Item support device

Abstract

To provide an article support device that is advantageous in properly supporting articles whose sizes and shapes may vary.SOLUTION: An article support device 10 comprises: a belt 11; a first support part 12a and a second support part 12b contacting an inside surface of the belt 11; and a sagging adjustment part for changing a degree of sagging of the belt 11. A part of the belt 11 is deflected in forming a belt enclosure part 18, in a state that the first support part 12a and the second support part 12b are arranged at a vicinity position P12. The belt enclosure part 18 has an enclosure space S1 therein where articles 90 can be disposed. The sagging adjustment part changes a size of the enclosure space S1 by changing a degree of sagging of the belt 11.SELECTED DRAWING: Figure 9

Description

[Technical field]

[0001] The present disclosure relates to an item support apparatus. [Background technology]

[0002] In the device disclosed in Patent Document 1, a container containing a filling is transported, and the container is inverted to transfer the filling from the container into a can. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Utility Model Application Publication No. 60-50101 Summary of the Invention [Problem to be solved by the invention]

[0004] In the device disclosed in Patent Document 1, it is necessary to change the container according to the size and shape of the filling material. In other words, if the container does not match the size and shape of the filling material, the state of the filling material, such as its posture, will change irregularly inside the container, and the filling material may not be able to be stored in the can in an appropriate state. Therefore, when it is necessary to handle multiple types of filling materials with different sizes and shapes, it is necessary to prepare multiple types of containers that are suitable for each filling material in advance and use the containers according to the actual filling material.

[0005] Furthermore, when the filling material is composed of a collection of multiple objects, when the filling material is transferred from the container to a can in the device disclosed in Patent Document 1, the multiple objects may diffuse, and only a portion of the multiple objects may be transferred into the can.

[0006] The present disclosure has been made in consideration of the above circumstances, and aims to provide a technology that is advantageous for appropriately supporting items whose size and shape may change. [Means for solving the problem]

[0007] One aspect of the present disclosure relates to an item support device comprising a first support portion and a second support portion in contact with a belt and an inner surface of the belt, the first support portion and the second support portion being positionable in a close position where the distance between them is relatively close and a spaced position where the distance between them is relatively far, and a slack adjustment portion that changes the degree of slack in the belt, wherein when the first support portion and the second support portion are positioned in the close position, a part of the belt bends to form a belt envelopment portion, and the belt envelopment portion has an enclosed space inside in which an item can be placed, and a connection path space connecting an external space outside the belt and the enclosed space is closed by the first support portion and the second support portion that are positioned in the close position, or is made smaller than when the first support portion and the second support portion are positioned in the spaced position, and the slack adjustment portion changes the size of the enclosed space by changing the degree of slack in the belt.

[0008] The item support device may include a belt moving device that moves the belt, and the belt moving device may move the belt to a first moving position where an item located at a first item position is placed in the enclosed space, and a second moving position where an item in the enclosed space is placed at a second item position different from the first item position.

[0009] The article support device may include a third support portion and a fourth support portion that contact an inner surface of the belt, the first support portion swinging about the third support portion, and the second support portion swinging about the fourth support portion.

[0010] The item support device comprises a toggle fixing part fixed in a first direction, and a link mechanism connecting the first support part and the toggle fixing part to each other, wherein the first support part is movably arranged, and when the first support part and the second support part are arranged in a close position and a load is applied to the first support part such that the first support part moves from the close position to the separated position, a force may act on the toggle fixing part in the first direction via the link mechanism. Effect of the Invention

[0011] The present disclosure is advantageous in providing adequate support for items that may vary in size and shape. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a front view showing an example of an item support device in a state in which a first support section and a second support section are disposed in a spaced apart position. [Diagram 2] FIG. 2 is a side view of the item support apparatus shown in FIG. 1 (see arrow "II" in FIG. 1). [Diagram 3] FIG. 3 is a front view showing an example of an item support device in a state in which the first support section and the second support section are disposed in a close position. [Figure 4] FIG. 4 is a block diagram showing an example of a control configuration of the item support device. [Diagram 5] FIG. 5 is a front view showing an example of an article support section. [Figure 6] FIG. 6 is a side view of the article support portion shown in FIG. 5 (see arrow "VI" in FIG. 5). [Figure 7] FIG. 7 is a diagram showing an example of a state of an item support device according to an example of an item support method. [Figure 8] FIG. 8 is a diagram showing an example of a state of an item support device according to an example of an item support method. [Figure 9] FIG. 9 is a diagram showing an example of a state of an item support device according to an example of an item support method. [Figure 10] FIG. 10 is a diagram showing an example of a state of an item support device according to an example of an item support method. [Figure 11] FIG. 11 is a diagram showing an example of a state of an item support device according to an example of an item support method. [Figure 12] FIG. 12 is a diagram showing an example of a state of an item support device according to an example of an item support method. [Figure 13] FIG. 13 is a diagram showing an example of a state of an item support device according to an example of an item support method. [Figure 14] FIG. 14 is a front view showing an item support device according to a first modified example. [Figure 15] FIG. 15 is a front view showing an item support device according to the second modified example. [Figure 16]FIG. 16 is a front view showing an item support device according to the second modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings.

[0014] Fig. 1 is a front view showing an example of an item support device 10 in a state where the first support portion 12a and the second support portion 12b are arranged in a separated position P11. Fig. 2 is a side view (see arrow "II" in Fig. 1) of the item support device 10 shown in Fig. 1. Fig. 3 is a front view showing an example of an item support device 10 in a state where the first support portion 12a and the second support portion 12b are arranged in a close position P12.

[0015] 1, the belt moving device 14 is omitted. In Fig. 3, the belt moving device 14, the support main body block 31, the horizontal support block 32, etc. are omitted.

[0016] An item support device 10 shown in Figs. 1 to 3 includes an endless belt 11, and first support portion 12a to fourth support portion 12d that contact the inner surface of belt 11 and support belt 11 from the inside.

[0017] The belt 11 can be made of any flexible material, for example a flexible plastic sheet or a sheet of elastic material such as rubber.

[0018] The first support portion 12a is connected to the toggle fixing portion 15 via a first link mechanism 16a. That is, the first support portion 12a is connected to the third support portion 12c via a first link 21a, and the third support portion 12c is connected to the first movable shaft 22a via a third link 21c. The first movable shaft 22a is connected to the third movable shaft 22c via a fifth link 21e, and the third movable shaft 22c is fixed to the toggle fixing portion 15.

[0019] Similarly, the second support 12b is connected to the toggle fixed portion 15 via a second link mechanism 16b. That is, the second support 12b is connected to the fourth support 12d via a second link 21b, and the fourth support 12d is connected to the second movable shaft 22b via a fourth link 21d. The second movable shaft 22b is connected to the fourth movable shaft 22d via a sixth link 21f, and the fourth movable shaft 22d is fixed to the toggle fixed portion 15.

[0020] The third support portion 12c and the fourth support portion 12d are fixedly attached to the support body block 31.

[0021] The first link 21a and the third link 21c are provided so as to be rotatable about the third support portion 12c, and the second link 21b and the fourth link 21d are provided so as to be rotatable about the fourth support portion 12d.

[0022] In this example, the first link 21a and the third link 21c are integrally provided and fixed to each other, and the third support portion 12c rotatably supports the first link 21a and the third link 21c. Similarly, the second link 21b and the fourth link 21d are integrally provided and fixed to each other, and the fourth support portion 12d rotatably supports the second link 21b and the fourth link 21d.

[0023] The rotation structure of the first link 21a to the fourth link 21d is not limited to the above example. For example, the first link 21a and the third link 21c may each be fixed to the third support portion 12c, and the third support portion 12c may be rotatably provided. Similarly, the second link 21b and the fourth link 21d may each be fixed to the fourth support portion 12d, and the fourth support portion 12d may be rotatably provided.

[0024] The first movable shaft 22a rotatably supports the third link 21c and the fifth link 21e. The second movable shaft 22b rotatably supports the fourth link 21d and the sixth link 21f. The third movable shaft 22c rotatably supports the fifth link 21e. The fourth movable shaft 22d rotatably supports the sixth link 21f.

[0025] As described later, as the toggle fixing part 15 rises and falls in the height direction Dz, power from the toggle fixing part 15 is transmitted to the first link mechanism 16a and the second link mechanism 16b, and the first movable shaft 22a to the fourth movable shaft 22d move. When the first movable shaft 22a to the fourth movable shaft 22d move in this manner, the angle between the third link 21c and the fifth link 21e and the angle between the fourth link 21d and the sixth link 21f are variable. On the other hand, the angle between the first link 21a and the third link 21c and the angle between the second link 21b and the fourth link 21d remain unchanged.

[0026] As a result, in response to the rise and fall of the toggle fixing portion 15 in the height direction Dz, the first support portion 12a swings around the third support portion 12c, and the second support portion 12b swings around the fourth support portion 12d, changing the distance in the first horizontal direction Dx between the first support portion 12a and the second support portion 12b.

[0027] In this example, as shown in Fig. 1, when the toggle fixing part 15 is disposed in a relatively low lowered position, the first support part 12a and the second support part 12b are disposed in a distant position P11 where the distance between them in the first horizontal direction Dx is relatively large. On the other hand, as shown in Fig. 3, when the toggle fixing part 15 is disposed in a relatively high raised position, the first support part 12a and the second support part 12b are disposed in a close position P12 where the distance between them in the first horizontal direction Dx is relatively small.

[0028] The first support portion 12a and the second support portion 12b exhibit line-symmetric behavior about a symmetry axis (not shown) extending in the height direction Dz. Regardless of the swing state, the first support portion 12a and the second support portion 12b are disposed at the same positions relative to each other in the second horizontal direction Dy perpendicular to the first horizontal direction Dx and in the height direction Dz.

[0029] A swing drive main body 40, a horizontal support block 32 and a mounting block 37 are fixed to the support main body block 31 shown in FIGS.

[0030] The toggle fixing part 15 is attached to the swing drive main body 40 via a swing drive advance / retract part 41. The swing drive main body 40 changes the amount of projection of the swing drive advance / retract part 41 from the swing drive main body 40 in the height direction Dz (particularly the downward vertical direction). The height position of the toggle fixing part 15 changes depending on the amount of projection of the swing drive advance / retract part 41. Therefore, the swing drive main body 40 and the swing drive advance / retract part 41 function as a swing adjustment part 17 that raises and lowers the toggle fixing part 15 in the height direction Dz.

[0031] The toggle fixing portion 15, which is fixed to the support main body block 31 via the swing drive advance / retreat portion 41 and the swing drive main body portion 40 in this manner, is arranged to be movable in the height direction Dz but is fixed in the first horizontal direction Dx.

[0032] 3, when the first support portion 12a and the second support portion 12b are disposed at the close position P12, the third link 21c and the fourth link 21d extend parallel to the height direction Dz, and the fifth link 21e and the sixth link 21f extend parallel to the first horizontal direction Dx. Therefore, when the third link 21c and the fourth link 21d swing from this state, a force acts on the fifth link 21e and the sixth link 21f in the first horizontal direction Dx.

[0033] Therefore, when a downward load is applied to the first support portion 12a and the second support portion 12b in a state where the first support portion 12a and the second support portion 12b are disposed at the close position P12, a force acts on the toggle fixing portion 15 in the first horizontal direction Dx via the first link mechanism 16a and the second link mechanism 16b. On the other hand, the toggle fixing portion 15 is fixed with respect to the first horizontal direction Dx as described above. Therefore, when the gravitational load of an article acts on the first support portion 12a and the second support portion 12b disposed at the close position P12 (see FIG. 11 etc. described later), the toggle fixing portion 15 substantially acts as a stopper, and it is possible to prevent the first support portion 12a and the second support portion 12b from moving toward the separated position P11 and opening.

[0034] In this example, a toggle mechanism is formed by the first support portion 12a, the second support portion 12b, the first link mechanism 16a, the second link mechanism 16b and the toggle fixing portion 15, and movement of the first support portion 12a and the second support portion 12b from the close position P12 to the separated position P11 can be prevented.

[0035] 1 and 2, a tension adjustment main body 33 is fixed to the horizontal support block 32. A tension adjustment support part 35 is attached to the tension adjustment main body 33 via a tension adjustment advance / retract part 34. The tension adjustment support part 35 is fixed to the belt 11 (particularly the part between the third support part 12c and the fourth support part 12d) via a fastener (not shown) such as a bolt. Unlike the first support part 12a to the fourth support part 12d, the tension adjustment support part 35 does not need to support the inner surface of the belt 11.

[0036] The tension adjustment main body 33 changes the amount of projection of the tension adjustment advance / retract part 34 from the tension adjustment main body 33 in the height direction Dz (particularly the downward vertical direction). The height position of the tension adjustment support part 35 changes depending on the amount of projection of the tension adjustment advance / retract part 34, and the height position of the part of the belt 11 fixed to the tension adjustment support part 35 changes. Therefore, the tension adjustment main body 33, the tension adjustment advance / retract part 34, and the tension adjustment support part 35 function as a slack adjustment part 13 that changes the degree of slack in the belt 11.

[0037] A three-dimensionally movable belt moving device 14 is attached to the mounting block 37 shown in Fig. 2. The belt moving device 14 three-dimensionally moves the entire members (e.g., belt 11) attached to the mounting block 37, the support main body block 31, and the horizontal support block 32, respectively. The belt moving device 14 can be configured by any device that can move the article support device 10 (particularly the belt 11), and is typically configured by a robot (e.g., an articulated robot, a parallel link robot, etc.).

[0038] FIG. 4 is a block diagram showing an example of a control configuration of the item support device 10. As shown in FIG.

[0039] The slack adjusting unit 13, the belt moving device 14, and the swing adjusting unit 17 are connected to the control unit 50 and are controlled by the control unit 50. The method of controlling the slack adjusting unit 13, the belt moving device 14, and the swing adjusting unit 17 by the control unit 50 is not limited.

[0040] For example, the control unit 50 may issue a drive signal at a desired timing, and the slack adjustment unit 13, the belt moving device 14 and / or the swing adjustment unit 17 may perform an operation according to the drive signal based on the timing of receiving the drive signal. Also, the control unit 50 may issue a clock signal, and the slack adjustment unit 13, the belt moving device 14 and / or the swing adjustment unit 17 may perform a desired operation based on the received clock signal.

[0041] The slack adjustment unit 13, the belt moving device 14, and the swing adjustment unit 17 are equipped with any actuator. For example, the slack adjustment unit 13 (tension adjustment main body 33 and tension adjustment advance / retract unit 34) and the swing adjustment unit 17 (swing drive main body 40 and swing drive advance / retract unit 41) may be configured as air cylinders. Meanwhile, the belt moving device 14 may be equipped with a motor (e.g., a servo motor).

[0042] Next, an example of an article supporting method for supporting an article by the above-mentioned article support device 10 will be described.

[0043] The article supporting method described below is performed by appropriately driving the slack adjusting unit 13, the belt moving device 14 and the swing adjusting unit 17 under the control of the control unit 50.

[0044] Fig. 5 is a front view showing an example of the item support section 80. Fig. 6 is a side view (see arrow "VI" in Fig. 5) of the item support section 80 shown in Fig. 5.

[0045] The article 90 in this example includes a plurality of stick-shaped objects. The article 90 is supported by the article support portion 80 in a state in which the plurality of stick-shaped objects are oriented in substantially the same direction (horizontal direction) and stacked in the height direction Dz.

[0046] The article support section 80 shown in Figs. 5 and 6 includes two bottom support sections 81 and side support sections 82 attached to both side edges of each bottom support section 81 and extending in the height direction Dz (particularly, upward). Both longitudinal ends of an article 90 (i.e., a plurality of stick-shaped objects) are placed on the two bottom support sections 81, and horizontal movement of the article 90 is restricted by the side support sections 82. Thus, the article support section 80 of this example includes a first article support section 80a that supports one side of the article 90 and a second article support section 80b that supports the other side of the article 90. Each of the first article support section 80a and the second article support section 80b includes a bottom support section 81 and two side support sections 82.

[0047] Meanwhile, an intermediate portion of the article 90 (i.e., a plurality of stick-shaped objects) located between the first item support part 80a and the second item support part 80b is exposed to the external space S0. As described below, the intermediate portion is surrounded by the belt 11 of the item support device 10, and the article 90 is supported by the item support device 10. Therefore, the horizontal distance between the first item support part 80a and the second item support part 80b is equal to or greater than the width of the belt 11 in the second horizontal direction Dy (see FIG. 2).

[0048] Note that the item support portion 80 shown in Figures 5 and 6 does not generally restrict the longitudinal movement (left-right direction in Figure 6) of each stick-shaped object contained in the item 90, but may have a component (e.g., a side wall) that restricts the longitudinal movement of each stick-shaped object.

[0049] 7 to 13 are diagrams showing example states of an item support device 10 according to one example of an item support method. In Figs. 7 to 10, the item support device 10 is shown as viewed from the front. In Figs. 11 to 13, the item support device 10 is shown as viewed from the side. In Figs. 7 to 13, some elements of the item support device 10 and the item support section 80 are omitted. For example, in Figs. 7 to 10, with respect to the item support section 80, the bottom support section 81 is shown but the side support section 82 is not shown.

[0050] As shown in Fig. 7, an article 90 supported by an article support section 80 is disposed at a first article position P1. Meanwhile, a belt 11 of an article support device 10 is positioned above the article 90 disposed at the first article position P1 by a belt moving device 14. In the example shown in Fig. 7, with the first support section 12a and the second support section 12b disposed at a separated position P11, the belt 11 is positioned above the article 90 disposed at the first article position P1.

[0051] At this time, the tension adjustment support part 35 is disposed at a relaxed position P21, which is a relatively lower position, and the belt 11 is in a relaxed state as a whole. In Fig. 7, for convenience, a state in which the belt 11 is not slackened is shown, but in reality, a part of the belt 11 (for example, a part between the tension adjustment support part 35 and the third support part 12c and a part between the tension adjustment support part 35 and the fourth support part 12d) or the whole of the belt 11 is slackened. Therefore, the part of the belt 11 between the first support part 12a and the second support part 12b extends in the horizontal direction without slack in the example shown in Fig. 7, but may be slackened.

[0052] Thereafter, with the first support portion 12a and the second support portion 12b being disposed at the separation position P11, the belt moving device 14 lowers the belt 11, and the belt 11 is disposed at the first moving position P31. As a result, as shown in FIG. 8, the article 90 is partially wrapped by the belt 11 from above. That is, the portion of the belt 11 between the first support portion 12a and the second support portion 12b enters between the first article support portion 80a and the second article support portion 80b from above, and the middle portion of the article 90 is covered by the belt 11 from above. At this time, the outer surface of the portion of the belt 11 covering the article 90 (i.e., the belt enveloping portion 18) faces the article 90.

[0053] Thereafter, the first support portion 12a and the second support portion 12b are moved from the separated position P11 and placed at the close position P12 as shown in Fig. 9. As a result, the first support portion 12a and the second support portion 12b are positioned below the article 90 on the article support portion 80, and the article 90 on the bottom support portion 81 (i.e., the article 90 placed at the first article position P1) is placed in the enclosed space S1 inside the belt envelopment portion 18 formed by bending a part of the belt 11. In the example shown in Fig. 9, the upper tops of the first support portion 12a and the second support portion 12b placed at the close position P12 are placed at approximately the same height as the upper surface of the bottom support portion 81.

[0054] 9, the belt envelopment portion 18 is formed by a portion of the belt 11 located between the first support portion 12a and the second support portion 12b. The connection path space S2 connecting the external space S0 outside the belt 11 and the enclosed space S1 is closed by the first support portion 12a and the second support portion 12b located at the close position P12, or is made smaller than when the first support portion 12a and the second support portion 12b are located at the separated position P11.

[0055] In this example, as shown in Fig. 9, the connection path space S2 is not completely closed by the first support part 12a and the second support part 12b arranged at the proximity position P12, but exists between the first support part 12a and the second support part 12b arranged at the proximity position P12. The size of this connection path space S2 in the first horizontal direction Dx is smaller than the size (particularly the cross-sectional diameter) of each stick-shaped object included in the article 90. Therefore, the first support part 12a and the second support part 12b function as stoppers that limit the movement of the article 90 in the enclosed space S1, and each stick-shaped object does not fall from the enclosed space S1 to the external space S0 via the connection path space S2.

[0056] By disposing the first support part 12a and the second support part 12b at the close position P12 in this manner, the article 90 is surrounded by the belt envelopment part 18 and is disposed in an enclosed space S1 partitioned by the belt envelopment part 18. The enclosed space S1 thus formed has a size larger than the entire article 90, and a relatively large space exists between the belt envelopment part 18 and the article 90, and the article 90 is not clamped by the belt envelopment part 18.

[0057] 10, the tension adjustment support part 35 moves upward from the relaxed position P21 to be placed at the tensioned position P22, the belt 11 is placed in a tensioned state, and the belt enveloping part 18 tightens the article 90 from the outside. This reduces the space between the belt enveloping part 18 and the article 90, and the article 90 is supported by the belt enveloping part 18 from the outside.

[0058] 11, while the article 90 is supported by the belt enveloping portion 18, the belt 11 is moved upward together with the article 90 by the belt moving device 14 (see FIG. 2). As a result, the article 90 is moved from the first article position P1 and released from support by the article support portion 80.

[0059] At this time, the gravitational load of the article 90 acts downward on the first support portion 12a and the second support portion 12b, but the toggle mechanism described above prevents the first support portion 12a and the second support portion 12b from moving from the close position P12 to the separated position P11. Therefore, the article support device 10 (particularly the belt 11, the first support portion 12a, and the second support portion 12b) can stably support the article 90 that has been released from the support of the article support portion 80 even while the article 90 is being transported, and can prevent the article 90 from falling unintentionally.

[0060] Thereafter, as shown in FIG. 12, with the article 90 supported by the belt enveloping portion 18, the belt 11 is placed at the second moving position P32 by the belt moving device 14, and the article 90 is placed at the second article position P2.

[0061] In this example, the article 90 arranged at the second article position P2 is located above the mouth 95a of the container 95 (e.g., a bag) supported by the container support part 98 (e.g., a gripper). In particular, the opening of the inner space (i.e., the enclosed space S1) of the belt enveloping part 18 faces the height direction Dz, and the longitudinal direction of each stick-shaped object included in the article 90 coincides with the height direction Dz.

[0062] Thereafter, with the mouth 95a of the container 95 open, the tension adjustment support part 35 moves from the tensioned position P22 towards the relaxed position P21 (i.e., to the left in Figs. 12 and 13). This causes the belt envelopment part 18 to slacken, and the article 90 is released from support by the belt envelopment part 18 and falls under the influence of gravity, entering the inside of the container 95 through the mouth 95a. As a result, the article 90 is contained in the container 95, as shown in Fig. 13.

[0063] Thereafter, the container 95 containing the article 90 is transferred to the subsequent stage by the container support section 98.

[0064] The item support device 10 can continuously move the item 90 from the first item position P1 and store it in the container 95 by repeatedly performing the series of processes described above.

[0065] As described above, the item support device 10 of this embodiment includes the belt 11, the first support portion 12a and the second support portion 12b that contact the inner surface of the belt 11 and can be positioned at a close position P12 where the distance between them is relatively close and at a far position P11 where the distance between them is relatively far, and the slack adjustment portion 13 that changes the degree of slack in the belt 11. When the first support portion 12a and the second support portion 12b are positioned at the close position P12, a portion of the belt 11 flexes to form a belt enclosing portion 18. The belt enclosing portion 18 has an enclosed space S1 inside in which an item 90 can be placed. The connection path space S2 connecting the external space S0 outside the belt 11 and the enclosed space S1 is closed by the first support part 12a and the second support part 12b arranged at the close position P12, or made smaller than when the first support part 12a and the second support part 12b are arranged at the separated position P11. The slack adjustment part 13 changes the degree of slack in the belt 11 to change the size of the enclosed space S1.

[0066] This allows the item support device 10 to appropriately support the item 90, which may vary in size and shape.

[0067] In particular, in the above-mentioned embodiment, the belt 11 wraps the article 90 with the outer surface of the belt 11 facing the article 90, so that the article 90 is supported by the belt 11. This allows the belt 11 to be positioned so as to wrap the article 90 without passing between the article 90 and the article support section 80 (e.g., the bottom support section 81), and the article 90 can be appropriately supported by the belt 11. Note that, when wrapping the article 90 with the belt 11 with the inner surface of the belt 11 facing the article 90, for example, the tubular belt 11 needs to pass between the article 90 and the article support section 80 (e.g., the bottom support section 81). On the other hand, according to the above-mentioned embodiment, in a state in which the article 90 is supported by the article support section 80, the exposed portion of the article 90 that is not supported by the article support section 80 is wrapped by the belt 11 by passing through the connection path space S2 formed by the belt 11 (particularly the outer surface) without separating the article 90 from the article support section 80, so that the article 90 can be supported by the belt 11.

[0068] The item support device 10 also includes a belt moving device 14 that moves the belt 11. The belt moving device 14 moves the belt 11 to a first moving position P31 where the item 90 located at the first item position P1 is placed in the enclosed space S1, and to a second moving position P32 where the item 90 in the enclosed space S1 is placed at a second item position P2 different from the first item position P1.

[0069] This allows the item support apparatus 10 to properly transfer the item 90 from the first item position P1 to the second item position P2.

[0070] The item support device 10 also includes a third support portion 12c and a fourth support portion 12d that contact the inner surface of the belt 11. The first support portion 12a swings about the third support portion 12c, and the second support portion 12b swings about the fourth support portion 12d.

[0071] This allows the item support device 10 to simply and accurately position the first support portion 12a and the second support portion 12b at the separated position P11 and the close position P12. Furthermore, when the first support portion 12a and the second support portion 12b are moved from the separated position P11 to the close position P12, the deflection of the belt 11 is reduced by the third support portion 12c and the fourth support portion 12d. As a result, the amount of tension on the belt 11 when adjusting the degree of slack in the belt 11 thereafter can be reduced, and the adjustment time can be shortened.

[0072] The article support device 10 also includes a toggle fixing part 15 fixed in a first horizontal direction (first direction) Dx, and a first link mechanism 16a connecting the first support part 12a and the toggle fixing part 15 to each other. The first support part 12a is provided movably. When the first support part 12a and the second support part 12b are arranged at the close position P12 and a load (e.g., gravity or inertia force acting on the article 90) is applied to the first support part 12a such that the first support part 12a moves from the close position P12 to the separated position P11, a force acts on the toggle fixing part 15 in the first horizontal direction Dx via the first link mechanism 16a.

[0073] This makes it possible to prevent the first support portion 12a from moving from the close position P12 toward the separate position P11 based on the toggle mechanism principle.

[0074] [First Modification] In this modification, elements that are the same as or correspond to those in the above-described embodiment are given the same reference numerals, and detailed description thereof will be omitted.

[0075] FIG. 14 is a front view showing an item support device 10 according to a first modified example.

[0076] The item support device 10 of this modified example includes a first belt guide 60a to a fourth belt guide 60d that guide the belt 11.

[0077] The first belt guide 60a is supported by a first guide fixing block 61a attached to the first link 21a, and the second belt guide 60b is supported by a second guide fixing block 61b attached to the second link 21b.

[0078] The first belt guide 60a contacts the outer surface of the portion of the belt 11 extending from the first support portion 12a to the second support portion 12b, and guides the portion upward (i.e., concave). The second belt guide 60b contacts the outer surface of the portion of the belt 11 extending from the second support portion 12b to the first support portion 12a, and guides the portion upward (i.e., concave). In this way, the portion of the belt 11 between the first support portion 12a and the second support portion 12b (i.e., the belt envelopment portion 18) is guided by the first belt guide 60a and the second belt guide 60b so as to form a concave shape with respect to the external space S0.

[0079] In this way, even when the first support portion 12a and the second support portion 12b are disposed in the separated position P11, the belt surrounding portion 18 is slackened and forms the surrounded space S1.

[0080] On the other hand, the third belt guide 60c is attached to the support body block 31 (see FIG. 2) and guides the portion of the belt 11 between the tension adjustment support portion 35 and the third support portion 12c. This reduces slack in the portion of the belt 11 between the tension adjustment support portion 35 and the third support portion 12c.

[0081] In addition, the fourth belt guide 60d is attached to the support body block 31 and guides the portion of the belt 11 between the tension adjustment support portion 35 and the fourth support portion 12d. This reduces slack in the portion of the belt 11 between the tension adjustment support portion 35 and the fourth support portion 12d.

[0082] In this manner, the portion of the belt 11 between the first support portion 12a and the second support portion 12b is encouraged to slacken, and the belt enveloping portion 18 can form the concave enclosed space S1 in advance.

[0083] The other configuration is similar to that of the item support device 10 of the above-described embodiment.

[0084] According to the item support device 10 of this modification, the item 90 supported by the item support section 80 and placed at the first item position P1 can be positioned in the pre-formed enclosed space S1. This makes it possible to reduce the force acting on the item 90 from the belt 11 (particularly the belt encircling section 18) when the belt 11 is moved to place the item at the first movement position P31 (see FIG. 8).

[0085] As a result, the belt 11 (particularly the belt encircling portion 18) can appropriately encircle and support the article 90 while minimizing damage to the article 90 from the belt 11 and preventing the article 90 from becoming out of shape.

[0086] [Second modified example] In this modification, elements that are the same as or correspond to those in the above-described embodiment and first modification are given the same reference numerals, and detailed description thereof will be omitted.

[0087] 15 and 16 are front views showing an item support device 10 according to a second modified example.

[0088] The slack adjustment unit 13 in the above-described embodiment (see FIG. 1, etc.) changes the degree of slack in the belt 11 in response to the linear forward and backward movement of the tension adjustment advance / retract unit 34, but in this modified example, the degree of slack in the belt 11 is changed in response to the rotational movement of the rotational tension adjustment unit 36.

[0089] That is, the slack adjustment unit 13 of this modified example has a rotational tension adjustment unit 36 ​​instead of the above-mentioned tension adjustment main body unit 33 and tension adjustment advance / retreat unit 34. The rotational tension adjustment unit 36 ​​is directly or indirectly attached to the support main body block 31 (see Figs. 1 and 2) and is provided so as to be capable of reciprocating rotation. The rotational tension adjustment unit 36 ​​can have any configuration, but is typically configured by a motor (e.g., a servo motor).

[0090] The rotational tension adjustment unit 36 ​​has a tension adjustment support part 35 fixed to the belt 11 (particularly the portion between the third support part 12c and the fourth support part 12d). The tension adjustment support part 35 moves back and forth in the circumferential direction in response to the back and forth rotation of the rotational tension adjustment unit 36. Therefore, in response to the rotation of the rotational tension adjustment unit 36, the portion of the belt 11 fixed to the tension adjustment support part 35 moves in the circumferential direction, and the degree of slack in the belt 11 is changed.

[0091] The belt 11 may be endless or non-endless. In the case of the endless belt 11, a portion of the belt 11 is fixed to the tension adjustment support part 35. In the case of the non-endless belt 11, as an example, both ends of the belt 11 are fixed to the tension adjustment support part 35.

[0092] The other configuration is similar to that of the item support device 10 in the above-described embodiment.

[0093] According to this modified example of the item support device 10, the item 90 supported by the item support section 80 is surrounded by the belt 11 (particularly the belt surrounding section 18), and then the rotational tension adjustment section 36 is rotated, thereby reducing the surrounded space S1 and allowing the item 90 to be supported by the belt surrounding section 18.

[0094] In particular, when the amount of rotation of the rotational tension adjustment unit 36 ​​can be changed continuously or in stages (preferably in three or more stages), by changing the amount of rotation of the rotational tension adjustment unit 36 ​​according to the size and shape of the article 90, the belt envelopment unit 18 can support the article 90 with an appropriate supporting force.

[0095] As a result, the belt 11 (particularly the belt encircling portion 18) can appropriately encircle and support the article 90 while minimizing damage to the article 90 from the belt 11 and preventing the article 90 from becoming out of shape.

[0096] [Other variations] Although in the above embodiment, the article 90 includes a plurality of stick-shaped objects, it may also include only a single object, and the article 90 may be constituted, for example, by a bag in which a fluid such as a liquid is sealed.

[0097] The item support device 10 and the item support method according to the above-described embodiment and modified examples can be particularly advantageous when supporting an item of an indefinite shape. Therefore, the item support device 10 and the item support method according to the present disclosure can be advantageously used when supporting an item whose size or dimensions can change or when the size or dimensions of the item to be supported can change.

[0098] Various modifications may be made to each element of the above-mentioned embodiment and modified examples, and the configurations of the above-mentioned embodiment and modified examples may be combined partially or entirely. In addition, the effects achieved by the present disclosure are not limited to the above-mentioned effects, and unique effects according to the specific configuration of each embodiment may also be achieved. In this way, various additions, modifications, and partial deletions are possible for each element described in the claims, specification, and drawings, within the scope of the technical idea and intent of the present disclosure. [Explanation of symbols]

[0099] 10 article support device, 11 belt, 12a first support portion, 12b second support portion, 12c third support portion, 12d fourth support portion, 13 slack adjustment portion, 14 belt moving device, 15 toggle fixing portion, 16a first link mechanism, 16b second link mechanism, 17 swing adjustment portion, 18 belt enveloping portion, 21a first link, 21b second link, 21c third link, 21d fourth link, 21e fifth link, 21f sixth link, 22a first movable shaft, 22b second movable shaft, 22c third movable shaft, 22d fourth movable shaft, 31 support body block, 32 horizontal support block, 33 tension adjustment body portion, 34 tension adjustment advance / retract portion, 35 tension adjustment support portion, 36 rotation tension adjustment portion, 37 mounting block, 40 swing drive body portion, 41 Swing drive forward / backward movement portion, 50 control portion, 60a first belt guide, 60b second belt guide, 60c third belt guide, 60d fourth belt guide, 61a first guide fixing block, 61b second guide fixing block, 80 article support portion, 80a first article support portion, 80b second article support portion, 81 bottom support portion, 82 side support portion, 90 article, 95 container, 95a mouth portion, 98 container support portion, Dx first horizontal direction, Dy second horizontal direction, Dz height direction, P1 first article position, P2 second article position, P11 separation position P11, P12 approach position P12, P21 relaxed position, P22 tension position, P31 first movement position, P32 second movement position, S0 external space, S1 surrounding space, S2 connection path space

Claims

1. Belt and a first support portion and a second support portion that contact an inner surface of the belt, the first support portion and the second support portion being positionable in a close position where the distance between them is relatively close and in a distant position where the distance between them is relatively far; a third support portion and a fourth support portion contacting the inner surface of the belt; A slack adjustment unit that changes the degree of slack in the belt, When the first support portion and the second support portion are disposed at the adjacent position, a portion of the belt is bent to form a belt envelopment portion, The belt envelopment portion has an enveloping space inside in which an article can be placed, A connection path space connecting an external space outside the belt and the enclosed space is closed or made smaller by the first support portion and the second support portion arranged in the close position than when the first support portion and the second support portion are arranged in the separated position, The slack adjustment unit changes the size of the enclosed space by changing the degree of slack in the belt, The first support portion swings around the third support portion, The second support portion swings around the fourth support portion. Article support device.

2. A belt, a first support portion and a second support portion that contact an inner surface of the belt, the first support portion and the second support portion being positionable in a close position where the distance between them is relatively close and in a distant position where the distance between them is relatively far; a slack adjustment unit that changes the degree of slack in the belt; A toggle fixing portion that is fixed in a first direction; a link mechanism connecting the first support portion and the toggle fixing portion to each other, When the first support portion and the second support portion are disposed at the adjacent position, a portion of the belt is bent to form a belt envelopment portion, The belt envelopment portion has an enveloping space inside in which an article can be placed, A connection path space connecting an external space outside the belt and the enclosed space is closed or made smaller by the first support portion and the second support portion arranged in the close position than when the first support portion and the second support portion are arranged in the separated position, The slack adjustment unit changes the size of the enclosed space by changing the degree of slack in the belt, The first support portion is provided movably, when a load is applied to the first support portion such that the first support portion moves from the close position to the separated position in a state in which the first support portion and the second support portion are disposed at the close position, a force acts on the toggle fixing portion in the first direction via the link mechanism. Article support device.

3. a belt moving device that moves the belt, the first support portion, the second support portion, and the slack adjustment portion, The item support device of claim 1 or 2, wherein the belt moving device moves the belt to a first moving position where the item located at a first item position is placed in the enclosed space, and a second moving position where the item in the enclosed space is placed in a second item position different from the first item position.

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