Conveying device

Abstract

This technology provides a simple configuration that can perform the actions of lifting an object and lowering the lifted object at its destination. [Solution] The conveying device comprises a base and at least three rod-shaped parts. Each of the at least three rod-shaped parts is rotatable with respect to a rotation axis along the vertical direction and has a projection. The projection protrudes toward the first side surface in a direction away from the rotation axis, but does not protrude toward the second side surface. In the cross-section of each of the at least three rod-shaped parts perpendicular to the rotation axis at the position where the projection is located, the distance from the rotation axis to the part of the projection with the greatest protrusion is greater than the distance from the rotation axis to the second side surface.

Description

Technical Field

[0001] This disclosure relates to a conveying device.

Background Art

[0002] Patent Document 1 describes a robot hand for gripping and conveying a cylindrical object. The robot hand has three fingers that move radially so as to be located concentrically. Two rollers are provided at the lower ends of the three fingers, and the two rollers grip the object by sandwiching the end portion of the object.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] A conveying device for lifting and moving an object, such as a robot hand, performs an operation of lifting the object and an operation of lowering the lifted object at the destination. When the robot hand of Patent Document 1 executes each operation, it is necessary to move the three fingers in the horizontal direction to bring the three fingers closer to or farther away from the object.

[0005] One aspect of this disclosure provides a technique that can execute an operation of lifting an object and an operation of lowering the lifted object at the destination with a simple configuration.

Means for Solving the Problems

[0006] One aspect of the present disclosure is a conveying device for lifting and moving an object. The conveying device comprises a base and at least three rod-shaped parts. The base is a member that holds the at least three rod-shaped parts at a predetermined width in the horizontal direction and is attachable to a moving device that moves the conveying device from the location where the object is placed to the destination of the object. Each of the at least three rod-shaped parts is attached to the base and is a rod-shaped member extending downward from the base. Furthermore, each of the at least three rod-shaped parts is rotatable about an axis of rotation along the vertical direction and has a projection. The projection protrudes from a portion of the side surface of the at least three rod-shaped parts and is capable of contacting the lower surface of the object. When each of the side surfaces of the at least three rod-shaped parts is virtually divided into two by a virtual plane having a surface that extends vertically to a first side surface having a projection and a second side surface not having a projection, the projection protrudes toward the first side surface in a direction away from the axis of rotation, but does not protrude toward the second side surface. In the cross-sections of at least three rod-shaped portions perpendicular to the axis of rotation at the location where the protrusion is positioned, the distance from the axis of rotation to the portion of the protrusion with the greatest protrusion is greater than the distance from the axis of rotation to the second side surface.

[0007] If the rod-shaped part were configured to be non-rotatable, then when performing the action of lifting the object and the action of lowering the lifted object at the destination, it would be necessary to move the rod-shaped part in parallel by at least the amount of the protruding part.

[0008] However, with the configuration described above, when the protruding part is facing the object, it is possible to lift the object using the protruding part. On the other hand, when the protruding part is facing away from the object, it is possible to lower the object. By rotating the rod-shaped part, these two states can be switched. Therefore, since a mechanism for translating the rod-shaped part to perform each action is unnecessary, the action of lifting an object and the action of lowering the lifted object at the destination can be performed with a simple configuration.

[0009] One aspect of the present disclosure may further include a pressing member. The pressing member may be a rod-shaped member extending downward from the base. The pressing member may also have a movable mechanism that allows it to move between a first position and a second position. The first position is a height at which the lower end of the pressing member abuts against the upper surface of the object. The second position is a position higher than the upper surface of the object.

[0010] With this configuration, when the lower end of the clamping member is in the first position, the object can be clamped between the protruding part and the clamping member. Therefore, the object can be transported stably.

[0011] In one aspect of the present disclosure, each of at least three rod-shaped portions may have a first rod-shaped portion and a second rod-shaped portion. The first rod-shaped portion is connected to a base. The second rod-shaped portion extends downward from the lower end of the first rod-shaped portion. The second rod-shaped portion may also have a projection. When the direction toward the axis of rotation from the side surface of the first rod-shaped portion is considered inward, and the first and second rod-shaped portions are virtually divided into two by a virtual plane, the maximum distance from the axis of rotation to the first side surface in the cross-section of the second rod-shaped portion perpendicular to the axis of rotation at the position where the projection is located may be greater than the distance from the axis of rotation to the second side surface. The second side surface of the second rod-shaped portion may be formed inward from the second side surface of the first rod-shaped portion.

[0012] With this configuration, the side of the protruding portion that does not protrude is recessed inward. Therefore, when the protruding portion is facing away from the object, a clearance is created between the object and the second side surface of the second rod-shaped portion. Consequently, when the object falls, it is less likely to hit the second side surface of the second rod-shaped portion, making it easier to lower the object without damaging it.

[0013] In one aspect of this disclosure, the radius of curvature of the first side surface of the second rod-shaped portion and the radius of curvature of the second side surface of the second rod-shaped portion may be substantially the same. With this configuration, the second rod-shaped part has no corners or protrusions, making it less likely to collide with the object when it rotates. Therefore, it is less likely to damage the object when the rod-shaped part rotates.

[0014] In one aspect of this disclosure, at least one of the at least three rod-shaped portions may have an extension mechanism that allows the length of at least one rod-shaped portion to be switched between a first length and a second length, the second length being longer than the first length.

[0015] With this configuration, the height of the protrusion can be made different for each rod-shaped section. Therefore, even if the height of the lower surface of an object is different, the protrusion can support the object by adjusting the length of the rod-shaped section.

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

[0017] With this configuration, for example, the height of the protruding part can be changed by replacing it with a lower rod-shaped part of a different length. Therefore, even if the height of the lower surface of an object is different, the protruding part can support the object by adjusting the length of the lower rod-shaped part.

[0018] In one aspect of this disclosure, at least three rod-shaped portions may be movable in the horizontal direction. The distance that each rod-shaped portion moves horizontally from a predetermined position may be settable for each rod-shaped portion.

[0019] With this configuration, the horizontal position of the rod-shaped part can be set according to the shape of the object. Therefore, it can accommodate objects of various shapes, thus increasing its versatility. [Brief explanation of the drawing]

[0020] [Figure 1]This is a schematic perspective view of the conveying device seen from obliquely above. [Figure 2] This is a schematic perspective view of the conveying device seen from obliquely below. [Figure 3] This is a schematic plan view of the conveying device. [Figure 4] This is a schematic front view of the conveying device. [Figure 5] This is a schematic right side view of the conveying device. [Figure 6] This is a schematic perspective view of the rod-shaped portion and the pressing member. [Figure 7] FIG. 7A is a schematic diagram for explaining the shape of the rod-shaped portion, and FIG. 7B is a schematic bottom surface portion of the rod-shaped portion. [Figure 8] FIG. 8A is a diagram for explaining the state of the rod-shaped portion before gripping the object, FIG. 8B is a diagram for explaining the state when gripping the object, and FIG. 8C is a diagram for explaining the state when lowering the object. [Figure 9] This is a schematic diagram of the conveying device when the second rod-shaped portion is replaced. [Figure 10] This is a diagram for explaining the usage mode of modification example 1. [Figure 11] This is a diagram for explaining the usage mode of modification example 2. [Figure 12] This is a diagram for explaining the usage mode of modification example 3.

Embodiments for Carrying out the Invention

[0021] Hereinafter, exemplary embodiments of the present disclosure will be described with reference to the drawings. [1. Embodiment] [1-1. Overall Configuration] The conveying device 1 shown in Figures 1 to 5 is a device for lifting and moving an object 10. The object 10 is, for example, a press-formed product. The press-formed product is used, for example, as a center pillar mounted on a vehicle. Hereinafter, the longitudinal direction of the first plate-shaped part 2, which will be described later, will be referred to as the front-rear direction. The longitudinal directions of the second plate-shaped part 3a and the third plate-shaped part 3b, which will be described later, will be referred to as the left-right direction. The longitudinal direction of the rod-shaped part 5, which will be described later, will be referred to as the up-down direction. Note that these directions are defined for the convenience of explanation and do not limit the manner in which the conveying device 1 is used.

[0022] The press-formed product comprises a top plate portion 10a, a vertical wall portion 10b, and a flange portion 10c. The top plate portion 10a is a plate-shaped portion that extends in a coplanar direction. The vertical wall portion 10b is a plate-shaped portion that extends substantially downward from the left and right ends of the top plate portion 10a. The flange portion 10c is a plate-shaped portion that extends in a direction intersecting the vertical wall portion 10b from the end of the vertical wall portion 10b opposite to the portion where the vertical wall portion 10b and the top plate portion 10a connect. The flange portion 10c extends in the direction opposite to the direction in which the top plate portion 10a extends relative to the vertical wall portion 10b. In this embodiment, a plurality of objects 10 are stacked in the vertical direction.

[0023] The conveying device 1 comprises a base 20, four rod-shaped parts 5, and four pressing members 6. The base portion 20 is a member that holds the four rod-shaped portions 5 at a predetermined width in the horizontal direction. In this embodiment, the base portion 20 is a plate-shaped member that extends horizontally. The base portion 20 comprises a first plate-shaped portion 2, a second plate-shaped portion 3a, and a third plate-shaped portion 3b. The first plate-shaped portion 2 is a rectangular member whose length in the front-to-back direction is longer than its length in the left-to-right direction. A mounting portion 4 is provided on the upper surface of the first plate-shaped portion 2. The mounting portion 4 is a connecting mechanism for connecting a robot arm (not shown) to the base portion 20. Note that the shape of the base portion 20 is not limited to a plate shape. For example, the base portion 20 may be formed by combining rod-shaped members that extend horizontally.

[0024] The second plate-like portion 3a and the third plate-like portion 3b are rectangular plate-shaped members whose length in the left-right direction is longer than their length in the front-rear direction. The second plate-like portion 3a and the third plate-like portion 3b are provided on the lower surface of the first plate-like portion 2. The second plate-like portion 3a and the third plate-like portion 3b are arranged so that their longitudinal directions are substantially perpendicular to the longitudinal direction of the first plate-like portion 2. The second plate-like portion 3a is provided at the front end of the first plate-like portion 2. The third plate-like portion 3b is provided at the rear end of the first plate-like portion 2.

[0025] A guide rail 3c is provided on the lower surface of the second plate-shaped portion 3a. The guide rail 3c extends in the longitudinal direction of the second plate-shaped portion 3a. Two sliders 3d, which can slide on the guide rail 3c, are provided on the lower surface of the second plate-shaped portion 3a. The sliders 3d are plate-shaped members that are approximately rectangular in plan view. The distance that the two sliders 3d move horizontally from a predetermined position can be set for each slider 3d. For example, the sliders 3d are configured to slide using an electric cylinder.

[0026] A guide rail 3c is provided on the lower surface of the third plate-like portion 3b. The guide rail 3c extends in the longitudinal direction of the third plate-like portion 3b. Two sliders 3d, which can slide on the guide rail 3c, are provided on the lower surface of the third plate-like portion 3b. In the third plate-like portion 3b, the distance that the two sliders 3d move horizontally from a predetermined position can be set for each slider 3d.

[0027] The four rod-shaped sections 5 are rod-shaped members that extend in the vertical direction. The four rod-shaped sections 5 are attached to the base 20 and extend downward from the base 20. More specifically, the four rod-shaped sections 5 are attached one to each of the four sliders 3d. In other words, each rod-shaped section 5 is movable in the horizontal direction in conjunction with each slider 3d. In other words, the four rod-shaped sections 5 are movable in the horizontal direction via the four sliders 3d. In this embodiment, each rod-shaped section 5 is movable in the left-right direction. The shape of the rod-shaped sections 5 will be described in detail later.

[0028] The four retaining members 6 are rod-shaped members that extend vertically. The retaining members 6 are attached to the base 20 and extend downward from the base 20. More specifically, one of the four retaining members 6 is attached to each slider 3d. In other words, each retaining member 6 is movable horizontally in conjunction with each slider 3d. In this embodiment, each retaining member 6 is movable left to right.

[0029] The retaining member 6 has a movable mechanism that allows its lower end to move between a first position, where it is at a height that contacts the upper surface of the object 10, and a second position, where it is higher than the upper surface of the object 10. As an example, the movable mechanism is an air cylinder that moves the lower end of the retaining member 6 up and down using compressed air. More specifically, as shown in Figure 6, the movable mechanism comprises a cylinder 61 and a piston rod 62. The movable mechanism adjusts the length of the piston rod 62 protruding from the cylinder 61 by moving the piston rod 62 up and down within the internal space of the cylinder 61.

[0030] [1-2. Rod-shaped part] Since the four rod-shaped sections 5 have the same configuration, only one rod-shaped section 5 will be described below. As shown in Figures 7A and 7B, the rod-shaped section 5 has a first rod-shaped section 51 and a second rod-shaped section 52. The first rod-shaped section 51 has a cylindrical outer shape. The first rod-shaped section 51 is the part of the rod-shaped section 5 that is located above the second rod-shaped section 52 and is the part that connects to the base section 20. The second rod-shaped section 52 is the part that extends downward from the lower end of the first rod-shaped section 51. The main part of the second rod-shaped section 52 has an outer shape formed by joining two different semi-cylindrical sections with their rectangular faces facing each other.

[0031] More specifically, the lower end of the first rod-shaped portion 51 is inserted into the second rod-shaped portion 52 from its upper end. A through hole 53a is provided in the portion where the first rod-shaped portion 51 and the second rod-shaped portion 52 overlap, passing through the first rod-shaped portion 51 and the second rod-shaped portion 52 in a direction perpendicular to the vertical direction. A first pin 53b is inserted into the through hole 53a to fix the first rod-shaped portion 51 and the second rod-shaped portion 52 together.

[0032] The rod-shaped portion 5 has a rotation axis 5A that runs along the vertical direction. More specifically, the rotation axis 5A is an axis that passes through the center of a circle in a cross-section perpendicular to the vertical direction of the first rod-shaped portion 51. The rod-shaped portion 5 is configured to be rotatable with respect to the rotation axis 5A. More specifically, the rod-shaped portion 5 is configured to be rotatable by a first drive unit 58 shown in Figure 8. The first drive unit 58 is, for example, a rotary actuator.

[0033] The rod-shaped portion 5 has a protruding portion 53. The protruding portion 53 protrudes from a part of the side surface of the rod-shaped portion 5 and is configured to be able to contact the lower surface of the object 10. More specifically, when the side surface of the rod-shaped portion 5 is virtually divided into a first side surface 54a having the protruding portion 53 and a second side surface 54b not having the protruding portion 53 by a virtual plane 5B having a surface that extends in the vertical direction (in other words, the vertical direction), the protruding portion 53 is provided on the first side surface 54a side so as to protrude from the first side surface 54a in a direction away from the rotation axis 5A. On the other hand, the protruding portion 53 does not protrude on the second side surface 54b side.

[0034] In this embodiment, the virtual plane 5B is a plane passing through the axis of rotation 5A. In Figures 7A and 7B, the side of the rod-shaped portion 5 to the right of the virtual plane 5B corresponds to the first side surface 54a, and the side to the left corresponds to the second side surface 54b.

[0035] The protrusion 53 is provided at the lower end of the rod-shaped portion 5. In other words, the protrusion 53 is provided at the lower end of the second rod-shaped portion 52. The protrusion 53 protrudes from the first side surface 54a so as to have a plane that extends horizontally. That is, the protrusion 53 protrudes so as to be able to place an object 10 on its upper surface. In plan view, the protrusion 53 has a crescent shape. The protrusion 53 may also be formed by fitting a separate member having the protrusion 53 onto the lower end of the second rod-shaped portion 52. The separate member having the protrusion 53 may be fixed to the second rod-shaped portion 52 by a second pin 53c.

[0036] In the cross-section of the rod-shaped portion 5 perpendicular to the rotation axis 5A at the position where the protrusion 53 is located, the distance W4 from the rotation axis 5A to the part of the protrusion 53 with the greatest protrusion is designed to be greater than the distance W2 from the rotation axis 5A to the second side surface 54b. Also, the maximum distance W1 from the rotation axis 5A to the first side surface 54a is designed to be greater than the maximum distance W2 from the rotation axis 5A to the second side surface 54b. The maximum distance W5 from the rotation axis 5A to the second side surface 54b of the first rod-shaped portion 51 is the same as distance W1, so distance W5 is also designed to be greater than distance W2.

[0037] When the direction from the side surface of the first rod-shaped portion 51 toward the central axis is considered to be the inward direction, and the first rod-shaped portion 51 and the second rod-shaped portion 52 are virtually divided into two by a virtual plane 5B, the second side surface 54b of the second rod-shaped portion 52 is formed inward from the second side surface 54b of the first rod-shaped portion 51. The radius of curvature of the first side surface 54a of the second rod-shaped portion 52 and the radius of curvature of the second side surface 54b of the second rod-shaped portion 52 are approximately the same. The first side surface 54a of the first rod-shaped portion 51 and the first side surface 54a of the second rod-shaped portion 52 are formed flush. In other words, the rod-shaped portion 5 has a shape as if a crescent-shaped columnar member with a cross-section perpendicular to the rotation axis 5A had been cut from the lower half of a cylindrical member. In other words, the second side surface 54b of the second rod-shaped portion 52 is formed inward from the second side surface 54b of the first rod-shaped portion 51 by the difference between the distance W5 and the distance W2.

[0038] In Figure 7B, the center of the shape of the bottom surface of the second rod-shaped portion 52 and the protruding portion 53 is represented by the center point 5C. The center point 5C does not coincide with the axis of rotation 5A, but is shifted to the right by a distance W3. In other words, the center point 5C is located at an eccentric position from the center of the cross-sectional shape of the first rod-shaped portion 51 (i.e., the axis of rotation 5A).

[0039] [1-2. Operation of the conveying device] The operation of the conveying device 1 will be explained using Figures 8A to 8C. In Figures 8A to 8C, three objects 10 are arranged in an overlapping configuration. The conveying device 1 can transition between a clamped state and an unclamped state. The clamped state is when the objects 10 are gripped by the rod-shaped part 5 and the pressing member 6, as shown in Figure 8B. The unclamped state is when the objects 10 are not gripped by the rod-shaped part 5 and the pressing member 6, as shown in Figures 8A and 8C.

[0040] First, the operator sets the horizontal positions of the four rod-shaped parts 5 in advance, according to the shape of the object 10. More specifically, the operator moves each slider 3d to a predetermined position. The operator also sets the robot arm in advance to move from the location where the object 10 is placed to the destination location where the object 10 is to be moved.

[0041] When the operator starts the robot arm, the transport device 1 attached to the robot arm stops above the object 10 at the location where the object 10 is to be placed. Next, the conveying device 1 descends so that the four rod-shaped sections 5 surround the object 10. At this time, the four rod-shaped sections 5 descend with their second sides 54b facing the object 10. More specifically, the four rod-shaped sections 5 descend so that the second side 54b of the second rod-shaped section 52 faces the object 10. In other words, as shown in Figure 8A, the protruding section 53 is facing away from the object 10. The end of the object 10 is positioned on a virtual line 5D that extends downward from the second side 54b of the first rod-shaped section 51. That is, a clearance is formed between the object 10 and the second rod-shaped section 52 equal to the distance in the left-right direction between the second side 54b of the first rod-shaped section 51 and the second side 54b of the second rod-shaped section 52. The four rod-shaped sections 5 descend until the upper surface of the protruding section 53 is positioned below the lower surface of the object 10, which is the lowest object 10. The retaining member 6 is set so that its lower end is in the second position.

[0042] Next, the four rod-shaped parts 5 rotate 180 degrees so that their first side surfaces 54a face the object 10. When the rod-shaped parts 5 rotate, the first side surface 54a of the second rod-shaped part 52 comes into contact with the object 10.

[0043] Next, the conveying device 1 rises so that the upper surface of the protrusion 53 comes into contact with the lower surface of the object 10, which is positioned at the bottom. In this embodiment, the conveying device 1 rises so that the upper surface of the protrusion 53 comes into contact with the lower surface of the flange portion 10c of the object 10.

[0044] Next, the conveying device 1 moves the lower end of the clamping member 6 to the first position. More specifically, the conveying device 1 moves the lower end of the clamping member 6 so that it contacts the upper surface of the object 10 positioned at the top. In this embodiment, the conveying device 1 moves the lower end of the clamping member 6 so that it contacts the upper surface of the flange portion 10c of the object 10. As a result, as shown in Figure 8B, a clamping state is created, and the flange portion 10c of the object 10 is gripped by the protruding portion 53 and the clamping member 6. The conveying device 1 may move the lower end of some of the clamping members 6 to the first position. Whether or not the lower end of each clamping member 6 moves to the first position may be set in advance by the operator. The operator may set it appropriately according to the shape of the object 10.

[0045] Next, the transport device 1, while still gripping the object 10, rises and then moves in a parallel direction to reach the destination position of the object 10. When the transport device 1 reaches the destination position of the object 10, the transport device 1 descends while still gripping the object 10. The holding member 6 then moves so that its lower end is in the second position. The four rod-shaped parts 5 also rotate 180 degrees so that their second sides 54b face the object 10. In other words, as shown in Figure 8C, the protruding part 53 transitions to a state where it is facing away from the object 10. In other words, it transitions to an unclamped state. The end of the object 10 is positioned on a virtual line 5D, with the second side 54b of the first rod-shaped part 51 extending downwards. That is, a clearance is formed between the object 10 and the second rod-shaped part 52 equal to the distance in the left-right direction between the second side 54b of the first rod-shaped part 51 and the second side 54b of the second rod-shaped part 52. The object 10 falls to the destination position due to gravity. Next, the transport device 1 rises and moves to the location where another object 10 will be placed in order to transport that object 10.

[0046] [1-3. Effects] According to the embodiments described in detail above, the following effects can be obtained.

[0047] (1a) The rod-shaped portion 5 is rotatable with respect to the rotation axis 5A and has a protruding portion 53. The protruding portion 53 protrudes toward the first side surface 54a in a direction away from the rotation axis 5A, but does not protrude toward the second side surface 54b.

[0048] If we consider the case where the rod-shaped part 5 is not rotatable, in order to lift the object 10, the rod-shaped part 5 must be moved in parallel from a position further away from the object 10 to a position where it contacts the object 10, with the protruding part 53 facing the object 10. In order to lower the lifted object 10 at the destination, the rod-shaped part 5 must be moved in parallel from the position where it contacts the object 10 to a position further away from the object 10. In other words, when performing the action of lifting the object 10 and the action of lowering the lifted object 10 at the destination, the rod-shaped part 5 must be moved in parallel by at least the amount by which the protruding part 53 protrudes.

[0049] However, with the above configuration, in order to lift the object 10, it is only necessary to rotate the protruding part 53 180 degrees from a state where it is facing away from the object 10, so there is no need to move the rod-shaped part 5 in parallel. Also, in order to lower the lifted object 10 at the destination, it is only necessary to rotate it 180 degrees so that the protruding part 53 is facing away from the object 10, so there is no need to move the rod-shaped part 5 in parallel. Therefore, there is no need to provide a guide device for moving the rod-shaped part 5 in parallel to align its position when performing the lifting operation of the object 10 and the lowering operation of the lifted object 10 at the destination. Thus, the operation of lifting the object 10 and the operation of lowering the lifted object 10 at the destination can be performed with a simple configuration.

[0050] Furthermore, when performing the action of lifting the object 10 and the action of lowering the lifted object 10 at the destination, the rod-shaped part 5 does not need to be moved in parallel by the amount of the protruding part 53. For example, when placing the objects 10 horizontally at the placement location, the distance between the objects 10 can be narrowed. Similarly, when placing the objects 10 horizontally at the destination, the distance between the objects 10 can be narrowed. Therefore, compared to a configuration in which the rod-shaped part 5 is not rotatable, the space required to place the objects 10 can be reduced.

[0051] Furthermore, since there is no need to include a guide device, the transport device 1 can be made smaller and lighter. Furthermore, since there is no need to move the rod-shaped part 5 in parallel when lifting the object 10 and when lowering the lifted object 10 at the destination, the number of operations performed by the conveying device 1 is reduced. As a result, the cycle time is improved, and the efficiency of conveying the object 10 can be increased.

[0052] Furthermore, when lowering the lifted object 10 at the destination, if the rod-shaped part 5 is configured to be non-rotatable and separates from the object 10, the object 10 may fall at an angle if the conveying device 1 is tilted, making it impossible to lower the object 10 to the desired position. However, with the above-described configuration, when lowering the lifted object 10 at the destination, although there is a slight clearance between the object 10 and the second side surface 54b, there is no gap large enough to be created by parallel movement of the rod-shaped part 5. Therefore, even if the conveying device 1 is tilted, the object 10 will fall while contacting the rod-shaped part 5, so it will not tilt significantly, making it easier to lower the object 10 to the desired position.

[0053] (1b) The pressing member 6 has a movable mechanism at its lower end that allows it to move between a first position and a second position. With this configuration, when the lower end of the pressing member 6 is in the first position, the object 10 can be clamped between the protruding portion 53 and the pressing member 6. Thus, the object 10 can be transported stably.

[0054] (1c) The second side surface 54b of the second rod-shaped portion 52 is formed further inward than the second side surface 54b of the first rod-shaped portion 51. With this configuration, the side of the protruding portion 53 that does not protrude is formed to be recessed inward. Therefore, when transitioning from the clamped state to the unclamped state, a clearance is created between the object 10 and the second side surface 54b of the second rod-shaped portion 52, making it less likely for the object 10 to hit the second side surface 54b of the second rod-shaped portion 52 when it falls. Thus, it is easier to lower the object 10 without damaging it.

[0055] (1d) The radius of curvature of the first side surface 54a of the second rod-shaped portion 52 and the radius of curvature of the second side surface 54b of the second rod-shaped portion 52 are approximately the same. With this configuration, since the second rod-shaped portion 52 does not have corners or protrusions, it is less likely to collide with the object 10 when the rod-shaped portion 5 rotates. Therefore, it is less likely to damage the object 10 when the rod-shaped portion 5 rotates.

[0056] (1e) The lower end of the first rod-shaped portion 51 is inserted into the second rod-shaped portion 52 from the upper end of the second rod-shaped portion 52. A through hole 53a is provided in the portion where the first rod-shaped portion 51 and the second rod-shaped portion 52 overlap. A first pin 53b is inserted into the through hole 53a, fastening the first rod-shaped portion 51 and the second rod-shaped portion 52 together. With this configuration, the second rod-shaped portion 52 can be removed by removing the first pin 53b from the through hole 53a. Therefore, the second rod-shaped portion 52 can be replaced with another second rod-shaped portion 52. In other words, the rod-shaped portion 5 has an exchange mechanism for replacing the second rod-shaped portion 52 with another second rod-shaped portion 52. For example, by replacing it with a second rod-shaped portion 52 of a different length, the height position of the protruding portion 53 can be changed. Therefore, as shown in Figure 9, even if the object 10 has a different height on its lower surface, the protruding portion 53 can support the object 10 by adjusting the length of the second rod-shaped portion 52.

[0057] The replacement mechanism is not limited to a configuration comprising a through hole 53a and a first pin 53b. For example, as shown in Figure 9, the replacement mechanism may include a first engaging portion 59a and a second engaging portion 59b. The first engaging portion 59a may have a helical groove inside, and the second engaging portion 59b may have a protrusion inside that engages with the helical groove. Furthermore, the first engaging portion 59a and the second engaging portion 59b may be shaped to engage by a snap fit.

[0058] (1f) The distance that each rod-shaped part 5 moves horizontally from a predetermined position can be set for each rod-shaped part 5. With this configuration, the horizontal position of the rod-shaped part 5 can be set according to the shape of the object 10. Therefore, it can be used with objects 10 of various shapes, thus increasing versatility.

[0059] [1-4. Correspondence] In the above embodiment, the first rod-shaped portion 51 corresponds to the upper rod-shaped portion, and the second rod-shaped portion 52 corresponds to the lower rod-shaped portion.

[0060] [2. Other Embodiments] While embodiments of this disclosure have been described above, it goes without saying that this disclosure is not limited to the embodiments described above and can take various forms.

[0061] (2a) In the above embodiment, a conveying device 1 having four rod-shaped parts 5 was illustrated. However, the number of rod-shaped parts 5 is not limited to this. For example, the conveying device 1 may have three rod-shaped parts 5, or it may have five or more rod-shaped parts 5.

[0062] (2b) In the above embodiment, the conveying device 1 is illustrated in which the rod-shaped portion 5 has an exchange mechanism for replacing the second rod-shaped portion 52 with another second rod-shaped portion 52. However, as shown in Figure 6, the rod-shaped portion 5 may have an extension mechanism 56 that can switch the length of the rod-shaped portion 5 between a first length and a second length that is longer than the first length. More specifically, the length of the rod-shaped portion 5 may be switched using an extension mechanism 56 with a built-in servo motor. For example, the first rod-shaped portion 51 and the second rod-shaped portion 52 may be configured as tubular shapes with different diameters. The lower part of the first rod-shaped portion 51 and the upper part of the second rod-shaped portion 52 may be arranged to overlap, and the rod-shaped portion may be configured to extend or retract by changing the length of the overlapping portion. In other words, the length of the rod-shaped portion 5 may be switched by changing the length of the overlapping portion. With such a configuration, the height position of the protruding portion 53 can be made different for each rod-shaped portion 5. Therefore, even if the object 10 has a different height at the bottom surface, the protruding part 53 can support the object 10 by adjusting the length of the rod-shaped part 5.

[0063] (2c) In the above embodiment, a center pillar was given as an example of the object 10. However, the type of object 10 is not limited to this. For example, as shown in Modification 1 of Figure 10, the object 10 may be a floor cloth. Also, for example, as shown in Modification 2 of Figure 11, the object 10 may be a back door opening hinge. Also, as shown in Modification 3 of Figure 12, the object 10 may be a resin case or the like. The conveying device 1 can also palletize or depalletize the case onto the pallet 11. Furthermore, the object 10 may be a box shape without a flange portion 10c. For example, the conveying device 1 can also convey blocks, bricks, etc.

[0064] (2d) In the above embodiment, a transport device 1 to which the mounting portion 4 is attached to a robot arm was illustrated. However, the device to which the base portion 20 is attached is not limited to a robot arm. The base portion 20 can be attached to a moving device that moves the transport device 1 from the location where the object 10 is placed to the destination of the object 10. For example, the base portion 20 may be attached to a moving device that moves the transport device 1 by sliding it.

[0065] (2e) In the above embodiment, an example was given in which the second side surface 54b of the second rod-shaped portion 52 is formed further inward than the second side surface 54b of the first rod-shaped portion 51. However, the shape of the rod-shaped portion 5 is not limited to this. For example, the second rod-shaped portion 52 may also have a cylindrical shape similar to that of the first rod-shaped portion 51.

[0066] (2f) In the above embodiment, a configuration in which the virtual plane 5B is a plane passing through the rotation axis 5A was illustrated. However, the virtual plane 5B may be a plane that does not pass through the rotation axis 5A. The virtual plane 5B should be a plane that can virtually divide the first rod-shaped portion 51 and the second rod-shaped portion 52 into two.

[0067] (2g) The functions of one component in the above embodiment may be distributed among multiple components, or the functions of multiple components may be integrated into one component. Also, some parts of the configuration of the above embodiment may be omitted. Also, at least some parts of the configuration of the above embodiment may be added to, replaced with, etc., the configuration of other above embodiments.

[0068] [Technical Concept Disclosed in This Specified Specification] [Item 1] A conveying device for lifting and moving an object, It comprises a base and at least three rod-shaped parts, The base is a member that holds the at least three rod-shaped portions with a predetermined width in the horizontal direction, and is attachable to a moving device that moves the transport device from the location where the object is placed to the destination where the object is to be transported. Each of the three rod-shaped portions is a rod-shaped member attached to the base and extending downward from the base, Each of the three rod-shaped portions is rotatable with respect to a rotation axis along the vertical direction and has a protruding portion. The aforementioned protrusions extend from a portion of the side surface of the at least three rod-shaped portions and are capable of contacting the lower surface of the object. When each of the three sides of the rod-shaped portion is virtually divided into two by a virtual plane having a surface extending vertically to a first side having the protrusion and a second side not having the protrusion, The aforementioned protrusions project toward the first side surface in a direction away from the rotation axis, but do not project toward the second side surface. A conveying device in which, in each cross-section of the at least three rod-shaped portions perpendicular to the rotation axis at the position where the protrusion is arranged, the distance from the rotation axis to the portion of the protrusion with the greatest protrusion is greater than the distance from the rotation axis to the second side surface.

[0069] [Item 2] The conveying device described in item 1, Further equipped with a retaining member, The aforementioned retaining member is a rod-shaped member that extends downward from the base, The conveying device has a moving mechanism that allows the pressing member to move between a first position, where the lower end of the pressing member is at a height that contacts the upper surface of the object, and a second position, where the lower end of the pressing member is at a height higher than the upper surface of the object.

[0070] [Item 3] A conveying device as described in item 1 or item 2, Each of the at least three rod-shaped portions has a first rod-shaped portion connected to the base and a second rod-shaped portion extending downward from the lower end of the first rod-shaped portion. The second rod-shaped portion has the protruding portion, When the direction from the side surface of the first rod-shaped portion toward the axis of rotation is considered to be the inward direction, and the first rod-shaped portion and the second rod-shaped portion are virtually divided into two by the virtual plane, In the cross-section of the second rod-shaped portion perpendicular to the axis of rotation at the position where the protrusion is arranged, the maximum distance from the axis of rotation to the first side surface is greater than the distance from the axis of rotation to the second side surface. A conveying device wherein the second side surface of the second rod-shaped portion is formed inward from the second side surface of the first rod-shaped portion.

[0071] [Item 4] The conveying device described in item 3, A conveying device in which the radius of curvature of the first side surface of the second rod-shaped portion and the radius of curvature of the second side surface of the second rod-shaped portion are substantially the same.

[0072] [Item 5] A conveying device described in any one of items 1 to 4, A conveying device wherein at least one of the three rod-shaped portions has an extension mechanism that allows the length of the at least one rod-shaped portion to be switched between a first length and a second length that is longer than the first length.

[0073] [Item 6] A conveying device described in any one of items 1 to 5, At least one of the three rod-shaped portions has an upper rod-shaped portion connected to the base and a lower rod-shaped portion extending downward from the lower end of the upper rod-shaped portion. The lower rod-shaped portion has the protruding portion, A conveying device having an exchange mechanism for replacing the lower rod-shaped portion with another lower rod-shaped portion, wherein at least one rod-shaped portion has an exchange mechanism.

[0074] [Item 7] A conveying device described in any one of items 1 to 6, The aforementioned at least three rod-shaped portions are movable in the horizontal direction. A conveying device in which the distance each rod-shaped section moves horizontally from a predetermined position can be set for each rod-shaped section. [Explanation of symbols]

[0075] 1...Conveying device, 2...First plate-shaped part, 3a...Second plate-shaped part, 3b...Third plate-shaped part, 3c...Guide rail, 3d...Slider, 4...Mounting part, 5...Rod-shaped part, 5A...Rotation axis, 5B...Virtual plane, 5C...Center point, 5D...Line, 6...Pressing member, 10...Object, 10a...Top plate part, 10b...Vertical wall part, 10c...Flange part, 11...Pallet, 20...Base part, 51...First rod-shaped part, 52...Second rod-shaped part, 53...Protruding part, 53a...Through hole, 53b...First pin, 53c...Second pin, 54a...First side surface, 54b...Second side surface, 56...Telescopic mechanism, 58...First drive part, 59a...First engaging part, 59b...Second engaging part, 61...Cylinder, 62...Piston rod.

Claims

1. A conveying device for lifting and moving an object, It comprises a base and at least three rod-shaped parts, The base is a member that holds the at least three rod-shaped portions with a predetermined width in the horizontal direction, and is attachable to a moving device that moves the transport device from the location where the object is placed to the destination where the object is to be transported. Each of the at least three rod-shaped portions is a rod-shaped member attached to the base and extending downward from the base, Each of the three rod-shaped portions is rotatable with respect to a rotation axis along the vertical direction and has a protruding portion. The aforementioned protruding portion extends from a part of the side surface of the at least three rod-shaped portions and is capable of contacting the lower surface of the object. When each of the three sides of the rod-shaped portion is virtually divided into two by a virtual plane having a surface extending vertically to the first side having the protrusion and the second side not having the protrusion, The aforementioned protrusions project toward the first side surface in a direction away from the rotation axis, but do not project toward the second side surface. A conveying device in which, in each cross-section of the at least three rod-shaped portions perpendicular to the rotation axis at the position where the protrusion is arranged, the distance from the rotation axis to the portion of the protrusion with the greatest protrusion is greater than the distance from the rotation axis to the second side surface.

2. A conveying device according to claim 1, Further equipped with a retaining member, The aforementioned retaining member is a rod-shaped member that extends downward from the base, The conveying device has a moving mechanism that allows the pressing member to move between a first position, where the lower end of the pressing member is at a height that contacts the upper surface of the object, and a second position, where the lower end of the pressing member is at a height higher than the upper surface of the object.

3. A conveying device according to claim 1 or claim 2, Each of the at least three rod-shaped portions has a first rod-shaped portion connected to the base and a second rod-shaped portion extending downward from the lower end of the first rod-shaped portion. The second rod-shaped portion has the protruding portion, When the direction from the side surface of the first rod-shaped portion toward the axis of rotation is considered to be the inward direction, and the first rod-shaped portion and the second rod-shaped portion are virtually divided into two by the virtual plane, In the cross-section of the second rod-shaped portion perpendicular to the axis of rotation at the position where the protrusion is arranged, the maximum distance from the axis of rotation to the first side surface is greater than the distance from the axis of rotation to the second side surface. A conveying device wherein the second side surface of the second rod-shaped portion is formed inward from the second side surface of the first rod-shaped portion.

4. A conveying device according to claim 3, A conveying device in which the radius of curvature of the first side surface of the second rod-shaped portion and the radius of curvature of the second side surface of the second rod-shaped portion are substantially the same.

5. A conveying device according to claim 1 or claim 2, A conveying device wherein at least one of the three rod-shaped portions has an extension mechanism that allows the length of the at least one rod-shaped portion to be switched between a first length and a second length that is longer than the first length.

6. A conveying device according to claim 1 or claim 2, At least one of the three rod-shaped portions has an upper rod-shaped portion connected to the base and a lower rod-shaped portion extending downward from the lower end of the upper rod-shaped portion. The lower rod-shaped portion has the protruding portion, A conveying device wherein at least one rod-shaped portion has an exchange mechanism for replacing the lower rod-shaped portion with another lower rod-shaped portion.

7. A conveying device according to claim 1 or claim 2, The aforementioned three rod-shaped portions are movable in the horizontal direction. A conveying device in which the distance each rod-shaped section moves horizontally from a predetermined position can be set for each rod-shaped section.

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