Handling Equipment

Abstract

Provided is a handling device capable of easily holding frame-shaped frames of different sizes. A handling device 1 comprises four holding parts 4 for holding a frame-shaped frame 2, and a first member 5 and a second member 6 capable of approaching and separating from each other. One pair of two holding parts 4, 4 among the four holding parts 4 are coupled by the first member 5, and other two holding parts 4, 4 are coupled by the second member 6. The four holding parts 4 are disposed so that lines connecting these holding parts 4 form a polygon in plan view. By causing the first member 5 and the second member 6 to approach or separate from each other, it is possible to change the distance between each of the one pair of two holding parts 4, 4 and each of the other two holding parts 4, 4. Consequently, by bringing the holding parts 4 into contact internally with the frame 2, the frame 2 is held by the holding parts 4.

Description

[Technical field]

[0001] The present invention relates to a handling device, and more particularly to a handling device for gripping a frame-shaped frame. [Background technology]

[0002] The following Patent Document 1 discloses a component alignment device capable of aligning bulk-shaped components. This component alignment device is configured such that a pressing plate can be detachably attached to a component tray. The pressing plate has a rectangular shape in top view that is substantially the same as the outer shape of the component tray in top view, and has a rectangular hole penetrating vertically in top view. In other words, the pressing plate is formed in a frame shape. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-54572 Summary of the Invention [Problem to be solved by the invention]

[0004] A frame such as a frame-shaped pressing plate is held by a handling device when it is removed from an apparatus or when it is attached to an apparatus. However, there is no handling device specialized for holding a frame-shaped frame, and a handling device for holding a frame-shaped frame is desired. It is also desired that the handling device can handle frame-shaped frames of different sizes.

[0005] The present invention has been made in consideration of such problems, and has an object to provide a handling device that can easily grip frame-shaped frames of different sizes. [Means for solving the problem]

[0006] The handling device of the present invention is a handling device having three or more gripping parts for gripping a frame-shaped frame, wherein the three or more gripping parts are arranged so that lines connecting them form a polygon, and the frame is gripped by the gripping parts by changing the distance between the gripping parts and inscribing or circumscribing the frame. Effect of the Invention

[0007] According to the present invention, it is possible to provide a handling device that can easily grip frames of different sizes. [Brief description of the drawings]

[0008] [Figure 1] 1 is a perspective view showing a usage state of a handling device according to an embodiment of the present invention; [Diagram 2] 1 is a plan view showing a usage state of a handling device according to an embodiment of the present invention; [Diagram 3] 1 is a side view showing a usage state of a handling device according to an embodiment of the present invention; [Figure 4] 1 is a front view showing a usage state of a handling device according to an embodiment of the present invention; [Diagram 5] 1 is a plan view showing an operating state of a handling system according to an embodiment of the present invention; [Figure 6] FIG. 1 is a schematic perspective view of a ceramic electronic component. [Figure 7] 7 is a cross-sectional view taken along line AA in FIG. 6. [Figure 8] FIG. 2 is a perspective view showing a state in which the ceramic laminate is placed on a substrate. [Figure 9] FIG. 2 is a vertical cross-sectional view showing a state in which the ceramic laminate is placed on a substrate. [Figure 10] 10 is a vertical cross-sectional view showing a state in which the ceramic laminate is rotated 90° from the state in FIG. 9. [Figure 11] 4 is a vertical cross-sectional view showing a state in which a first conductive paste layer is formed on a ceramic laminate. FIG. [Figure 12]12 is a vertical cross-sectional view showing a state in which the ceramic laminate is rotated 180° from the state in FIG. 11. [Figure 13] 4 is a vertical cross-sectional view showing a state in which a second conductive paste layer is formed on the ceramic laminate. FIG. [Figure 14] FIG. 11 is a front view showing a usage state of a handling device according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, specific embodiments of the present invention will be described in detail with reference to the drawings.

[0010] 1 to 4 are views showing a usage state of a handling device according to an embodiment of the present invention, in which FIG. 1 is a perspective view, FIG. 2 is a plan view, FIG. 3 is a left side view, and FIG. 4 is a front view showing a part in section. FIG. 5 is a plan view showing an operating state of the handling device of this embodiment. The handling device 1 of this embodiment is a device provided, for example, in an articulated robot (not shown), and includes a plurality of gripping parts 4 for gripping a member 3 having a frame-shaped frame 2, and a first member 5 and a second member 6 that can move close to and apart from each other, and the first member 5 and the second member 6 are provided on a support 7. The support 7 has an attachment part 8 to the tip of the arm of the robot, a main body part 9 on which the attachment part 8 is provided, and a pair of support rod parts 10, 10 provided on the main body part 9.

[0011] The mounting portion 8 is a generally rectangular plate-like shape in front view with the vertical direction as the longitudinal direction. The mounting portion 8 is fixed to the tip of the arm of the robot by bolts or the like with the plate surface facing forward and backward. As described above, the robot is a multi-joint robot. Specifically, the robot has an arm having a plurality of link members and joints that rotatably connect adjacent link members to each other, and the joints can be rotated by driving a motor provided at each joint to rotate the link members. With this configuration, the mounting portion 8 is provided at the tip of the link member located at the most distal end side.

[0012] The main body 9 has a first plate 11 and a second plate 12 that are arranged vertically and spaced apart from each other, and a third plate 13 and a fourth plate 14 that connect the first plate 11 and the second plate 12. The first plate 11 is a generally rectangular plate in plan view with the longitudinal direction being the front-rear direction, and is arranged with its plate surface facing up and down. The second plate 12 is a generally rectangular plate in plan view with its front-rear length shorter than that of the first plate 11. The second plate 12 is arranged with its plate surface facing up and down. The third plate 13 and the fourth plate 14 are generally rectangular plate in front view with their plate surfaces facing up and down. The third plate 13 is provided so as to bridge the rear end of the first plate 11 and the rear end of the second plate 12. At this time, the rear end of the first plate 11 and the upper end of the third plate 13 are fixed by bolts or the like, and the rear end of the second plate 12 and the lower end of the third plate 13 are fixed by bolts or the like. The fourth plate 14 is provided so as to bridge the first plate 11 and the second plate 12, on the front side of the third plate 13. At this time, the front end of the second plate 12 and the lower end of the fourth plate 14 are fixed with a bolt or the like, and the upper end of the first plate 11 and the fourth plate 14 are fixed with a bolt or the like.

[0013] The mounting portion 8 described above is provided at the rear end of the main body 9 assembled in this manner. The mounting portion 8 is fixed to the main body 9 by bolts or the like with the lower end of the front surface overlapping the rear surface of the third plate 13. When the main body 9 is assembled, the first plate 11 has an extension portion that extends forward beyond the second plate 12. This extension portion is provided with holding portions 15, 15 spaced apart in the front and rear for holding each of the pair of support rod portions 10, 10 to the main body 9. The holding portions 15, 15 are each fixed to the underside of the first plate 11 by bolts or the like.

[0014] The pair of support rods 10, 10 are round rod-shaped. Of the pair of support rods 10, 10, one support rod 10 is provided on the holding portion 15 located on the front side. The one support rod 10 is fixed to the holding portion 15 in a state in which it penetrates the holding portion 15 in the left-right direction. Of the pair of support rods 10, 10, the other support rod 10 is provided on the holding portion 15 located on the rear side. The other support rod 10 is fixed to the holding portion 15 in a state in which it penetrates the holding portion 15 in the left-right direction. In this way, the pair of support rods 10, 10 are held by the main body 9 at a distance from each other in the front-rear direction with their axial directions aligned in the left-right direction.

[0015] A connecting member 16 is provided on the left side of each of the pair of support rods 10, 10 to connect the first member 5 and the support rod 10, and a connecting member 17 is provided on the right side of each of the pair of support rods 10, 10 to connect the second member 6 and the support rod 10. Here, the connecting members 16, 17 have the same configuration, so the connecting member 17 located on the right side of the support rod 10 will be described. The connecting member 17 has a plate-shaped portion 18 and a bush 19. The plate-shaped portion 18 has a horizontal piece 20 and a vertical piece 21. The horizontal piece 20 is a generally rectangular plate in plan view, and is disposed with the plate surface facing up and down. The vertical piece 21 is a generally rectangular plate in side view, and is disposed with the plate surface facing left and right. The vertical piece 21 is provided at the left end of the horizontal piece 20, extending upward. The horizontal piece 20 and the vertical piece 21 may be separate bodies or may be integrated. The bush 19 is typically an oil-free bush. The bush 19 is provided on the vertical piece 21 of the plate-like portion 18 in a state where it passes through a through hole formed in the vertical piece 21 .

[0016] The connecting member 16 is held by the support rod portion 10 in a state in which the support rod portion 10 penetrates the bush 19 on the left side of the support rod portion 10. When the connecting member 16 is held by the support rod portion 10, the horizontal piece 20 of the connecting member 16 extends leftward from the vertical piece 21. The connecting member 17 is held by the support rod portion 10 in a state in which the support rod portion 10 penetrates the bush 19 on the right side of the support rod portion 10. When the connecting member 17 is held by the support rod portion 10, the horizontal piece 20 of the connecting member 17 extends rightward from the vertical piece 21. With this configuration, the connecting members 16 and 17 can slide leftward and rightward along the support rod portion 10. The first member 5 and the second member 6 are connected to the support rod portion 10 by these connecting members 16 and 17.

[0017] The first member 5 is a plate-like shape that is generally rectangular in plan view, with the longitudinal direction being the front-rear direction, and is disposed with the plate surface facing up and down. The front end surface of the first member 5 is formed to be inclined backward as it goes to the right. That is, the front end portion of the first member 5 is generally right-angled triangular. Two mounting holes 22, 23 for attaching the grip part 4 are formed penetrating vertically at the front end portion of the first member 5. The two mounting holes 22, 23 are formed at the acute angle portion of the front end portion of the generally right-angled triangular shape of the first member 5. Specifically, of the two mounting holes 22, 23, one mounting hole 22 is formed at the tip portion of the front end portion of the first member 5. Of the two mounting holes 22, 23, the other mounting hole 23 is formed at the front end portion of the first member 5, diagonally rearward to the right of the one mounting hole 22. Two mounting holes 24, 25 for attaching the grip part 4 are formed penetrating vertically at the rear end portion of the first member 5. Of the two mounting holes 24, 25, one mounting hole 24 is formed in the rear left corner of the first member 5. Of the two mounting holes 24, 25, the other mounting hole 25 is formed diagonally to the right front of the one mounting hole 24 at the rear end portion of the first member 5.

[0018] A gripping portion 4a is provided in one of the mounting holes 22 at the front end of the first member 5 and one of the mounting holes 24 at the rear end of the first member 5. The gripping portion 4a is round bar-shaped and arranged so that its axial direction is along the up-down direction. The gripping portion 4a has a reduced diameter at its upper end, and is formed with a large diameter portion 26 and a small diameter portion 27 in this order from the lower end. A thread is cut on the outer circumferential surface of the small diameter portion 27. The gripping portion 4a having such a configuration is detachably attached to the first member 5 by threading a nut 28 into the small diameter portion 27 with the small diameter portion 27 passing through the mounting holes 22, 24 from below.

[0019] The gripping portion 4b is provided in the other mounting hole 23 at the front end of the first member 5 and the other mounting hole 25 at the rear end of the first member 5. The gripping portion 4b is round bar-shaped and arranged so that its axial direction is along the vertical direction. The gripping portion 4b has a reduced diameter at its upper end, and is formed with a large diameter portion 29 and a small diameter portion 30 in this order from the lower end side. The vertical length of the large diameter portion 29 is shorter than the vertical length of the large diameter portion 26 of the gripping portion 4a attached to one of the mounting holes 22, 24 of the first member 5. The outer peripheral surface of the small diameter portion 30 is threaded. The gripping portion 4b having such a configuration is detachably attached to the first member 5 by threading a nut 31 into the small diameter portion 30 with the small diameter portion 30 passing through the mounting holes 23, 25 from below. The position of the lower end of the gripping portion 4b when attached to the first member 5 is located above the position of the lower end of the gripping portion 4a when attached to the first member 5.

[0020] The first member 5 is connected to the left side of the pair of support rods 10, 10 via a connecting member 16. The first member 5 and the connecting member 16 are connected by bolts or the like in a state in which the upper surface of the first member 5, which is arranged so that the axial direction of the mounting holes 22, 23, 24, 25 is aligned in the vertical direction, and the lower surfaces of the horizontal pieces 20, 20 of the connecting members 16, 16 spaced apart in the front-rear direction are overlapped. As described above, the connecting member 16 is slidable in the left-right direction relative to the support rod 10. Therefore, the first member 5 is slidable in the left-right direction along the support rod 10.

[0021] The second member 6 is a plate-like shape that is generally rectangular in plan view, with the longitudinal direction being the front-rear direction, and is disposed with the plate surface facing up and down. The front end surface of the second member 6 is formed to be inclined backward as it goes to the left. That is, the front end portion of the second member 6 is generally right-angled triangular. Two mounting holes 32, 33 for attaching the grip part 4 are formed penetrating vertically at the front end portion of the second member 6. The two mounting holes 32, 33 are formed at the acute angle portion of the front end portion of the generally right-angled triangular shape of the second member 6. Specifically, of the two mounting holes 32, 33, one mounting hole 32 is formed at the tip portion of the front end portion of the second member 6. Of the two mounting holes 32, 33, the other mounting hole 33 is formed at the front end portion of the second member 6, diagonally left rear of one mounting hole 32. Two mounting holes 34, 35 for attaching the grip part 4 are formed penetrating vertically at the rear end portion of the second member 6. Of the two mounting holes 34, 35, one mounting hole 34 is formed in the rear right corner of the second member 6. Of the two mounting holes 34, 35, the other mounting hole 35 is formed diagonally forward and left of the one mounting hole 34 at the rear end of the second member 6.

[0022] A grip portion 4c is provided in one of the mounting holes 32 at the front end of the second member 6 and one of the mounting holes 34 at the rear end of the second member 6. This grip portion 4c has a configuration similar to that of the grip portion 4a provided in one of the mounting holes 22, 24 of the first member 5. That is, the grip portion 4c is formed with a large diameter portion 26 and a small diameter portion 27, and is detachably attached to the second member 6 by screwing a nut 28 into the threaded small diameter portion 27 with the small diameter portion 27 passing through the mounting holes 32, 34 from below.

[0023] The gripping portion 4d is provided in the other mounting hole 33 at the front end of the second member 6 and the other mounting hole 35 at the rear end of the second member 6. This gripping portion 4d has the same configuration as the gripping portion 4b provided in the other mounting holes 23, 25 of the first member 5. That is, the gripping portion 4d is formed with a large diameter portion 29 and a small diameter portion 30, and is detachably attached to the second member 6 by screwing a nut 31 into the threaded small diameter portion 30 with the small diameter portion 30 inserted through the mounting holes 33, 35 from below. The vertical length of the large diameter portion 29 of the gripping portion 4d is shorter than the vertical length of the large diameter portion 26 of the gripping portion 4c attached to one of the mounting holes 32, 34 of the second member 6. Therefore, the position of the lower end of the gripping portion 4d when attached to the second member 6 is located above the position of the lower end of the gripping portion 4c when attached to the second member 6.

[0024] The second member 6 is connected to the right side of the pair of support rods 10, 10 via a connecting member 17. The second member 6 and the connecting member 17 are connected by bolts or the like in a state in which the upper surface of the second member 6, which is arranged so that the axial direction of the mounting holes 32, 33, 34, 35 is aligned in the vertical direction, is overlapped with the lower surfaces of the horizontal pieces 20, 20 of the connecting members 17, 17 spaced apart in the front-rear direction. As described above, the connecting member 17 is slidable in the left-right direction relative to the support rod 10. Therefore, the second member 6 is slidable in the left-right direction along the support rod 10.

[0025] In a state in which the first member 5 and the second member 6 are held by the pair of support rods 10, 10, the four gripping portions 4a, 4a, 4c, 4c consisting of the gripping portions 4a, 4a provided in one of the mounting holes 22, 24 of the first member 5 and the gripping portions 4c, 4c provided in one of the mounting holes 32, 34 of the second member 6 are arranged such that lines connecting them form a quadrangle in a plan view. Of the four gripping portions 4a, 4a, 4c, 4c, one pair of adjacent gripping portions 4a, 4a are connected by the first member 5 as described above, and the other pair of adjacent gripping portions 4c, 4c are connected by the second member 6 as described above.

[0026] Therefore, by sliding the first member 5 and the second member 6 in the left-right direction along the support rod portion 10, it is possible to increase or decrease the distance between the grip portion 4a at the front end of the first member 5 and the grip portion 4c at the front end of the second member 6, and the distance between the grip portion 4a at the rear end of the first member 5 and the grip portion 4c at the rear end of the second member 6. In this way, by moving the first member 5 and the second member 6 closer to or farther away from each other, it is possible to change the distance between each of the two adjacent grip portions 4a, 4a on one side and each of the two adjacent grip portions 4c, 4c on the other side.

[0027] In a state where the first member 5 and the second member 6 are held by a pair of support rods 10, 10, the four gripping parts 4b, 4b, 4d, 4d consisting of the gripping parts 4b, 4b provided in the other mounting holes 23, 25 of the first member 5 and the gripping parts 4d, 4d provided in the other mounting holes 33, 35 of the second member 6 are arranged inside the four gripping parts 4a, 4a, 4c, 4c described above. In addition, the four gripping parts 4b, 4b, 4d, 4d are arranged so that the lines connecting them form a quadrangle in a plan view. Among the four gripping parts 4b, 4b, 4d, 4d, one pair of adjacent gripping parts 4b, 4b are connected by the first member 5 as described above, and the other pair of adjacent gripping parts 4d, 4d are connected by the second member 6 as described above.

[0028] Therefore, by sliding the first member 5 and the second member 6 in the left-right direction along the support rod portion 10, it is possible to increase or decrease the distance between the grip portion 4b at the front end of the first member 5 and the grip portion 4d at the front end of the second member 6, and the distance between the grip portion 4b at the rear end of the first member 5 and the grip portion 4d at the rear end of the second member 6. In this way, by moving the first member 5 and the second member 6 closer to or farther away from each other, it is possible to change the distance between each of the two adjacent grip portions 4b, 4b on one side and each of the two adjacent grip portions 4d, 4d on the other side.

[0029] In order to move the first member 5 and the second member 6 closer to or farther apart, the main body 9 is provided with a drive unit 36 ​​that slides the first member 5 and the second member 6. The drive unit 36 ​​has a drive source (not shown) such as a motor. The first member 5 is connected to the drive source via a first connecting member 37, and the second member 6 is connected to the drive source via a second connecting member 38. With this configuration, the first connecting member 37 and the second connecting member 38 can be slid left and right by driving the drive source, whereby the first member 5 connected to the first connecting member 37 and the second member 6 connected to the second connecting member 38 can be moved closer to or farther apart.

[0030] Next, the use of the handling device 1 of this embodiment will be described. The handling device 1 of this embodiment is used, for example, when manufacturing a ceramic electronic component 39 while being attached to a robot as described above. Figures 6 and 7 are diagrams showing a ceramic electronic component, with Figure 6 being a schematic perspective view and Figure 7 being a cross-sectional view taken along line AA of Figure 6. Figures 8 to 13 are diagrams showing the manufacturing process of a ceramic electronic component in chronological order.

[0031] As shown in Figs. 6 and 7, the ceramic electronic component 39 includes a ceramic body 40 having a substantially rectangular parallelepiped shape. The ceramic body 40 is made of an appropriate ceramic material. A first internal electrode 41 and a second internal electrode 42 are arranged inside the ceramic body 40 such that adjacent first internal electrodes 41 and second internal electrodes 42 face each other partially via a ceramic layer. A first external electrode 44 connected to the first internal electrode 41 is formed on one end surface 43 of the ceramic body 40. A second external electrode 46 connected to the second internal electrode 42 is formed on the other end surface 45 of the ceramic body 40. The first internal electrode 41, the second internal electrode 42, the first external electrode 44, and the second external electrode 46 are made of an appropriate conductive material.

[0032] When manufacturing such a ceramic electronic component 39, first, a ceramic laminate 47 is formed. To form the ceramic laminate 47, a conductive paste for forming internal electrodes is printed in a predetermined pattern on a ceramic green sheet by screen printing or the like to form an internal electrode pattern. Next, a ceramic green sheet on which an internal electrode pattern is not formed and a ceramic green sheet on which an internal electrode pattern is formed are laminated to form a mother laminate. Then, a plurality of ceramic laminates 47 are cut out from the mother laminate.

[0033] 8 and 9, the cut ceramic laminates 47 are placed at intervals on a substrate 48. The surface of the substrate 48 has adhesive force. For example, the substrate 48 has a substrate body 49 and an adhesive elastomer layer 50 provided on the surface of the substrate body 49. Therefore, the ceramic laminates 47 adhere to the adhesive elastomer layer 50 when placed on the substrate 48.

[0034] Next, the ceramic laminate 47 placed on the substrate 48 is rotated 90° using a slider (not shown). As a result, as shown in Fig. 10, one end face 43 of the ceramic laminate 47 faces upward, and the other end face 45 is adhered to the adhesive elastomer layer 50 of the substrate 48. In this state, a conductive paste is applied to one end face 43 of the ceramic laminate 47, so that a first conductive paste layer 51 is formed on one end face 43 of the ceramic laminate 47, as shown in Fig. 11.

[0035] Next, the ceramic laminate 47 on which the first conductive paste layer 51 has been formed is rotated 180° using the slider described above. As a result, the ceramic laminate 47 has the first conductive paste layer 51 adhered to the adhesive elastomer layer 50 of the substrate 48 with the other end surface 45 of the ceramic laminate 47 facing upward, as shown in Fig. 12. In this state, by applying a conductive paste to the other end surface 45 of the ceramic laminate 47, a second conductive paste layer 52 is formed on the other end surface 45 of the ceramic laminate 47, as shown in Fig. 13.

[0036] Then, the ceramic laminate 47, the first conductive paste layer 51, and the second conductive paste layer 52 are fired. In this manner, a ceramic electronic component 39 including the ceramic body 40, the first internal electrode 41, the second internal electrode 42, the first external electrode 44, and the second external electrode 46 is produced.

[0037] The handling device 1 of this embodiment is a device for gripping a substrate 48 used in manufacturing a ceramic electronic component 39. That is, the substrate 48 is a member 3 having the above-mentioned frame-shaped frame 2. Specifically, the substrate 48 has a frame-shaped frame 2 and a mounting portion 53 consisting of the above-mentioned substrate main body 49 and adhesive elastomer layer 50. The frame 2 has a frame-shaped horizontal portion 54 and a frame-shaped vertical portion 55. The horizontal portion 54 is plate-shaped and is arranged with the plate surface facing up and down. The vertical portion 55 is plate-shaped and is erected on the outer edge of the horizontal portion 54. The horizontal portion 54 and the vertical portion 55 may be separate or may be integrated. The mounting portion 53 consisting of the substrate main body 49 and adhesive elastomer layer 50 is provided so as to close an opening formed inside the frame 2 having such a configuration. Therefore, the substrate 48 has a frame-shaped frame 2 and is a plate material having adhesive force on its surface.

[0038] In this embodiment, the mounting portion 53 is composed of the substrate main body 49 and the adhesive elastic layer 50, but may be composed of only the adhesive elastic layer. In this embodiment, the frame 2 and the substrate main body 49 may be separate bodies or may be integrated.

[0039] As shown in FIG. 4, in order to grip the substrate 48 by the handling device 1, the first member 5 and the second member 6 are slid left and right by the driving source to change the distance between the gripping parts 4a and 4c, so that the gripping parts 4a and 4c are inscribed in the inner surface of the vertical part 55 of the frame 2. At this time, the gripping part 4a contacts the inner surface of the vertical part 55 on the left side of the frame 2 while pressing it to the left, and the gripping part 4c contacts the inner surface of the vertical part 55 on the right side of the frame 2 while pressing it to the right. In this way, the gripping parts 4a, 4a, 4c, 4c are inscribed in the frame 2, so that the frame 2 is gripped by the gripping parts 4a, 4a, 4c, 4c. With the frame 2 gripped by the gripping parts 4a, 4a, 4c, 4c, the arm of the robot is driven to move the substrate 48 to an appropriate position.

[0040] In the case of the handling device 1 of this embodiment, the multiple gripping parts 4 are arranged so that the lines connecting them form a polygon in a plan view. By changing the distance between the multiple gripping parts 4, 4 arranged in this manner and inscribing the gripping parts 4 in the frame 2 of the base 48, the frame 2 can be gripped by the gripping parts 4. Therefore, members having frame-shaped frames of different sizes can be easily gripped.

[0041] In the case of the handling device 1 of the present embodiment, among the four gripping parts 4a, 4a, 4c, 4c, the two adjacent gripping parts 4a, 4a are connected by the first member 5, and the other two adjacent gripping parts 4c, 4c are connected by the second member 6. With this configuration, the distance between the gripping parts 4a, 4a provided on the first member 5 and the gripping parts 4c, 4c provided on the second member 6 can be changed by moving the first member 5 and the second member 6 closer to each other. Therefore, the frame-shaped frame 2 can be easily gripped with a simple configuration. The same effect is achieved in the case of the four gripping parts 4b, 4b, 4d, 4d.

[0042] Furthermore, the handling device 1 of this embodiment is provided with four gripping parts 4a, 4a, 4c, 4c located on the outside, and four gripping parts 4b, 4b, 4d, 4d located on the inside of the four gripping parts 4a, 4a, 4c, 4c. Therefore, it can handle frames of more sizes.

[0043] Furthermore, in the case of the handling device 1 of this embodiment, the first member 5 and the second member 6 are detachable from the main body 9. Therefore, a first member and a second member selected from a plurality of types of first members and second members having different sizes and shapes can be used depending on the size of the frame and the number of gripping parts to be attached.

[0044] 14 is a front view showing a usage state of a handling device according to another embodiment of the present invention. Next, a handling device 1 according to another embodiment of the present invention will be described. In this embodiment, the characteristic parts will be described, and the description of the matters described in the above embodiment will be omitted.

[0045] The handling device 1 of this embodiment differs from the above embodiment in the configuration of the gripping portion 4. Specifically, the gripping portion 4 has an engagement portion 56 having a larger diameter than the large diameter portion 26. An annular groove 57 is formed in the outer circumferential surface of the engagement portion 56 along the circumferential direction. The groove 57 opens radially outward from the engagement portion 56.

[0046] The substrate 58 held by the handling device 1 of this embodiment has a frame configuration different from that of the substrate 48 of the above-mentioned embodiment. Specifically, the substrate 58 has a picture-frame-shaped frame 59 made of a plate material arranged with its plate surface facing up and down, and the aforementioned placement part 53 that closes the opening of the frame 59.

[0047] 14, to grip a substrate 58 with the handling device 1, the first member 5 and the second member 6 are slid left and right by the driving source to change the distance between the gripping parts 4, 4, thereby bringing the gripping parts 4 into circumscribing contact with the outer edge of the frame 59. At this time, the outer edge of the frame 59 engages with a groove 57 formed in the gripping parts 4. Therefore, with the frame 59 engaged with the groove 57 of the gripping parts 4, the gripping parts 4 are circumscribing contact with the frame 59, and the frame 59 is gripped by the gripping parts 4.

[0048] In the case of the handling device 1 of this embodiment, when the gripping portion 4 is circumscribed by the frame 59, the frame 59 is engaged with the groove 57 of the gripping portion 4. Therefore, the frame 59 can be gripped by the gripping portion 4 more reliably.

[0049] The present invention is not limited to the above-described embodiments, and modifications and improvements within the scope of the present invention that can achieve the object of the present invention are included in the present invention.

[0050] For example, in the embodiment shown in Fig. 1 and the embodiment shown in Fig. 14, the frame 2, 59 is gripped by four gripping parts 4, 4, 4, 4, but the present invention is not limited to this and may be configured so long as the frame is gripped by three or more gripping parts. In this case, the configurations of the main body 9, the first member 5, the second member 6, etc. are appropriately changed.

[0051] In addition, in the embodiment shown in Fig. 1, the four gripping parts 4a, 4a, 4c, 4c on one side and the four gripping parts 4b, 4b, 4d, 4d on the other side are formed in a rod shape, but for example, the four gripping parts on one side or the four gripping parts on the other side may be the gripping parts 4 in the embodiment shown in Fig. 14. This makes it possible to provide a handling device 1 with excellent versatility.

[0052] 1, the frame 2 is gripped by the gripping parts 4a, 4a, 4c, 4c by inscribing the frame 2, but the frame 2 may be gripped by the gripping parts by circumscribing the frame 2. The same applies to the case of the four gripping parts 4b, 4b, 4d, 4d.

[0053] 14, the frame 59 is gripped by the gripping parts 4,4,4,4 by circumscribing the frame 59, but the frame 59 may be gripped by the gripping parts by inscribing the frame 59. In this case, the frame is configured so that the four gripping parts can be inscribed in the frame 59 while engaged with the grooves.

[0054] The essential configuration of the present invention may be as follows, for example.

[0055] <1> A handling device having three or more gripping parts for gripping a frame-shaped frame, wherein the three or more gripping parts are arranged so that lines connecting them form a polygon, and the frame is gripped by the gripping parts by changing the distance between the gripping parts and inscribing or circumscribing the frame.

[0056] <2> a groove is formed in the gripping portion, and the frame is gripped by the gripping portion by engaging the frame with the groove; <1> The handling device according to claim 1.

[0057] <3> The gripping portion is inscribed in the frame, so that the frame is gripped by the gripping portion. <1> or <2> The handling device according to claim 1.

[0058] <4> The gripping portion is circumscribed on the frame, so that the frame is gripped by the gripping portion. <1> or <2> The handling device according to claim 1.

[0059] <5> The gripping device includes four gripping portions and a first member and a second member that can move close to and away from each other, wherein two adjacent gripping portions on one side are connected by the first member and two adjacent gripping portions on the other side are connected by the second member, and the first member and the second member move close to and away from each other, thereby making it possible to change the distance between each of the two adjacent gripping portions on one side and each of the two adjacent gripping portions on the other side. <1> from <4> 13. A handling device according to any one of claims 1 to 12. [Explanation of symbols]

[0060] 1 Handling device 2 Frames 4 Grip part 5 First member 6 Second member 57 Groove 59 Frames

Claims

1. A handling device including eight gripping sections for gripping a frame, and a first member and a second member that can move close to and away from each other, Among the eight gripping portions, four gripping portions are arranged such that lines connecting the gripping portions form a polygon, The remaining four gripping parts of the eight gripping parts are arranged so that lines connecting them form a polygon, and are located inside the four gripping parts of the part, Two adjacent gripping portions of the part of the four gripping portions are connected by the first member, and two adjacent gripping portions of the part of the four gripping portions are connected by the second member, Two adjacent gripping portions of one of the remaining four gripping portions are connected by the first member, and two adjacent gripping portions of the other of the remaining four gripping portions are connected by the second member; a handling device in which the first member and the second member move closer to and away from each other, thereby changing a distance between each of two adjacent gripping portions of the partial four gripping portions and each of the other two adjacent gripping portions of the partial four gripping portions, and a distance between each of two adjacent gripping portions of the remaining four gripping portions and each of the other two adjacent gripping portions of the remaining four gripping portions, so that the partial four gripping portions or the remaining four gripping portions are inscribed or circumscribed in the frame, thereby gripping the frame by the partial four gripping portions or the remaining four gripping portions.

2. A handling device as described in claim 1, wherein the positions of the lower ends of the remaining four gripping portions are located higher than the positions of the lower ends of the four gripping portions.

Images