0086] (2b) In the above embodiment, a conveying device 1 is shown having an exchange mechanism for replacing the second rod-shaped portion 52 with other second rod-shaped portions 52. However, as Figure 6 As shown, the rod-shaped portion 5 may also have a telescopic mechanism 56, which allows the length of the rod-shaped portion 5 to be switched between a first length and a second length, wherein the second length is longer than the first length. More specifically, the length of the rod-shaped portion 5 can be switched by a telescopic mechanism 56 with a built-in servo motor. For example, the first rod-shaped portion 51 and the second rod-shaped portion 52 can be configured as tubular sections with different diameters. The first rod-shaped portion 51 and the second rod-shaped portion 52 can be configured such that the lower part of the first rod-shaped portion 51 overlaps the upper part of the second rod-shaped portion 52, and the length of the overlapping portion is changed to achieve telescopic movement. In other words, the length of the rod-shaped portion 5 is switched by changing the length of the overlapping portion. According to the above configuration, the height position of the protrusion 53 of each rod-shaped portion 5 can be made different. Therefore, even if the lower surface height position of the object 10 is different, the protrusion 53 can be ensured to support the object 10 by adjusting the length of the second rod-shaped portion 52.

[0087] (2c) In the above embodiment, a central column is shown as the object 10. However, the type of object 10 is not limited to this. For example... Figure 10 As shown in Variation 1, object 10 can be a floor covering. Furthermore, for example... Figure 11 As shown in variation example 2, object 10 can also be a rear door opening hinge. Furthermore, for example... Figure 12 As shown in variation 3, the object 10 can also be a box made of resin material, etc. The conveying device 1 can palletize or depalletize the box on the pallet 11. In addition, the object 10 can also be a box-shaped object without the flange 10c. For example, the conveying device 1 can also transport blocks, bricks, etc.

[0088] (2d) In the above embodiment, the mounting part 4 is shown as being mounted on the conveying device 1 of the robotic arm. However, the device for mounting the base 20 is not limited to the robotic arm. The base 20 only needs to be mounted on a moving device that can move the conveying device 1 from the position of the object 10 to the delivery destination of the object 10. For example, the base 20 can also be mounted on a moving device that moves by sliding the conveying device 1.

[0089] (2e) In the above embodiment, an example is shown where the second side surface 54b of the second rod-shaped portion 52 is formed at a position more inward than the second side surface 54b of the first rod-shaped portion 51. However, the shape of the rod-shaped portion 5 is not limited to this. For example, the second rod-shaped portion 52 may also have the same cylindrical shape as the first rod-shaped portion 51.

[0090] (2f) In the above embodiment, the virtual plane 5B is shown to be a plane that passes through the rotation axis 5A. However, the virtual plane 5B may also be a plane that does not pass through the rotation axis 5A. It is acceptable as long as it is a plane that can virtually divide the first rod-shaped portion 51 and the second rod-shaped portion 52 into two parts.

[0091] (2g) The functions of one component in the above embodiments can be shared by multiple components, or the functions of multiple components can be integrated into one component. Furthermore, a portion of the configuration of the above embodiments can be omitted. Additionally, at least a portion of the configuration of the above embodiments can be added to the configuration of other embodiments, or at least a portion of the configuration of the above embodiments can be substituted with the configuration of other embodiments, etc.

Claims

1. A conveying device configured to lift and move at least one object, characterized in that it comprises a base and at least three rod-shaped portions. The base is a component that holds the at least three rod-shaped portions in a horizontal direction with a predetermined width. The base can be mounted on a moving device that moves the conveying device from the configuration position of the at least one object to the conveying destination of the at least one object. Each of the at least three rod-shaped portions is a rod-shaped component mounted on the base and extending downward toward the base. Each of the at least three rod-shaped portions is rotatable relative to a rotation axis extending in the vertical direction and has a protrusion. The protrusion extends from a portion of the side of the at least three rod-shaped portions and is capable of abutting against the lower surface of the at least one object. When the sides of each of the at least three rod-shaped portions are virtually divided into a first side having the protrusion and a second side not having the protrusion by a virtual plane having a plane extending along the vertical direction, The protrusion extends from the first side in a direction away from the axis of rotation, and does not protrude towards the second side. On the cross-section of each of the at least three rod-shaped portions orthogonal to the axis of rotation at the location where the protrusion is positioned, the distance from the axis of rotation to the portion of the protrusion with the largest protrusion is greater than the distance from the axis of rotation to the second side.

2. The conveying device according to claim 1, characterized in that, It also has a clamping component. The clamping component is a rod-shaped component extending downward toward the base. The clamping member has a moving mechanism that can move between a first position and a second position, the first position being a position where the lower end of the clamping member abuts against the upper surface of the at least one object, and the second position being a position above the upper surface of the at least one object.

3. The conveying device according to claim 1 or claim 2, characterized in that, Each of the at least three rod-shaped portions has a first rod-shaped portion connected to the base, and a second rod-shaped portion extending downward from the lower end of the first rod-shaped portion. The second rod-shaped portion has the protrusion. When the direction from the side of the first rod-shaped portion toward the rotation axis is taken as the inward side, and the first rod-shaped portion and the second rod-shaped portion are virtually divided into two parts through the virtual plane, On the cross-section of the second rod-shaped portion, orthogonal to the axis of rotation, at the location where the protrusion is positioned, the maximum distance from the axis of rotation to the first side surface is greater than the distance from the axis of rotation to the second side surface. The second side surface of the second rod-shaped portion is formed at a position that is more inward than the second side surface of the first rod-shaped portion.

4. The conveying device according to claim 3, characterized in that, The radius of curvature of the first side of the second rod-shaped portion is approximately the same as the radius of curvature of the second side of the second rod-shaped portion.

5. The conveying device according to any one of claims 1 to 4, characterized in that, At least one of the at least three rod-shaped portions has a telescopic mechanism that allows the length of the at least one rod-shaped portion to switch between a first length and a second length, wherein the second length is longer than the first length.

6. The conveying device according to any one of claims 1 to 5, characterized in that, At least one of the at least three rod-shaped portions has an upper rod-shaped portion connected to the base, and a lower rod-shaped portion extending downward from the lower end of the upper rod-shaped portion. The lower rod-shaped portion has the protrusion. The at least one rod-shaped portion has an exchange mechanism for replacing the lower rod-shaped portion with another lower rod-shaped portion.

7. The conveying device according to any one of claims 1 to 6, characterized in that, The at least three rod-shaped portions are capable of moving horizontally. It is possible to set the distance that each rod-shaped part moves horizontally from a specified position.

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