Lifting device

Abstract

To provide a lifting device capable of easily lifting a linear member supported on a support surface.SOLUTION: A lifting apparatus according to the present disclosure includes a support member including a support surface capable of supporting a linear member from below in a vertical direction, and a lifting unit movable in the vertical direction relative to the support member. A first moving body capable of lifting a lifted portion, which is a part of the linear member in the extending direction, of the linear member supported by the support surface upward in the vertical direction, and a second moving body movable between a first position where the second moving body does not enter a gap formed by the lifted portion of the linear member being lifted by the first moving body and a second position where the second moving body enters the gap, A portion of the linear member different from the lifted portion can be lifted upward in the vertical direction from the support surface.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present disclosure relates to lifting equipment. [Background technology]

[0002] A procedure using a catheter is performed in the diagnosis and treatment of lesions occurring in blood vessels. In this procedure, the surgeon inserts a guidewire into the blood vessel, brings the tip of the guidewire to the vicinity of the lesion, and then inserts a catheter along the guidewire. Patent Document 1 discloses this type of guidewire. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2000-014792 Summary of the Invention [Problem to be solved by the invention]

[0004] A guidewire is formed, for example, by processing a linear member as a raw material. In this process, some linear members, such as one linear member, may be lifted out from among a plurality of linear members supported on a support surface, and the removed linear member may then be processed. Furthermore, lifting of linear members supported on a support surface may be required not only during the manufacture of a guidewire, but also in other cases. Manual lifting of such linear members is time-consuming.

[0005] An object of the present disclosure is to provide a lifting device that can easily lift a linear member supported on a support surface. [Means for solving the problem]

[0006] According to one aspect of the present disclosure, a lifting device includes: (1) a support member including a support surface capable of supporting the linear member from below in the vertical direction; a first movable body that is movable in the vertical direction relative to the support member and that is capable of lifting a lifted portion of the linear member supported on the support surface, the lifted portion being a part of the linear member in the extension direction, upward in the vertical direction; a second movable body that is movable between a first position where it is not inserted into a gap between the support surface and the lifted portion of the linear member in the vertical direction, the gap being formed by the first movable body lifting the lifted portion of the linear member, and a second position where it is inserted into the gap; The second movable body is a lifting device that can move from the second position along the support surface to lift a portion of the linear member other than the lifted portion upward in the vertical direction from the support surface.

[0007] According to one embodiment of the present disclosure, a lifting device includes: (2) the first movable body is capable of lifting the lifted portion of the linear member so that a free end portion including one end portion of the linear member in the extension direction is formed on the side opposite to the side where the gap is located across the first movable body, The lifting device according to (1) above is provided with a stopper portion that contacts the free end of the lifted portion from above in the vertical direction.

[0008] According to one embodiment of the present disclosure, a lifting device includes: (3) The lifting device according to (2) above, wherein the stopper portion is a receiving groove that receives the free end of the lifted portion.

[0009] According to one embodiment of the present disclosure, a lifting device includes: (4) A lifting device as described in (2) or (3) above, comprising a gripping portion capable of gripping the lifted portion in a state in which the free end of the lifted portion is in contact with the stopper portion.

[0010] According to one embodiment of the present disclosure, a lifting device includes: (5) When the gripping portion is a first gripping portion, The lifting device described in (4) above is provided with a second gripping portion capable of gripping the portion of the linear member that is lifted upward in the vertical direction from the support surface by the second movable body, the portion being different from the lifted portion.

[0011] According to one embodiment of the present disclosure, a lifting device includes: (6) The second movable body is a lifting device described in any one of (1) to (5) above, which is provided with a rotating body that rotates while contacting the linear member when moving along the support surface from the second position.

[0012] According to one embodiment of the present disclosure, a lifting device includes: (7) The lifting device according to (6) above, wherein the rotating body is a roller having an outer circumferential surface on which an annular groove capable of accommodating the linear member is formed.

[0013] According to one embodiment of the present disclosure, a lifting device includes: (8) the support member has a support groove capable of accommodating the linear member, The lifting device according to any one of (1) to (7) above, wherein the support surface includes an inner surface of a support groove.

[0014] According to one embodiment of the present disclosure, a lifting device includes: (9) The support groove includes a first groove wall and a second groove wall located on both sides in a groove width direction, the first groove wall includes a low wall portion having a height in the vertical direction lower than that of the second groove wall, the second movable body is movable between the first position and the second position by moving in the groove width direction of the support groove above the bottom wall portion of the first groove wall in the vertical direction, The second movable body is a lifting device as described in (8) above, in which the second movable body is capable of lifting the part of the linear member that is different from the lifted part upward in the vertical direction from the support surface by moving from the second position along the extension direction of the support groove.

[0015] According to one embodiment of the present disclosure, a lifting device includes: (10) a sensor capable of detecting information relating to the number of the linear members lifted by the first moving body; The lifting device according to any one of (1) to (9) above, wherein the second movable body is movable from the first position to the second position based on the detection result of the sensor. [Effects of the Invention]

[0016] According to the present disclosure, it is possible to provide a lifting device that can easily lift a linear member supported on a support surface. [Brief explanation of the drawings]

[0017] [Figure 1] FIG. 1 is a front view of a lifting device according to one embodiment of the present disclosure. [Figure 2] FIG. 2 is a side view of the lifting device shown in FIG. [Figure 3] 2 is a front view of the lifting device, showing a state in which the lifted portion of the linear member is lifted by the first moving body from the state shown in FIG. 1. FIG. [Figure 4] FIG. 4 is a side view of the lifting device in the state shown in FIG. 3. [Figure 5] 5 is a side view of the lifting device, showing a state in which the second moving body has moved from the state shown in FIG. 4 and entered the gap shown in FIG. 3. FIG. [Figure 6] 6 is a front view of the lifting device, showing a state in which the second moving body is moving along the support surface from the state shown in FIG. 5 and is in the middle of lifting the remaining portion of the linear member vertically upward from the support surface. FIG. [Figure 7]FIG. 7 is a front view of the lifting device, showing a state in which the second movable body has moved further along the support surface from the state shown in FIG. 6, and all of the remaining portions of the linear members have been lifted vertically upward from the support surface. [Figure 8] 1. FIG. 4 is a diagram showing an example of the posture of a lifted portion of a linear member when the linear member is lifted upward in the vertical direction by a first moving body when the stopper portion shown in FIG. 1 is not provided. [Figure 9A] FIG. 10 is a front view of a lifting device including a modified support member. [Figure 9B] FIG. 9B is a side view of the lifting device shown in FIG. 9A. DETAILED DESCRIPTION OF THE INVENTION

[0018] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a lifting device according to the present disclosure will be described with reference to the drawings. In each drawing, the same components are designated by the same reference numerals.

[0019] FIG. 1 is a front view of a lifting device 100 as one embodiment of a lifting device according to the present disclosure. The lifting device 100 may be used, for example, to remove some linear members 500 from a plurality of linear members 500. Specifically, the lifting device 100 includes a support member 10 having a support surface 10a capable of supporting the linear members 500 from below A2 in the vertical direction A. The lifting device 100 also includes a first movable body 20 that is movable in the vertical direction A relative to the support surface 10a. The term "movable in the vertical direction A" used here does not necessarily mean movement parallel to the vertical direction A. In other words, the movement direction of the first movable body 20 may be a direction parallel to the vertical direction A, or may be a direction inclined at a predetermined angle or less with respect to the vertical direction A, such as a direction inclined at an angle of 30° or less with respect to the vertical direction A. The first movable body 20 of this embodiment is movable parallel to the vertical direction A.

[0020] When the first moving body 20 moves toward the upper side A1 in the vertical direction A, the first moving body 20 can lift, toward the upper side A1 in the vertical direction A, the lifted portion 500a, which is part of the extending direction B of the linear member 500, of the linear member 500 supported on the supporting surface 10a. Fig. 1 shows a state before the lifted portion 500a of the linear member 500 supported on the supporting surface 10a is lifted by the first moving body 20.

[0021] Fig. 2 is a side view of the lifting device 100 in the state shown in Fig. 1, viewed along the extension direction B of the linear member 500 supported on the support surface 10a. In Fig. 2, a sensor 60, which will be described later, is not shown. As shown in Figs. 1 and 2, the lifting device 100 includes a second moving body 30.

[0022] Fig. 3 is a front view of the lifting device 100, showing a state in which the first moving body 20 has moved upward A1 in the vertical direction A from the state shown in Fig. 1, and the lifted portion 500a of the linear member 500 has been lifted from the support surface 10a. Fig. 4 is a side view of the lifting device 100 in the state shown in Fig. 3. A sensor 60, which will be described later, is not shown in Fig. 4. As shown in Fig. 3, when the lifted portion 500a of the linear member 500 is lifted from the support surface 10a by the first moving body 20, a gap X is formed between the support surface 10a and the lifted portion 500a of the linear member 500 in the vertical direction A.

[0023] Fig. 5 is a side view of the lifting device 100, showing a state in which the second moving body 30 has moved (see the outline arrow in Fig. 4) from the state shown in Fig. 4 and entered the gap X shown in Fig. 3. In Fig. 5, a sensor 60, which will be described later, is not shown.

[0024] As shown in FIGS. 3 to 5, the second moving body 30 is movable between a first position (see FIG. 4) where it is not inserted into the gap X (see FIG. 3) and a second position (see FIG. 5) where it is inserted into the gap X. The second moving body 30 of this embodiment is movable between the first position (see FIG. 4) and the second position (see FIG. 5) by moving in a first horizontal direction C, which is one of horizontal directions perpendicular to the vertical direction A and perpendicular to the extension direction B of the linear member 500. For ease of explanation, the direction in the first horizontal direction C in which the second moving body 30 moves from the first position (see FIG. 4) to the second position (see FIG. 5) will be referred to as the "gap entry direction C1."

[0025] 6 is a front view of the lifting device 100, showing a state in which the second moving body 30 has moved along the support surface 10a from the state in which the second moving body 30 has entered the gap X (see FIG. 3) shown in FIG. 5, and is in the middle of lifting a portion 500b of the linear member 500, which is different from the portion to be lifted 500a, from the support surface 10a upward A1 in the vertical direction A. FIG. 7 is a front view of the lifting device 100, showing a state in which the second moving body 30 has further moved along the support surface 10a from the state shown in FIG. 6, and has lifted all of the portion 500b of the linear member 500, which is different from the portion to be lifted 500a, from the support surface 10a upward A1 in the vertical direction A. Hereinafter, for convenience of explanation, "the portion 500b of the linear member 500, which is different from the portion to be lifted 500a" will be simply referred to as "the remaining portion 500b of the linear member 500."

[0026] As shown in FIGS. 6 and 7, the second moving body 30 can lift the remaining portion 500b of the linear member 500 from the support surface 10a to an upper position A1 in the vertical direction A by moving along the support surface 10a from the second position (see FIG. 5). That is, the second moving body 30 moves from the second position (see FIG. 5) so as to enter between the remaining portion 500b of the linear member 500, which is in contact with the support surface 10a, and can lift the remaining portion 500b of the linear member 500 from the support surface 10a. Specifically, the second moving body 30 of this embodiment can lift the remaining portion 500b of the linear member 500 to an upper position A1 in the vertical direction A by moving in a second horizontal direction D, which is a direction perpendicular to the vertical direction A and is a direction perpendicular to the first horizontal direction C described above, while maintaining its position in the vertical direction A at the second position (see FIG. 5).

[0027] In this way, the first moving body 20 can lift the lifted portion 500a, which is a part of the linear member 500 supported on the support surface 10a of the support member 10, upward A1 in the vertical direction A. This allows a gap X to be formed between the lifted portion 500a of the linear member 500 and the support surface 10a. The second moving body 30 can then move to enter the formed gap X. Furthermore, by moving along the support surface 10a from the state in which the second moving body 30 has entered the gap X, the second moving body 30 can lift the remaining portion 500b of the linear member 500 from the support surface 10a upward A1 in the vertical direction A. In this way, the lifting device 100 can easily lift the linear member 500 supported on the support surface 10a.

[0028] The linear member 500 may be a tubular hollow member or a solid member. The outer diameter of the linear member 500 may be, for example, 0.014 to 0.035 inches (0.36 to 0.89 mm).

[0029] The constituent material of the linear member 500 is not particularly limited. The constituent material of the linear member 500 may be, for example, a metal such as stainless steel, tantalum, titanium, platinum, gold, or tungsten, or a shape memory alloy that is given a shape memory effect or superelasticity by heat treatment. Examples of shape memory alloys include Ni-Ti, Cu-Al-Ni, and Cu-Zn-Al. Furthermore, the constituent material of the linear member 500 may be, for example, a polyolefin such as polyethylene or polypropylene, a polyester such as polyamide or polyethylene terephthalate, a fluorine-based polymer such as PTFE (polytetrafluoroethylene) or ETFE (ethylene-tetrafluoroethylene copolymer), a resin material such as PEEK (polyether ether ketone), or polyimide.

[0030] The lifting device 100 of this embodiment will be described in further detail below.

[0031] 1, the lifting device 100 of this embodiment includes, in addition to the support member 10, first moving body 20, and second moving body 30 described above, a stopper unit 40, a plurality of gripping units 50, a sensor 60, a control unit 70, and a drive source 80. The plurality of gripping units 50 of this embodiment are a first gripping unit 50a, a second gripping unit 50b, and a third gripping unit 50c.

[0032] <Support member 10> As described above, the support member 10 has a support surface 10a. As shown in FIGS. 2, 4, and 5, the support surface 10a in this embodiment is the inner surface of the support groove 11 that can accommodate the linear member 500. However, the shape of the support surface 10a is not particularly limited. The support surface 10a may be, for example, a horizontally extending mounting surface that can support the linear member 500 from below A2 in the vertical direction A. However, it is preferable that the support surface 10a be the inner surface of the support groove 11, as in this embodiment. In particular, it is preferable that the support surface 10a be the inner surface of the support groove 11, in which the groove width W1 (see FIG. 2) gradually decreases toward the groove bottom 11a, as in this embodiment. Here, the "groove width W1 of the support groove 11" refers to the width of the support groove 11 in the horizontal direction. In this way, one or more linear members 500 positioned in the support groove 11 tend to gather at the position of the groove bottom 11a of the support groove 11 in the groove width direction F as they move downward A2 in the vertical direction A. Therefore, when a storage groove 20a (see FIG. 2) described below of the first moving body 20 moves upward A1 in the vertical direction A so as to pass through the position of the groove bottom 11a in the groove width direction F of the support groove 11, the lifted portion 500a of the linear member 500 tends to be stored in the storage groove 20a. Therefore, it is possible to prevent the first moving body 20 from lifting the lifted portion 500a of the linear member 500 and thereby preventing the first moving body 20 from swinging aimlessly.

[0033] 1 to 7, the support member 10 of this embodiment is a long groove-shaped member having a groove-shaped cross section perpendicular to the longitudinal direction. As shown in Fig. 1 and other figures, the support member 10 of this embodiment defines an insertion hole 10b that opens on the support surface 10a and through which the first movable body 20 can be inserted. The insertion hole 10b of this embodiment opens on the inner surface of the support groove 11 at the position of the groove bottom 11a of the support groove 11.

[0034] 1 to 7, the support member 10 of this embodiment includes a closing wall surface 12 that closes one end of the support groove 11 in the extension direction E. As shown in FIG. 1 and other figures, the insertion hole 10b of this embodiment is disposed in a position closer to the closing wall surface 12 than the intermediate position M of the support groove 11 in the extension direction E of the support groove 11. The position of the insertion hole 10b in the extension direction E of the support groove 11 is not particularly limited. However, as in this embodiment, it is preferable that the position of the insertion hole 10b in the extension direction E of the support groove 11 is disposed in a position closer to the closing wall surface 12 than the intermediate position M of the support groove 11. Here, the "position of the insertion hole 10b" refers to the position of the entire area of ​​the insertion hole 10b in the extension direction E. The provision of the closing wall surface 12 allows the linear member 500 to be accommodated in the support groove 11 along the extension direction E with one end of the linear member 500 abutting against the closing wall surface 12. The first moving body 20 can lift the portion to be lifted 500a of the linear member 500 upward A1 in the vertical direction A through the insertion hole 10b at a position close to the closure wall surface 12 in the extension direction E. Therefore, the portion to be lifted 500a of the linear member 500 is lifted upward A1 by the first moving body 20 so that one end close to the closure wall surface 12 becomes a free end (see FIG. 3). As a result, the first gripping portion 50a (described below), which is positioned above A1 in the vertical direction A of the support member 10 and grips the portion to be lifted 500a of the linear member 500 lifted by the first moving body 20, can easily grip the free end 500e including one end 500c of the linear member 500 close to the closure wall surface 12.

[0035] From the viewpoint of ease of gripping by the first gripping portion 50a described above, it is more preferable that the position of the insertion hole 10b in the extension direction E of the support groove 11 be in the range from the closing wall surface 12 to a position that is 1 / 3 of the length of the support groove 11 in the extension direction E, and it is particularly preferable that the position be in the range from the closing wall surface 12 to a position that is 1 / 4 of the length of the support groove 11 in the extension direction E.

[0036] As shown in FIGS. 2, 4, and 5, the support groove 11 of this embodiment is a V-shaped groove having a V-shaped cross section perpendicular to the extension direction E. Specifically, the support groove 11 of this embodiment includes a groove bottom 11a and a first groove wall 11b and a second groove wall 11c located on both sides in the groove width direction F. The first groove wall 11b and the second groove wall 11c are inclined with respect to the vertical direction A so as to approach each other toward the groove bottom 11a. The groove bottom 11a is formed by the intersection of the first groove wall 11b and the second groove wall 11c. In other words, the groove bottom 11a is formed by the ridge line where the first groove wall 11b and the second groove wall 11c intersect. The inclination angles of the first groove wall 11b and the second groove wall 11c with respect to the vertical direction A are not particularly limited. The inclination angle of the first groove wall 11b with respect to the vertical direction A may be different from the inclination angle of the second groove wall 11c with respect to the vertical direction A.

[0037] 2, in the support groove 11 of this embodiment, the rate of decrease of the groove width W1 of the support groove 11 decreases toward the groove bottom 11a. More specifically, the first groove wall 11b and the second groove wall 11c of this embodiment are each formed of a curved surface that is convexly curved toward the inside of the support groove 11. In this embodiment, since the first groove wall 11b and the second groove wall 11c are each formed of a curved surface, the rate of decrease of the groove width W1 of the support groove 11 decreases toward the groove bottom 11a. However, the first groove wall 11b and the second groove wall 11c of the support groove 11 may also be flat surfaces that are inclined with respect to the vertical direction A.

[0038] As described above, the support groove 11 in this embodiment is a V-shaped groove, but the cross-sectional shape of the support groove 11 is not particularly limited. The support groove 11 may be, for example, a rectangular groove having a rectangular cross-sectional shape perpendicular to the extension direction E. Furthermore, the support groove 11 may be, for example, an arc groove having an arc-shaped cross-sectional shape perpendicular to the extension direction E.

[0039] The groove width W1 (see Figure 2) and groove depth H1 (see Figure 2) of the support groove 11 may be set appropriately depending on the outer diameter and cross-sectional area of ​​the linear member 500 to be accommodated in the support groove 11, the number of linear members 500 to be accommodated in the support groove 11, etc.

[0040] <First moving body 20> 3, the first moving body 20 of this embodiment is capable of lifting the lifted portion 500a of the linear member 500 such that a free end 500e including one end 500c in the extension direction B of the linear member 500 is formed on the side opposite to the side where the gap X into which the second moving body 30 enters is located, with the first moving body 20 sandwiched between them. More specifically, in this embodiment, the gap X into which the second moving body 30 enters is formed on one side (the right side in FIG. 3) of the first moving body 20 in the extension direction E of the support groove 11. In this embodiment, the lifted portion 500a has a free end 500e including one end 500c in the extension direction B of the linear member 500 on the other side (the left side in FIG. 3) of the first moving body 20 in the extension direction E of the support groove 11. By doing this, the entire linear member 500 can be lifted from the inner surface of the support groove 11 by moving the second moving body 30 that has entered the gap X in only one direction in the second horizontal direction D (in this embodiment, only one direction toward the other end 500d of the linear member 500 in the extension direction B of the support groove 11, among the extension direction E of the support groove 11).

[0041] 2 and 4, the first moving body 20 of this embodiment is provided with an accommodating groove 20a that can accommodate the lifted portion 500a of the linear member 500 supported by the support surface 10a when the first moving body 20 moves upward A1 in the vertical direction A. As shown in FIGS. 1 to 4, in this embodiment, when the first moving body 20 moves upward A1 in the vertical direction A relative to the support surface 10a, the lifted portion 500a of the linear member 500 supported by the support surface 10a is accommodated in the accommodating groove 20a of the first moving body 20 and is lifted upward A1 in the vertical direction A from the support surface 10a.

[0042] As shown in FIGS. 1 and 3 , the first moving body 20 of this embodiment is movable in the vertical direction A relative to the support surface 10a through an insertion hole 10b opening in the support surface 10a, but this configuration is not limited thereto. For example, the first moving body 20 may be movable in the vertical direction A relative to the support surface 10a at a position horizontally adjacent to the support surface 10a. In this case, the first moving body 20 can lift the lifted portion 500a, including the protruding portion, upward A1 in the vertical direction A by accommodating the portion of the linear member 500 supported on the support surface 10a that protrudes horizontally from the support surface 10a in the accommodation groove 20a. However, it is preferable that the first moving body 20 be movable in the vertical direction A through the insertion hole 10b, as in this embodiment. This configuration can prevent the first moving body 20 from lifting the lifted portion 500a of the linear member 500 and thereby preventing the first moving body 20 from swinging around aimlessly. In particular, as described above, it is preferable that the insertion hole 10b opens at the position of the groove bottom 11a on the inner surface of the support groove 11. By doing so, as described above, the lifted portion 500a of the linear member 500 is more likely to be accommodated in the accommodation groove 20a as the first moving body 20 moves upward A1 in the vertical direction A. Therefore, even if the number of linear members 500 accommodated in the support groove 11 is small, for example, one, it is possible to further suppress the first moving body 20 from lifting the lifted portion 500a of the linear member 500.

[0043] As shown in FIG. 2, the storage groove 20a of this embodiment is provided on the upper surface of the first moving body 20. More specifically, the first moving body 20 of this embodiment is a plate-like member arranged so that its thickness direction is approximately parallel to the groove width direction F of the support groove 11. The storage groove 20a of this embodiment is provided on the upper end surface of the plate-like member that serves as the upper surface of the first moving body 20. Furthermore, the storage groove 20a of this embodiment is formed on the upper surface of the first moving body 20 so that its extension direction is aligned with the extension direction E of the support groove 11. However, the first moving body 20 is not limited to the plate-like member of this embodiment.

[0044] 2, the housing groove 20a in this embodiment is an arc groove having a cross-sectional shape perpendicular to its extension direction that is substantially arc-shaped, but the cross-sectional shape of the housing groove 20a is not particularly limited. For example, the housing groove 20a may be a rectangular groove having a rectangular cross-sectional shape perpendicular to its extension direction. Furthermore, the housing groove 20a may be a V-groove having a V-shaped cross-sectional shape perpendicular to its extension direction.

[0045] 1 and 3, the upper surface of the first moving body 20 in this embodiment is configured as a convex surface in which the central portion protrudes upward A1 in the vertical direction A from both end portions when viewed along the groove width direction F of the support groove 11. The accommodating groove 20a is formed along the convex surface serving as the upper surface of the first moving body 20.

[0046] The groove width and groove depth of the accommodating groove 20a may be set appropriately depending on the outer diameter and cross-sectional area of ​​the linear member 500 to be accommodated in the support groove 11, the desired number of linear members 500 to be accommodated in the accommodating groove 20a (one in this embodiment), etc. Here, the "groove width of the accommodating groove 20a" refers to the width of the accommodating groove 20a in the horizontal direction.

[0047] <Second moving body 30> As described above, the second moving body 30 of this embodiment can move between a first position (see FIG. 4) and a second position (see FIG. 5) by moving in a first horizontal direction C that is orthogonal to the extension direction B of the linear member 500, among horizontal directions that are orthogonal to the vertical direction A. More specifically, the second moving body 30 of this embodiment moves from the first position (see FIG. 4) to the second position (see FIG. 5) by moving in a gap entry direction C1, which is one direction of the groove width direction F of the support groove 11 as the first horizontal direction C, and enters the gap X.

[0048] As described above, the second moving body 30 moves from the second position (see FIG. 5) to enter between the remaining portion 500b of the linear member 500, which is in contact with the support surface 10a, and can lift the remaining portion 500b of the linear member 500 from the support surface 10a. More specifically, as shown in FIGS. 6 and 7, the second moving body 30 of this embodiment moves from the second position (see FIG. 5) in the extension direction E of the support groove 11, which is the second horizontal direction D, and can lift the remaining portion 500b of the linear member 500 from the support surface 10a upward A1 in the vertical direction A. As described above, the lifted portion 500a of this embodiment has a free end portion 500e that includes one end portion 500c of the linear member 500. Therefore, as shown in Figures 6 and 7, the second movable body 30 of this embodiment can lift the remaining portion 500b of the linear member 500 from the support surface 10a by moving only in one direction, the extension direction E of the support groove 11, from one end 500c side of the linear member 500 toward the other end 500d side.

[0049] Furthermore, the second moving body 30 of this embodiment includes a rotating body 31 that rotates while contacting the linear member 500 when moving from the second position (see FIG. 5) along the support surface 10a. When moving in the second horizontal direction D, the rotating body 31 receives a force about the rotation center axis from the linear member 500 with which it is in contact, causing the rotating body 31 to rotate. By including such a rotating body 31 in the second moving body 30, it is possible to prevent the linear member 500 from sliding against the second moving body 30 and being damaged.

[0050] More specifically, as shown in FIGS. 2, 4, and 5, the rotating body 31 of this embodiment is a roller 31a having an outer circumferential surface in which an annular groove 31a1 capable of accommodating a linear member 500 is formed. The roller 31a of this embodiment is configured to be rotatable around a rotation center axis O extending in the first horizontal direction C. The outer circumferential surface of the roller 31a of this embodiment has a constricted shape in which the diameter gradually decreases from both ends toward the center in the axial direction along the rotation center axis O of the roller 31a. The annular groove 31a1 of the roller 31a of this embodiment is configured over the entire outer circumferential surface of this constricted shape. However, the annular groove 31a1 of the roller 31a is not limited to the configuration of this embodiment. The annular groove 31a1 of the roller 31a may be formed, for example, only in a portion of the outer circumferential surface in the axial direction. However, as in this embodiment, it is preferable that the entire outer circumferential surface of the roller 31a be formed in a constricted shape to form the annular groove 31a. In this way, the linear member 500 abutting on the outer peripheral surface of the roller 31a can be more reliably accommodated in the annular groove 31a1 when the second moving body 30 is moved in the second horizontal direction D. Therefore, when the second moving body 30 is moved in the second horizontal direction D, the linear member 500 can be prevented from meandering in the axial direction on the outer peripheral surface of the roller 31a and from falling off the end of the roller 31a in the axial direction.

[0051] As described above, the second moving body 30 of this embodiment includes the rotating body 31, but is not limited to this configuration. The second moving body 30 may include, for example, a sliding portion that houses the linear member 500 and includes a groove having an inner surface that is slidable against the linear member 500, instead of the rotating body 31 described above. An example of such a sliding portion is a rod-shaped portion having the above-described groove formed on its outer surface. However, from the perspective of preventing damage to the linear member 500, it is preferable that the second moving body 30 include the rotating body 31, as in this embodiment.

[0052] <Stopper portion 40> As shown in FIG. 3, the lifting device 100 of this embodiment includes a stopper portion 40. As described above, the lifted portion 500a of the linear member 500 of this embodiment has a free end portion 500e, including one end portion 500c of the linear member 500, on the side opposite the side where the gap X is located, sandwiching the first moving body 20. The stopper portion 40 contacts the free end portion 500e of the lifted portion 500a from above A1 in the vertical direction A. FIG. 8 is a diagram showing an example of the posture of the lifted portion 500a of the linear member 500 when the linear member 500 is lifted by the first moving body 20 above A1 in the vertical direction A, when the stopper portion 40 is not provided. As shown in FIG. 8, when the stopper portion 40 is not provided, the free end portion 500e of the lifted portion 500a is likely to protrude above A1 in the vertical direction A relative to the first moving body 20 due to the bending rigidity of the linear member 500. Therefore, as shown in FIG. 8 , the gap-forming portion 500g of the lifted portion 500a, which is located on the opposite side of the free end 500e and sandwiches the supported portion 500f that is in contact with the first movable body 20 and supported by the first movable body 20, tends to approach the support surface 10a so as to narrow the gap X. In other words, if the stopper portion 40 were not provided, the gap-forming portion 500g that forms the gap X with the support surface 10a would tend to approach the support surface 10a, and the gap X would tend to narrow. In contrast, in this embodiment, the stopper portion 40 comes into contact with the free end 500e of the lifted portion 500a and prevents the free end 500e from protruding upward A1. As a result, the gap-forming portion 500g of the lifted portion 500a is lifted by deforming so as to bend upward A1 in the vertical direction A more than in the state shown in FIG. 8 , and is prevented from approaching the support surface 10a. That is, the gap X is prevented from narrowing. This prevents the second moving body 30 from interfering with the gap forming portion 500g of the lifted portion 500a when the second moving body 30 moves from the first position (see FIG. 4) to the second position (see FIG. 5). However, there are cases where the gap X can be sufficiently secured even if the stopper portion 40 is not provided. Therefore, the lifting device 100 may be configured without the stopper portion 40.

[0053] The shape of the stopper portion 40 is not particularly limited. However, as shown in FIGS. 2 and 4, the stopper portion 40 is preferably a receiving groove that receives the free end portion 500e of the lifted portion 500a. By forming the stopper portion 40 as a receiving groove, the free end portion 500e of the lifted portion 500a can be more reliably received by the stopper portion 40. More specifically, as shown in FIGS. 1 to 7, the receiving groove serving as the stopper portion 40 of this embodiment is formed on the underside of the plate-like member. Furthermore, the receiving groove serving as the stopper portion 40 of this embodiment is formed so as to penetrate the plate-like member in the extension direction E of the support groove 11.

[0054] 2 and 4, the receiving groove serving as the stopper portion 40 in this embodiment is a V-shaped groove, but the shape of the receiving groove serving as the stopper portion 40 is not particularly limited. The receiving groove serving as the stopper portion 40 may have other shapes, such as a rectangular groove or an arc groove. However, as in this embodiment, the receiving groove serving as the stopper portion 40 is preferably a V-shaped groove whose groove width gradually decreases upward A1 in the vertical direction A. This more reliably guides the free end portion 500e of the lifted portion 500a to the position of the bottom of the V-shaped groove. In other words, the position at which the free end portion 500e of the lifted portion 500a is received in the stopper portion 40 can be stabilized.

[0055] <First grip part 50a> 1 to 7, the lifting device 100 of this embodiment includes a first gripping portion 50a that can grip the lifted portion 500a with the free end 500e of the lifted portion 500a in contact with the stopper portion 40. The first gripping portion 50a of this embodiment is disposed adjacent to the stopper portion 40. The first gripping portion 50a of this embodiment is positioned between the first moving body 20 and the stopper portion 40 in the extension direction E of the support groove 11, which is the second horizontal direction D. The first gripping portion 50a of this embodiment is configured to be able to grip the free end 500e of the lifted portion 500a. More specifically, the first gripping portion 50a of this embodiment can grip the free end 500e at a position between the portion of the free end 500e that contacts the stopper portion 40 and the supported portion 500f. The lifting device 100 of this embodiment is configured so that when the lifted portion 500a of the linear member 500 is lifted to the uppermost position A1 by the first moving body 20 and the free end portion 500e is in contact with the stopper portion 40 (see FIG. 3), the free end portion 500e extends substantially horizontally. Therefore, the first gripping portion 50a can grip the free end portion 500e extending substantially horizontally. Furthermore, the remaining portion 500b of the linear member 500, which is lifted when the second moving body 30 moves in the second horizontal direction D, can also be easily made to extend substantially horizontally. In other words, the entire linear member 500 lifted from the support surface 10a can easily be maintained in a position extending linearly and substantially horizontally.

[0056] The first gripping portion 50a of the present embodiment grips the free end portion 500e of the lifted portion 500a of the linear member 500 in a state in which the lifted portion 500a is lifted upward A1 in the vertical direction A by the first moving body 20. Then, after the free end portion 500e of the lifted portion 500a is gripped by the first gripping portion 50a, the first moving body 20 moves back downward A2 in the vertical direction A.

[0057] Furthermore, the second moving body 30 of this embodiment moves in the gap entry direction C1 and enters the gap X after the free end 500e of the portion to be lifted 500a is gripped by the first gripping portion 50a. Furthermore, the second moving body 30 of this embodiment moves in the gap entry direction C1 and enters the gap X formed at a position adjacent to the first moving body 20 before the first moving body 20 returns to the downward direction A2 in the vertical direction A. In this way, by the second moving body 30 moving in the gap entry direction C1 and entering the gap X before the first moving body 20 returns to the downward direction A2 in the vertical direction A, as described above, it is possible to further prevent the second moving body 30 from interfering with the gap forming portion 500g of the portion to be lifted 500a when entering the gap X. However, if the gap X is sufficiently secured, the second moving body 30 may move in the gap entry direction C1 and enter the gap X after the first moving body 20 returns to the downward direction A2 in the vertical direction A.

[0058] Furthermore, for example, when the lifted portion 500a of the linear member 500 is lifted upward A1 in the vertical direction A by the first moving body 20, the second moving body 30 may move in the gap entry direction C1 and enter the gap X before the free end 500e of the lifted portion 500a is grasped by the first grasping portion 50a.

[0059] As shown in FIG. 2, the first gripping unit 50a of this embodiment includes a pair of clamping members 50a1 that face each other in a groove width direction F, which is the first horizontal direction C, and that are capable of varying the distance between them in the groove width direction F. The pair of clamping members 50a1 of this embodiment are configured to be able to vary the distance between them in the groove width direction F by linearly moving in the groove width direction F. When the lifted portion 500a of the linear member 500 is lifted to the uppermost position A1 by the first moving body 20 and is in contact with the stopper portion 40 (see FIG. 3), the free end portion 500e is positioned between the pair of clamping members 50a1. In this state, the first gripping unit 50a of this embodiment clamps the free end portion 500e of the linear member 500 with the pair of clamping members 50a1. This allows the first gripping unit 50a of this embodiment to grip the free end portion 500e.

[0060] <Second gripping part 50b and third gripping part 50c> 6, the second gripping unit 50b and the third gripping unit 50c of this embodiment can grip the remaining portion 500b of the linear member 500 that is lifted by the second moving body 30 from the support surface 10a upward A1 in the vertical direction A. In this embodiment, the second gripping unit 50b is disposed closer to the first gripping unit 50a than the third gripping unit 50c. The remaining portion 500b that is lifted when the second moving body 30 moves along the second horizontal direction D is gripped sequentially by the second gripping unit 50b and then the third gripping unit 50c.

[0061] The second gripping unit 50b of this embodiment includes a pair of clamping members 50b1. The pair of clamping members 50b1 are configured to be changeable between a clamping configuration (see FIG. 6) in which the linear member 500 can be clamped in the groove width direction F, which is the first horizontal direction C, and a non-clamping configuration (see FIG. 1) in which the linear member 500 cannot be clamped in the groove width direction F. More specifically, each of the pair of clamping members 50b1 of this embodiment is configured to be swingable along a plane perpendicular to the extension direction E, which is the second horizontal direction D. Each of the pair of clamping members 50b1 changes its configuration from the non-clamping configuration (see FIG. 1) to the clamping configuration (see FIG. 6) by swinging about a rotation axis toward a downward direction A2 in the vertical direction A. In other words, the pair of clamping members 50b1 can be retracted in the non-clamping configuration (see FIG. 1) toward an upward direction A1 in the vertical direction A from the clamping configuration (see FIG. 6). Therefore, by setting the pair of clamping members 50b1 to the non-clamping configuration (see FIG. 1), the second moving body 30 can move below A2 of the pair of clamping members 50b1 in the extension direction E, which is the second horizontal direction D, without interfering with the pair of clamping members 50b1. Then, after the second moving body 30 passes below A2 of the pair of clamping members 50b1 in the non-clamping configuration (see FIG. 1), the second moving body 30 changes the configuration of the pair of clamping members 50b1 from the non-clamping configuration (see FIG. 1) to the clamping configuration (see FIG. 6). This allows the pair of clamping members 50b1 to clamp the remaining portion 500b of the linear member 500 lifted by the second moving body 30 without interfering with the second moving body 30.

[0062] However, as long as the remaining portion 500b of the linear member 500 lifted by the second moving body 30 can be clamped without interfering with the second moving body 30, the shape change of the pair of clamping members 50b1 between the clamping form and the non-clamping form is not limited to the shape change due to the swinging motion described above.

[0063] The third gripping unit 50c of this embodiment includes a pair of clamping members 50c1. The configuration of the pair of clamping members 50c1 of the third gripping unit 50c is similar to the pair of clamping members 50b1 of the second gripping unit 50b described above, and therefore a description thereof will be omitted here.

[0064] The multiple gripping portions 50 of this embodiment are composed of a first gripping portion 50a, a second gripping portion 50b, and a third gripping portion 50c. When the first gripping portion 50a, the second gripping portion 50b, and the third gripping portion 50c grip the linear member 500, the entire linear member 500 is lifted upward A1 in the vertical direction A from the support surface 10a. However, the number of gripping portions 50 is not particularly limited. The number of gripping portions 50 may be set appropriately depending on, for example, the length of the linear member 500, the bending rigidity of the linear member 500, etc.

[0065] <Sensor 60> As shown in FIGS. 1, 3, 6, and 7, the lifting device 100 of this embodiment includes a sensor 60. The sensor 60 is capable of detecting information regarding the number of linear members 500 lifted by the first movable body 20. The sensor 60 may be, for example, an optical sensor. In the lifting device 100 of this embodiment, the second movable body 30 is capable of moving from a first position (see FIG. 4) to a second position (see FIG. 5) based on the detection result of the sensor 60. Specifically, the second movable body 30 of this embodiment moves from the first position (see FIG. 4) to the second position (see FIG. 5) when only one linear member 500 is detected by the sensor 60. In contrast, the second movable body 30 of this embodiment does not move from the first position (see FIG. 4) to the second position (see FIG. 5) when two or more linear members 500 are detected by the sensor 60. Furthermore, the second moving body 30 of this embodiment does not move from the first position (see FIG. 4) to the second position (see FIG. 5) even when none of the linear members 500 are detected by the sensor 60. If the second moving body 30 does not move from the first position (see FIG. 4) to the second position (see FIG. 5) based on the detection result of the sensor 60, the first moving body 20 returns to the downward position A2 in the vertical direction A and performs the lifting operation again to lift the lifted portion 500a of the linear member 500.

[0066] In Figures 1, 3, 6, and 7, the sensor 60 is positioned adjacent to the stopper portion 40 in the extension direction E, but the position of the sensor 60 is not particularly limited as long as it can detect information regarding the number of linear members 500 lifted by the first moving body 20.

[0067] <Control unit 70> As shown in FIG. 1, the lifting device 100 includes a control unit 70. The control unit 70 is not shown in FIGS. 2 to 7. The control unit 70 includes a processor, such as a general-purpose processor such as a CPU (central processing unit) or an MPU (micro processing unit), or a dedicated processor specialized for a particular process. The control unit 70 can control various operations of the first moving body 20, the second moving body 30, the plurality of gripping units 50, and the sensor 60 described above. The control unit 70 may also be capable of controlling the operation of a drive source 80, which will be described later.

[0068] <Drive source 80> As shown in FIG. 1, the lifting device 100 includes a drive source 80. The drive source 80 is not shown in FIGS. 2 to 7. The first moving body 20, the second moving body 30, the plurality of gripping units 50, and the sensor 60 are driven by the drive source 80 to perform the various operations described above. The drive source 80 may be, for example, a single drive unit capable of driving all of the first moving body 20, the second moving body 30, the plurality of gripping units 50, and the sensor 60. Alternatively, the drive source 80 may be, for example, a plurality of drive units capable of separately driving each of the first moving body 20, the second moving body 30, the plurality of gripping units 50, and the sensor 60. The drive unit of the drive source 80 may be, for example, a fluid pressure actuator using a fluid such as air, an electric motor, or the like, and its configuration is not particularly limited.

[0069] The lifting device according to the present disclosure is not limited to the specific configurations shown in the above-described embodiments, and various modifications, changes, and combinations are possible without departing from the scope of the claims.

[0070] 9A and 9B are diagrams illustrating a modified example of the support member 10 of the above-described embodiment. The support member 10 illustrated in FIGS. 9A and 9B has the inner surface of the support groove 111 as the support surface 10a. FIG. 9A is a front view of the lifting device 100, in which the support member 10 is viewed along the groove width direction F of the support groove 111. FIG. 9B is a side view of the lifting device 100, in which the support member 10 is viewed along the extension direction E of the support groove 111. For ease of explanation, FIGS. 9A and 9B illustrate the support member 10, the first moving body 20, the second moving body 30, and the linear member 500 in the lifting device 100, but omit the illustration of other components of the lifting device 100. The support groove 11 illustrated in FIGS. 9A and 9B includes a first groove wall 111b and a second groove wall 11c located on both sides of the groove width direction F. 9A and 9B, the first groove wall 111b has a bottom wall portion 111b1 that is lower in the vertical direction A than the second groove wall 11c. As shown in FIG. 9B, the second moving body 30 can move between a first position (see the solid line in FIG. 9B) and a second position (see the two-dot chain line in FIG. 9B) by moving the upper portion A1 of the bottom wall portion 111b1 of the first groove wall 111b in the vertical direction A in the groove width direction F of the support groove 11, which is the first horizontal direction C. In other words, the second moving body 30 shown in FIG. 9B can move between a first position (see the solid line in FIG. 9B) outside the support groove 11 and a second position (see the two-dot chain line in FIG. 9B) within the support groove 11 through the cutout portion 13 in the upper portion A1 of the bottom wall portion 111b1 of the first groove wall 111b of the support groove 11. By doing so, the second moving body 30 can be moved between the first position and the second position at a lower position A2 downward in the vertical direction A, compared to the embodiment described above (see FIGS. 1 to 7). Therefore, the amount of lifting of the lifted portion 500a of the linear member 500 by the first moving body 20 can be reduced, compared to the embodiment described above (see FIGS. 1 to 7). Therefore, the lifted portion 500a can be prevented from falling from the first moving body 20 while being lifted upward A1 in the vertical direction A by the first moving body 20. Furthermore, the positions of the stopper portion 40 and the multiple gripping portions 50 located above A1 of the support member 10 can be moved downward A2 so as to be closer to the support member 10, compared to the embodiment described above (see FIGS. 1 to 7). This allows for further miniaturization of the lifting device 10. [Industrial Applicability]

[0071] The present disclosure relates to lifting equipment. [Explanation of symbols]

[0072] 10: Support member 10a: Support surface 10b: Insertion hole 11: Support groove 11a: Groove bottom 11b, 111b: 1st groove wall 11c: 2nd groove wall 12: Closed wall 13: Notch 20: First mobile unit 20a: Storage groove 30: Second mobile unit 31: Rotating body 31a: Roller (an example of a rotating body) 31a1: Annular groove 40: Stopper part 50: Grip part 50a: 1st grip part 50a1: clamping member 50b: Second grip part 50b1: Holding member 50c: 3rd grip part 50c1: Holding member 60: Sensor 70: Control unit 80: Power source 100: Lifting equipment 111b1: Low wall part 500: Linear members 500a: Lifted part 500b: A portion of the linear member that is different from the lifted portion (remaining portion) 500c: One end of the linear member 500c: Other end of the linear member 500e: Free end of lifted part 500f: Supported part of lifted part 500g: Gap forming part A: Vertical direction A1: Vertically upward A2: Vertically downward B: Extension direction of linear member C: 1st horizontal direction C1: Gap entry direction D: 2nd horizontal direction E: Extension direction of the support groove (an example of the second horizontal direction) F: groove width direction of the support groove (an example of the first horizontal direction) H1: Support groove depth M: Middle position of the support groove O: Roller rotation axis W1: Support groove width X: Gap

Claims

1. a support member including a support surface capable of supporting the linear member from below in the vertical direction; a first movable body that is movable in the vertical direction relative to the support member and that is capable of lifting a lifted portion of the linear member supported on the support surface, the lifted portion being a part of the linear member in an extending direction, upward in the vertical direction; a second movable body that is movable between a first position where it is not inserted into a gap between the support surface and the lifted portion of the linear member in the vertical direction, the gap being formed by the first movable body lifting the lifted portion of the linear member, and a second position where it is inserted into the gap; A lifting device in which the second movable body is capable of lifting a portion of the linear member other than the lifted portion upward in the vertical direction from the support surface by moving along the support surface from the second position.

2. the first movable body is capable of lifting the lifted portion of the linear member so that a free end portion including one end of the linear member in the extension direction is formed on the side opposite to the side where the gap is located across the first movable body, The lifting device according to claim 1 , further comprising a stopper portion that contacts the free end of the lifted portion from above in the vertical direction.

3. The lifting device according to claim 2 , wherein the stopper portion is a receiving groove that receives the free end of the lifted portion.

4. The lifting device according to claim 2 or 3, further comprising a gripping portion capable of gripping the part to be lifted in a state in which the free end of the part to be lifted is in contact with the stopper portion.

5. When the gripping portion is a first gripping portion, The lifting device according to claim 4, further comprising a second gripping portion capable of gripping the portion of the linear member that is lifted upward in the vertical direction from the support surface by the second moving body, the portion being different from the lifted portion.

6. The lifting device according to claim 1 , wherein the second moving body comprises a rotating body that rotates while contacting the linear member when moving from the second position along the support surface.

7. The lifting device according to claim 6, wherein the rotating body is a roller having an outer circumferential surface formed with an annular groove capable of accommodating the linear member.

8. the support member has a support groove capable of accommodating the linear member, 4. A lifting device according to any one of claims 1 to 3, wherein the support surface comprises an inner surface of a support groove.

9. The support groove includes a first groove wall and a second groove wall located on both sides in a groove width direction, the first groove wall includes a lower wall portion having a height in the vertical direction lower than that of the second groove wall, the second movable body is movable between the first position and the second position by moving in the groove width direction of the support groove above the bottom wall portion of the first groove wall in the vertical direction, The lifting device described in claim 8, wherein the second movable body is capable of lifting the portion of the linear member other than the lifted portion upward in the vertical direction from the support surface by moving from the second position along the extension direction of the support groove.

10. a sensor capable of detecting information relating to the number of the linear members lifted by the first moving body; The lifting device according to claim 1 , wherein the second movable body is movable from the first position to the second position based on a detection result of the sensor.

Images