Hand for workpiece conveyor

Abstract

To provide a hand for a workpiece conveyor, which can be held in an open state when a workpiece is not gripped.SOLUTION: A hand 1 for a workpiece conveyor comprises: a pantograph mechanism 2 which has two upper link materials suspended from a drive unit for lifting the hand with upper parts rotatably connected to each other and two lower link materials rotatably connected to lower parts of the two upper link materials and in which the two lower link materials are arranged to intersect each other in a roughly XC shape at a shaft; a fixing mechanism capable of fixing the pantograph mechanism 2 in a contracted state; a pair of holding parts respectively connected rotatably to the two lower link materials of the pantograph mechanism 2; and a pair of gripping parts respectively held by the holding parts to grip the workpiece. One holding part is fixed to a linear rail 7, and the other holding part is fixed to a slider which travels on the linear rail 7.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a hand used in a work transport machine that transports a work. [Background technology]

[0002] Conventionally, the hands of work transport machines that transport workpieces include hands that open and close using power such as electricity or compressed air to grip the workpiece, and weight-type hands that open and close using the weight of the hand and the workpiece. In the case of weight-type hands, the hand closes due to its own weight when it is not gripping a workpiece, and it is necessary to open the hand manually when gripping a workpiece. Therefore, in the case of hands that handle heavy workpieces in particular, it is desirable to be able to open and close the hands using a mechanism that maintains the open state.

[0003] As described in Patent Document 1, a mechanism for gripping a workpiece is disclosed in which a hook-shaped protrusion is inserted under the workpiece to lift it up. When the transported object gripping device of Patent Document 1 is adapted to handle workpieces of various sizes, a method is used in which a protrusion is attached to the hand so as to be freely rotatable, thereby changing and adjusting the angle at which the workpiece is gripped. It is also described that the opening and closing operation is performed by changing the hanging position of the hand. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 01-064995 Summary of the Invention [Problem to be solved by the invention]

[0005] The transported object gripping device described in the above Patent Document 1 is intended for transporting stone blocks and the like from a stone quarry using a crane, and it is assumed that the lever for gripping the transported object is strong and heavy. On the other hand, in a work transport machine used in a factory or workshop to assist a worker in transporting objects, a lighter hand is preferable from the standpoint of safety and operability.

[0006] Here, it is conceivable to use a weight-based hand having a pantograph mechanism as a hand for a work transport machine. A hand having a pantograph mechanism can reduce the weight of the hand itself. However, when transporting a work, a load is applied directly to the pantograph mechanism, and in the case of a heavy work, problems such as bending of the pantograph mechanism may occur, so there is a demand for improving the strength.

[0007] The present disclosure is an invention made in consideration of the above circumstances, and has as its main object to provide a hand for a work transport machine that can maintain the hand in an open state when not holding a workpiece, and that can transport heavy workpieces while reducing the weight of the hand. [Means for solving the problem]

[0008] The present disclosure provides a hand for a work transport machine, the hand having a pantograph mechanism suspended from a drive unit which raises and lowers the hand, and having two upper link members rotatably connected to each other at the tops, and two lower link members rotatably connected to the lower parts of the two upper link members, respectively, the two lower link members being arranged to cross in an approximately X-shape at an axle, the hand having a fixing mechanism capable of fixing the pantograph mechanism in a contracted state, a pair of holding parts rotatably connected to the lower parts of the two lower link members of the pantograph mechanism, and a pair of holding parts respectively held by the pair of holding parts and for holding the work, one of the holding parts being fixed to a linear rail, and the other holding part being fixed to a slider which runs on the linear rail. Effect of the Invention

[0009] According to the present disclosure, it is possible to provide a hand for a work transport machine that can maintain the hand in an open state when not gripping a workpiece, thereby enabling the hand to be lightweight while transporting heavy workpieces. [Brief description of the drawings]

[0010] [Figure 1] 1 is a schematic front view showing an example of a work transport machine hand according to the present disclosure. FIG. [Diagram 2] 1 is a schematic front view illustrating an operating mechanism of a hand for a work transport machine according to the present disclosure. FIG. [Diagram 3] 1 is a schematic front view illustrating an operating mechanism of a hand for a work transport machine according to the present disclosure. FIG. [Figure 4] 1 is a schematic front view illustrating an operating mechanism of a hand for a work transport machine according to the present disclosure. FIG. [Diagram 5] 11A and 11B are schematic diagrams illustrating adjustment of the position of a gripping portion in the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The following describes the embodiments of the present disclosure with reference to the drawings. However, the present disclosure can be implemented in many different forms, and should not be interpreted as being limited to the description of the embodiments exemplified below. In addition, the drawings may be schematic in terms of the width, thickness, shape, etc. of each part compared to the actual form in order to make the explanation clearer, but these are merely examples and do not limit the interpretation of the present disclosure. In this specification and each figure, elements similar to those described above with respect to the previous figures may be given the same reference numerals, and detailed explanations may be omitted as appropriate.

[0012] In this specification, when describing a mode in which another component is disposed on a certain component, the term "above" or "below" is used, unless otherwise specified, to include both a case in which another component is disposed directly above or below a certain component so as to be in contact with the component, and a case in which another component is disposed above or below a certain component with another component interposed therebetween. Also, in this specification, when describing a mode in which another component is disposed on the surface of a certain component, the term "on the surface side" or "on the surface" is used, unless otherwise specified, to include both a case in which another component is disposed directly above or below a certain component so as to be in contact with the component, and a case in which another component is disposed above or below a certain component with another component interposed therebetween.

[0013] Hereinafter, the hand for a work transport machine according to the present disclosure will be described. Note that in this specification, the hand for a work transport machine may also be simply referred to as a hand.

[0014] The hand of the present disclosure is a hand for a work transporter that grips and transports a work. Fig. 1 is a schematic front view showing an example of the hand of the present disclosure. As shown in Fig. 1, the hand 1 of the present disclosure has a pantograph mechanism 2 suspended from a drive unit (not shown) of the work transporter. The pantograph mechanism 2 has two upper links (21a, 21b) rotatably connected to each other at their upper portions, and two lower links (22a, 22b) rotatably connected to the lower portions of the two upper links (21a, 21b), and the two lower links (22a, 22b) are arranged to cross at a shaft portion 28 in a substantially X-shaped manner. The work transport machine hand 1 of the present disclosure further has a fixing mechanism 3 capable of fixing the pantograph mechanism 2 in a retracted state, a pair of gripping portions 4a, 4b for gripping the work, and a pair of holding portions 5a, 5b that are rotatably connected to the lower portions of the two lower link members (22a, 22b) of the pantograph mechanism 2 and hold each of the pair of gripping portions 4a, 4b, with one holding portion 5b fixed to a linear rail 7 and the other holding portion 5a fixed to a slider 6 that runs on the linear rail 7.

[0015] The actuation mechanism of the hand of the present disclosure will be described with reference to FIGS. First, as shown in Fig. 2(a), the worker grasps the handle 15 of the hand 1 and starts the workpiece transport operation. At this point, the engagement portion 31 of the fixing mechanism 3 is hooked on the convex portion 51 of one of the holding portions 5b. This prevents the pantograph mechanism 2 from extending and closing the gripping portions 4a, 4b, and keeps the hand 1 in the open state. The fixing mechanism 3 is pulled toward the pantograph mechanism 2 by the biasing mechanism 8, preventing it from unintentionally disengaging from the holding portion 5b.

[0016] 2(b), to grip the workpiece W, the worker grasps the handle 15 and lowers the hand 1 onto the workpiece W, inserts the protrusion 41 of the gripping portion 4b under the workpiece W, and disengages the engagement portion 31 of the fixing mechanism 3 from the convex portion 51 of the holding portion 5b. Since a force is always applied to the pantograph mechanism 2 in the direction of extension due to the hand weight of the gripping portions 4a, 4b, etc., the pantograph mechanism 2 begins to extend when the fixing mechanism 3 is removed from the holding portion 5b.

[0017] Next, as shown in FIG. 3(a), the operator drives a drive unit (not shown) to raise the hand 1. As the hand rises, the pantograph mechanism 2 extends, the slider 6 fixed to the holding unit 5a moves along the linear rail 7, and the gripping units 4a and 4b close to pinch and grip the workpiece W. At this time, the pantograph mechanism 2 is pulled in the extending direction not only by the hand weight of the gripping units 4a and 4b, etc., but also by the weight of the workpiece W, so the gripping units 4a and 4b do not open easily. By providing a stopper on the linear rail 7, the extension of the pantograph mechanism 2 can be limited, and excessive pinching force can be prevented from being applied to the workpiece W.

[0018] After the transfer, to release the workpiece W at a desired position, the worker grasps the handle 15, lowers the hand 1 and the workpiece W, and while contracting the pantograph mechanism 2, hooks the engagement portion 31 of the fixing mechanism 3 onto the convex portion 51 of the holding portion 5b, as shown in FIG. 3(b). As the pantograph mechanism 2 contracts, the slider 6 fixed to the holding portion 5a moves along the linear rail 7, and the gap between the gripping portions 4a, 4b increases. At this time, in order to assist the operation of hooking the engagement portion 31 of the fixing mechanism 3 onto the convex portion 51 of the holding portion 5b while contracting the pantograph mechanism 2, an auxiliary force for contracting the pantograph mechanism 2 is continuously applied by the auxiliary mechanism 9 to the pantograph mechanism 2.

[0019] After the release is complete, the worker returns to the state shown in Fig. 2(a) by raising the hand 1 as shown in Fig. 4. After that, the operation is repeated with the next workpiece, and the transport task can be continued.

[0020] The hand of the present disclosure has a pantograph mechanism, and therefore does not require power such as electricity or compressed air to grip a workpiece. In addition, by having a fixing mechanism, the pantograph mechanism can be fixed in a contracted state, so that the hand can be held in an open state when the workpiece is not being gripped. In addition, by releasing the fixing by the fixing mechanism and raising the hand, the gripping portion can be easily closed. Furthermore, by having a slide mechanism having a linear rail and a slider, the load on the pantograph mechanism is suppressed directly, so that the strength of the hand can be increased. Therefore, it is possible to transport a heavy workpiece with a light member. Furthermore, by having a slide mechanism, the gripping portion can be opened and closed smoothly. In addition, since the pair of gripping portions can be maintained parallel, a box-shaped workpiece can be gripped reliably.

[0021] Hereinafter, each configuration and characteristic of the hand for a work transport machine according to the present disclosure will be described in detail.

[0022] 1. Pantograph mechanism The hand of the present disclosure has a pantograph mechanism. The pantograph mechanism is a member that is suspended from a drive unit of a work transporter and can expand and contract in the vertical direction. The pantograph mechanism of the present disclosure has two upper link members that are rotatably connected to each other at their upper parts, and two lower link members that are rotatably connected to the lower parts of the two upper link members, and the two lower link members are arranged to cross each other in a substantially X-shape at the shaft parts. In the present disclosure, when the pantograph mechanism extends, the gap between the gripping parts narrows and the work can be gripped. On the other hand, when the pantograph mechanism contracts, the gap between the gripping parts widens and the work is released. The pantograph mechanism extends due to the weight of the gripping parts by suspending the hand in the air.

[0023] As shown in Fig. 1, the pantograph mechanism 2 has an upper link portion 21 having two upper link members 21a, 21b and a lower link portion 22 having two lower link members 22a, 22b. The upper portions of the two upper link members 21a, 21b are rotatably connected by a first link connecting portion 23. The upper link members 21a, 21b are, for example, metal plate-like members. A hanging ring 27 through which a hanging means such as a hook hung from a drive portion (not shown) passes may be attached to a connection portion 26 to which the upper link portion 21 is connected.

[0024] The lower portion of the upper link portion 21 is rotatably connected to the lower link portion 22 by the second link connecting portion 24 and the third link connecting portion 25. The lower link members 22a, 22b are, for example, metal plate-shaped members. The lower link members 22a, 22b are preferably longer than the upper link members 21a, 21b constituting the upper link portion 21. The upper end portion of the lower link member 22a of the lower link portion 22 is rotatably connected to the upper link member 21a of the upper link portion 21 by the second link connecting portion 24. The upper portion of the lower link member 22b of the lower link portion 22 is rotatably connected to the upper link member 21b of the upper link portion 21 by the third link connecting portion 25. In the lower link portion 22, the lower link members 22a, 22b are arranged to cross each other in a substantially X-shaped manner at the shaft portion 28. A pair of holding portions 5a, 5b are rotatably connected to the lower portions of the lower link members 22a, 22b of the lower link portion 22 of the pantograph mechanism.

[0025] 2.Fixing mechanism The hand of the present disclosure has a fixing mechanism capable of fixing the pantograph mechanism in a contracted state. By fixing the pantograph mechanism in a contracted state with the fixing mechanism, it is possible to maintain the distance between the gripping parts open. In addition, the gripping parts can be closed by releasing the fixing by the fixing mechanism and raising the hand. This makes it easy to open and close the gripping parts. Generally, a weight-type hand such as a pantograph mechanism closes due to its own weight when it is not gripping a workpiece. According to the hand of the present disclosure, the fixing mechanism allows the distance between the gripping parts to be maintained open when the workpiece is not being gripped, and there is no need to manually open the hand when gripping a workpiece. This improves operability when gripping a workpiece.

[0026] The fixing mechanism is not particularly limited in configuration as long as it is a mechanism that can fix the pantograph mechanism in a contracted state. An example of the fixing mechanism is a member that is connected to the pantograph mechanism and has an engagement portion that can engage with a member other than the pantograph mechanism. An example of the member other than the pantograph mechanism is a holding portion. The fixing mechanism may also be a member that is connected to a member other than the pantograph mechanism and has an engagement portion that can engage with the pantograph mechanism.

[0027] As shown in Fig. 1, the fixing mechanism 3 is preferably a plate-like member having, for example, a hook-shaped protrusion 31 as an engagement portion at its end. The protrusion 31 can engage (hook) with a convex portion 51 provided on the side surface of the holding portion 5b. The other end of the fixing mechanism 3 is preferably rotatably connected to the upper end of one of the link members 22b of the lower link portion 22 constituting the pantograph mechanism 2. With such a fixing mechanism configuration, when the holding portion 5b is manually engaged with the convex portion 51 and detached from the holding portion 5b, the engagement can be performed safely without the risk of hands or fingers getting caught in the pantograph mechanism.

[0028] When the protrusion 31 engages (gets caught) with the holding portion 5b, the pantograph mechanism 2 is fixed in a contracted state (fixed state). On the other hand, when the protrusion 31 disengages from the holding portion 5b, the pantograph mechanism becomes expandable (released state).

[0029] 1 is attached to the side where the handle 15 is arranged (the right side of the hand in FIG. 1), but the fixing mechanism in the present disclosure is not limited thereto. For example, the fixing mechanism 3 may be a member that is rotatably connected to the upper end of the link member 22a of the lower link portion 22 constituting the pantograph mechanism 2 and has an engaging portion that can engage with the holding portion 5a. Alternatively, for example, the fixing mechanism 3 may be a member that is connected to the connecting portion 26 or the hanging ring 27 and has an engaging portion that can engage with the shaft portion 28 of the pantograph mechanism 2.

[0030] The switching operation between the fixed state and the released state by the fixing mechanism (in FIG. 1, the operation of engaging or disengaging the engaging portion 31 of the fixing mechanism 3 with the convex portion 51 of the holding portion 5b) is preferably performed manually. The fixing mechanism may be provided with a handle (not shown) to facilitate the manual switching operation by the operator. For example, as shown in FIG. 1, it is preferable that the handle and the grip 15 are attached to the same side of the hand (the right side of the hand in FIG. 1) in the left-right direction when the hand 1 is viewed from the front.

[0031] The fixing mechanism is preferably provided with a biasing mechanism, which will be described later.

[0032] 3. Holding part The hand has a pair of holding parts rotatably connected to the lower parts of the two lower link members of the pantograph mechanism. The holding parts are members that hold a gripping part, which will be described later. One of the holding parts is rotatably connected to the lower link members of the pantograph mechanism and is fixed to the slider. The other holding part is rotatably connected to the lower link members of the pantograph mechanism and is fixed to the linear rail.

[0033] It is preferable that one of the holding parts has a shape that can be engaged with the engaging part of the fixing mechanism described above. Specifically, as shown in Fig. 1, it is preferable that one of the holding parts 5b has a protrusion 51 on the side where the fixing mechanism is arranged (the right side in Fig. 1). The engaging part 31 of the fixing mechanism 3 described above is caught on the protrusion 51, so that the pantograph mechanism 2 can be fixed in a contracted state.

[0034] The pair of holding parts is not particularly limited as long as it is configured to hold the gripping parts. For example, the holding parts are preferably members in which the gripping parts are fixed and the gripping parts can be moved horizontally along the holding parts by releasing the fixation when the workpiece is not being gripped. Since the gripping parts are movable along the holding parts, the interval between the pair of gripping parts can be adjusted and fixed according to the width of the workpiece before gripping the workpiece. In addition, the center of gravity position during gripping can be adjusted to be directly below the hanging point for each size of the workpiece, and the workpiece can be transported while maintaining its horizontality.

[0035] 5(a) and 5(b) are schematic diagrams for explaining the position adjustment of the gripping part relative to the holding part. For example, as shown in Fig. 5(a) and 5(b), the holding parts 5a and 5b have an elongated hole H penetrating in the depth direction of the paper and having a longitudinal direction in the horizontal direction, and it is preferable that the gripping parts 4a and 4b are fastened with a bolt and nut through the elongated hole H as a through hole, thereby making it possible to adjust the position.

[0036] For example, as shown in Figure 5(a), in the case of a wide workpiece, the positions of the pair of gripping parts are adjusted and fixed so that the distance between the gripping parts is wider, and as shown in Figure 5(b), in the case of a narrow workpiece, the positions of the pair of gripping parts are adjusted and fixed so that the distance between the gripping parts is narrower.

[0037] The holding part is not limited to the above-mentioned form having an elongated hole, and may have a rail along which the grip part can be moved and fixed in the horizontal direction. In this case, the grip part may have a grip part slider that runs on the rail of the holding part.

[0038] 4. Slide mechanism (linear rail and slider) The hand has a linear rail and a slider. The linear rail and the slider constitute a slide mechanism. As shown in FIG. 1, the linear rail 7 is fixed to one of the holding parts 5b, and the slider 6 running on the linear rail 7 is fixed to the other holding part 5a. The linear rail is preferably fixed so that it extends in a direction perpendicular to the gripping surface of the gripping part. The extension direction of the linear rail is preferably horizontal. To arrange it in such a direction, the linear rail 7 may be fixed to the holding part 5b via an L-shaped member 11, for example, as shown in FIG. 1.

[0039] The hand of the present disclosure has a sliding mechanism including a linear rail and a slider, which allows the hand itself to be lighter and stronger. The gripping parts can be opened and closed smoothly. Furthermore, the slide mechanism allows the pair of gripping parts to be kept parallel, so that a box-shaped workpiece can be more reliably gripped.

[0040] The linear rail may be provided with a stopper, which can limit the extension of the pantograph mechanism and prevent an excessive clamping force from being applied to the workpiece.

[0041] 5.Grip part The hand has a pair of gripping parts 4a, 4b for gripping a workpiece. The inner surfaces (gripping surfaces) of the pair of gripping parts 4a, 4b come into contact with the left and right surfaces of the workpiece W, and can support the workpiece W from the left and right. Examples of the gripping parts include metal members. The shape of the gripping parts 4a, 4b is not particularly limited, and examples of the shape include a flat plate shape and a cylindrical shape.

[0042] The width of the gap between the pair of gripping portions is adjusted by the width of the pair of holding portions.

[0043] It is preferable that a protrusion for supporting the bottom surface of the workpiece is formed on the lower end (free end) of at least one of the gripping parts. By having the protrusion on at least one of the gripping parts, when gripping the workpiece, the protrusion can be inserted between the workpiece and the floor, so that the workpiece can be lifted while being supported from the bottom surface, and the workpiece can be lifted while preventing excessive clamping load from being applied to the workpiece.

[0044] A handle may be attached to the outside of the gripping part (the side opposite to the side where the workpiece is held) so that the worker can grab it with his / her hand and move the hand. For example, the hand before holding the workpiece may be in a high position relative to the worker. In such a case, by grabbing the handle, the hand can be lowered to a position where it is easy to operate safely and with good workability. Also, by grabbing the handle, the speed of the descent can be adjusted. Furthermore, because the worker grasps the handle, the risk of the hand or fingers getting caught in the pantograph mechanism or pinched between the workpiece and the hand can be reduced.

[0045] 6.Biasing mechanism In the hand of the present disclosure, when the fixing mechanism has an engaging portion that can engage with one of the holding portions and is a member connected to the pantograph mechanism, the hand may have a biasing mechanism 8 that biases the fixing mechanism 3 toward the pantograph mechanism 2, as shown in Fig. 1. By having the biasing mechanism, it is possible to prevent the fixing mechanism from moving unintentionally when the pantograph mechanism is in the released state by the fixing mechanism.

[0046] Specifically, as shown in Fig. 2(b) and Fig. 3(a), when the engaging portion 31 of the fixing mechanism 3 is disengaged from the convex portion 51 of the holding portion 5b (in the released state), the fixing mechanism 3 can be prevented from freely rotating about the connecting portion with the pantograph mechanism 2 as a fulcrum, improving the operability when switching to the fixed state. In addition, although it is preferable to operate the fixing mechanism 3 manually, it is expected that the engaging portion 31 will unintentionally disengage from the convex portion 51 if the engagement of the engaging portion 31 with the convex portion 51 of the holding portion 5 is weak. By providing the biasing mechanism 8, the engagement between the convex portion 51 of the holding portion 5 and the engaging portion 31 of the fixing mechanism can be more reliably performed.

[0047] 1, the biasing mechanism 8 is preferably, for example, a tension spring that connects the fixing mechanism 3 and the pantograph mechanism 2. The tension spring is, for example, a coil spring. The biasing mechanism 8 may also connect the vicinity of the center of the fixing mechanism 3 and the shaft portion 28 of the pantograph mechanism 2.

[0048] 7.Auxiliary mechanism The hand of the present disclosure preferably has an auxiliary mechanism that assists the force of contracting the pantograph mechanism. By having the auxiliary mechanism, it becomes easy to manually operate the fixing mechanism to fix the pantograph mechanism. The specific auxiliary mechanism is not particularly limited. As shown in FIG. 1, the auxiliary mechanism 9 is preferably, for example, a tension spring that connects the upper link portion 21 and the lower link portion 22 of the pantograph mechanism 2. The tension spring is, for example, a coil spring.

[0049] 8. Work In the present disclosure, the work to be transported is not particularly limited, but is preferably a work having a box shape. The box shape is not particularly limited as long as it is a box shape such as a rectangular parallelepiped or a cube. Specifically, for example, a cardboard box or a cardboard box package manufactured by packing a product in a cardboard box can be mentioned.

[0050] The weight of the workpiece is not particularly limited, but may be, for example, 10 kg or more, and may be, for example, 20 kg or more, whereas the weight of the workpiece is, for example, 40 kg or less, and may be, for example, 30 kg or less.

[0051] 9. Work transport machine A work transport machine in which the work transport machine hand of the present disclosure is used has a drive unit that allows the hand to move in the vertical direction. The hand in the present disclosure is suspended from the drive unit via, for example, a wire and a pulley. Examples of the drive unit include an air-driven or electrically-driven actuator.

[0052] The hand in the present disclosure is preferably attached with an operating unit for operating the drive unit of the work transporter. The operating unit is, for example, a lever, and the hand can be raised by raising the lever and lowered by lowering the lever. The operating unit is preferably attached to the gripping unit or the holding unit. In the left-right direction when the hand is viewed from the front, the operating unit is preferably attached to the same side of the hand as the above-mentioned handle and the handle (the right side of the hand in FIG. 1). This is to improve workability. In addition, by attaching the operating unit, the above-mentioned handle and the handle to the same side of the hand in the left-right direction when the hand is viewed from the front, the risk of the operator's hand or fingers being caught in the pantograph mechanism or being pinched between the work and the hand can be reduced.

[0053] The present disclosure is not limited to the above-described embodiments. The above-described embodiments are merely examples, and any embodiment that has substantially the same configuration as the technical idea described in the claims of the present disclosure and exhibits similar effects is included in the technical scope of the present disclosure.

[0054] Thus, in the present disclosure, for example, the following inventions are provided:

[0055] [1] A hand for a work transport machine, a pantograph mechanism that is suspended from a drive unit that raises and lowers the hand, and that has two upper links that are rotatably connected to each other at their upper ends, and two lower links that are connected to the lower ends of the two upper links, respectively, and that is disposed so as to cross in a substantially X-shape at a shaft portion; a fixing mechanism capable of fixing the pantograph mechanism in a contracted state; A pair of gripping parts for gripping the workpiece; a pair of holding portions rotatably connected to lower ends of the two lower links of the pantograph mechanism and configured to hold the pair of gripping portions, respectively; A hand for a work transport machine, wherein one of the holding parts is fixed to a linear rail, and the other holding part is fixed to a slider that runs on the linear rail.

[0056] [2] The pair of gripping portions each have a flat plate shape, and at least one of the gripping portions has a protrusion at the lower end for supporting the bottom surface of the workpiece.

[0057] [3] The hand for a work transport machine described in [1] or [2], wherein the fixing mechanism has an engagement portion that can engage with one of the holding portions and is a member connected to the pantograph mechanism.

[0058] [4] The hand for a work transport machine described in [3] has a biasing mechanism that biases the fixing mechanism toward the pantograph mechanism.

[0059] [5] The hand for a work transport machine described in any one of [1] to [4] has an auxiliary mechanism that assists the force with which the pantograph mechanism contracts.

[0060] [6] A hand for a work transport machine described in any of [1] to [5], wherein the gripping portion is fixed to the holding portion, and by releasing the fixation when the gripping portion is not gripping the workpiece, the gripping portion can move horizontally along the holding portion. [Explanation of symbols]

[0061] 1 … Hand for work transport machine 2 ... Pantograph mechanism 3…Fixing mechanism 4 … Gripping part 5 … Holding part 6 ... Slider 7 … Linear rail 8 … Biasing mechanism 9 … Auxiliary mechanism W … Work

Claims

1. A hand for a work transport machine, a pantograph mechanism that is suspended from a drive unit that raises and lowers the hand, and that has two upper links rotatably connected to each other at their upper parts, and two lower links rotatably connected to the lower parts of the two upper links, respectively, the two lower links being disposed so as to cross in a substantially X-shape at their shaft parts; a fixing mechanism capable of fixing the pantograph mechanism in a contracted state; a pair of holding portions rotatably connected to lower portions of the two lower link members of the pantograph mechanism, A pair of gripping portions that are respectively held by the pair of holding portions and grip the workpiece, A hand for a work transport machine, wherein one of the holding parts is fixed to a linear rail, and the other holding part is fixed to a slider that runs on the linear rail.

2. 2. The hand for a workpiece transport machine according to claim 1, wherein the pair of gripping portions each have a flat plate shape, and at least one of the gripping portions has a protrusion at a lower end thereof for supporting a bottom surface of the workpiece.

3. 2. The hand for a workpiece transport machine according to claim 1, wherein the fixing mechanism is a member having an engaging portion that can be engaged with one of the holding portions and that is connected to the pantograph mechanism.

4. The hand for a work transport machine according to claim 3 , further comprising a biasing mechanism for biasing the fixing mechanism toward the pantograph mechanism.

5. The hand for a work transport machine according to claim 1 , further comprising an auxiliary mechanism for assisting the force with which the pantograph mechanism contracts.

6. The hand for a work transport machine as described in claim 1, wherein the gripping portion is fixed to the holding portion, and by releasing the fixation when the gripping portion is not gripping the work, the gripping portion becomes movable horizontally along the holding portion.

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