Holding device

Abstract

To provide a holding device capable of holding a transport object with an opened upper part from either of outside and inside, and capable of holding the transport object with sufficient holding power.SOLUTION: A holding device includes: a frame 4 which can be attached to a base end side attachment; a pair of arm members 6 which are arranged side by side in a longitudinal direction, have lower parts 6a extending in a vertical direction, and have upper parts 6b attached to the frame 4 so as to move in the longitudinal direction; and a driving device 7 which changes a gap in the longitudinal direction between the pair of arm members 6. A holding portion 9 is rotatably attached to the lower part 6a of the arm member 6. On both faces in the longitudinal direction of the holding portions 9, contact faces with a transport object 50 are formed. The holding device includes a maintaining device which maintains a state where the lower parts 6a of the arm members 6 extend in the vertical direction even when the gap in the longitudinal direction between the pair of arm members 6 is changed.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a holding device for holding transported items, the holding device having an open top. [Background technology]

[0002] Patent Document 1 discloses a waste home appliance gripping device attached to the arm of a hydraulic excavator. This waste home appliance gripping device has a pair of straight claws that are always opened and closed in a parallel position.

[0003] Patent Document 2 discloses a gripping device attached to the arm of a hydraulic excavator. This gripping device also has a pair of claws with gripping surfaces that are nearly vertical, and grips an object from the outside.

[0004] Patent Document 3 discloses a multi-purpose bucket that is attached to the arm of a hydraulic excavator and has a pair of gripping arms, and discloses that a grooved body is held from the inside by a receiving member that is attached inwardly to the gripping arms. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2003-192265 A [Patent Document 2] Japanese Patent Application Publication No. 61-94991 [Patent Document 3] Japanese Utility Model Application Publication No. 59-116459 Summary of the Invention [Problem to be solved by the invention]

[0006] However, the waste home appliance gripping device of Patent Document 1 can only grip objects with vertical sides because the gripping surfaces of the claws are vertical. Therefore, it cannot provide sufficient gripping force to transport objects with inclined sides, such as a U-shaped gutter.

[0007] Furthermore, the gripping device of Patent Document 2 grips an object from the outside of the object, while the multipurpose bucket of Patent Document 3 holds a groove-shaped body from the inside of the groove-shaped body. However, these cannot hold a transported object from either the outside or the inside. For transported objects with an open top, such as a U-shaped gutter, it is desirable to be able to instantly switch between gripping from the outside and holding from the inside depending on the situation.

[0008] The object of the present invention is to provide a holding device that can hold an open-topped transported item from both the outside and the inside, and that can hold the item with sufficient holding force. [Means for solving the problem]

[0009] The present invention is a holding device that is attached to a base end attachment of a work machine and holds a transported object, comprising a frame that can be attached to the base end attachment, a pair of arm members arranged side by side in the left-right direction and having a lower part extending in the up-down direction, the upper parts of which are attached to the frame so as to be movable in the left-right direction, and a drive device that changes the left-right distance between the pair of arm members, wherein a holding part is rotatably attached to the lower parts of the arm members, and both left-right surfaces of the holding part have contact surfaces with the transported object, and the holding device maintains a state in which the lower parts of the arm members extend in the up-down direction even if the left-right distance between the pair of arm members is changed. Effect of the Invention

[0010] According to the present invention, by widening the left-right distance between the pair of arm members, the overall left-right width of the pair of holding parts can be made wider than the left-right width of the transported object. As a result, the transported object can be held from the outside by sandwiching the transported object from both sides with the pair of holding parts. Also, by narrowing the left-right distance between the pair of arm members, the overall left-right width of the pair of holding parts can be made narrower than the left-right width of the opening of the transported object. As a result, the transported object can be held from the inside of the opening of the transported object by abutting the pair of holding parts against the inner surface of the transported object from the inside to the outside of the transported object. Also, since the holding parts rotate with respect to the lower part of the arm members, the area in which the contact surface of the holding parts contacts the outer surface or inner surface of the transported object can be made wider than when the holding parts are fixed to the lower part of the arm members. As a result, the transported object can be held with sufficient holding force even if both side surfaces of the transported object are inclined to each other. In addition, since the lower portions of the arm members are maintained in a vertically extended state, the pair of holding portions can be brought into contact with the transported object at a constant angle regardless of the left-right distance between the pair of arm members, and the transported object can be held with sufficient holding force. In addition, the height position at which the holding portions can hold the transported object ranges from the upper portion to the lower portion of the transported object, so that the transported object can be transported stably when held at a height position equivalent to the center of gravity of the transported object. In addition, when the lower portion of the transported object is held, damage to the transported object can be suppressed compared to when the upper portion of the transported object is held. [Brief description of the drawings]

[0011] [Figure 1] FIG. [Diagram 2] 11 is a front view of the holding device, illustrating a state in which the left-right distance between a pair of arm members has narrowed. FIG. [Diagram 3] FIG. [Figure 4] 11 is a front view of the holding device, showing a state in which the left-right distance between a pair of arm members has been increased. FIG. [Diagram 5]FIG. 4 is a perspective view of a holding portion including a lower portion of an arm member in the first embodiment. [Figure 6] FIG. 2 is a perspective view of a holding portion in the first embodiment. [Figure 7] 13 is a front view of a modified holding device, showing a state in which the left-right distance between a pair of arm members is narrowed. FIG. [Figure 8] 13 is a front view of a modified holding device, showing a state in which the left-right distance between a pair of arm members has been increased. FIG. [Figure 9] 13 is a perspective view of a modified holding portion including a lower portion of an arm member. FIG. [Figure 10] FIG. 11 is a perspective view of a holding portion including a lower portion of an arm member in a second embodiment. [Figure 11] FIG. 11 is a perspective view of a holding portion including a lower portion of an arm member in a modified example of the second embodiment. [Figure 12] FIG. 13 is a perspective view of a holding portion including a lower portion of an arm member in another modified example of the second embodiment. [Figure 13] FIG. 13 is a perspective view of a holding portion including a lower portion of an arm member in yet another modified example of the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0013] [First embodiment] (Work machine configuration) The holding device according to the first embodiment is attached to a base end attachment of a work machine and is for holding a transported object with an open top. As shown in Fig. 1, which is a side view of a work machine 30, the work machine 30 is a machine that performs work using an attachment 33, such as a hydraulic excavator. The work machine 30 has a lower traveling body 31, an upper rotating body 32, and the attachment 33.

[0014] The lower traveling body 31 is a part that allows the work machine 30 to travel, and is equipped with, for example, crawlers. The upper rotating body 32 is attached to an upper part of the lower traveling body 31 so as to be able to rotate.

[0015] The attachment 33 is attached to the upper rotating body 32 so as to be rotatable in the vertical direction. The attachment 33 includes a base end attachment 34 and a tip end attachment 36. The base end attachment 34 includes a boom 34a and an arm 34b. The boom 34a is attached to the upper rotating body 32 so as to be rotatable in the vertical direction. The direction in which the rotation axis of the boom 34a relative to the upper rotating body 32 extends is defined as the "machine lateral direction". The arm 34b is attached to the boom 34a so as to be rotatable in the vertical direction. The direction in which the rotation axis of the arm 34b relative to the boom 34a extends is the machine lateral direction.

[0016] The tip attachment 36 is provided at the tip of the attachment 33. The tip attachment 36 includes a rotation mechanism 37 and a holding device 1.

[0017] The rotation mechanism 37 is a mechanism that rotates the holding device 1 relative to the base-end attachment 34. The rotation mechanism 37 allows the holding device 1 to rotate in all directions within a predetermined angle range relative to the arm 34b.

[0018] The rotation mechanism 37 includes an attachment portion 37a, a tilt portion (tilt device) 37b, and a rotation portion (rotation device) 37c. The attachment portion 37a is attached to the arm 34b. The tilt portion 37b is attached to the attachment portion 37a so as to be rotatable (swingable, tiltable) relative to the attachment portion 37a. The direction in which the rotation axis of the tilt portion 37b relative to the attachment portion 37a extends is the horizontal direction of the machine. The tilt portion 37b can rotate the holding device 1 (frame 4 described later) around this rotation axis.

[0019] The rotating portion 37c is attached to the tilting portion 37b so as to be rotatable relative to the tilting portion 37b. The direction in which the rotation axis of the rotating portion 37c relative to the tilting portion 37b extends is the attachment direction of the holding device 1 (a frame 4 described later) to the base end attachment 34. The rotating portion 37c can rotate the holding device 1 (a frame 4 described later) around this rotation axis.

[0020] (Configuration of holding device) The holding device 1 is a device that holds an object 50 (see FIG. 2) with an open top. The holding device 1 is attached to the base end attachment 34. Specifically, the holding device 1 is attached to the arm 34b via a rotation mechanism 37.

[0021] As shown in FIG. 2, which is a front view of the holding device 1, and FIG. 3, which is a side view of the holding device 1, the holding device 1 has a housing 3, a frame 4, a link member 5, an arm member 6, a driving device 7, an interlocking member 8, and a holding portion 9.

[0022] The housing 3 can be attached to the base end attachment 34. Specifically, the housing 3 can be attached to the arm 34b via a rotation mechanism 37.

[0023] The housing 3 has a pair of plate members 3a separated in the left-right direction of Fig. 3 (the direction perpendicular to the paper surface of Fig. 2), a plate member 3b connecting the upper sides of the pair of plate members 3a, and a plate member 3c connecting the centers of the lower sides of the pair of plate members 3a. Both left and right ends of the lower sides of the pair of plate members 3a are open to enable the link member 5 to rotate. In other words, there is no member connecting both left and right ends of the lower sides of the pair of plate members 3a.

[0024] The frame 4 is plate-shaped and disposed inside the housing 3. As shown in FIG. 2, the frame 4 has a longitudinal direction extending in the left-right direction of FIG. 2. Hereinafter, the left-right direction of FIG. 2 will be referred to as the "left-right direction". Both ends of the frame 4 protrude from the inside of the housing 3. The frame 4 is attached to each of a pair of plate members 3a by pins 11 at connection points A and B provided at both ends of the housing 3 (see FIG. 3). That is, the frame 4 can be attached to the base end attachment 34 via the housing 3.

[0025] 2, a pair of link members 5 are provided in the left-right direction. The pair of link members 5 are arranged side by side in the left-right direction. As described later, the left-right distance between the pair of link members 5 is changed by a drive device 7.

[0026] Each of the pair of link members 5 has an inner link member 5a and an outer link member 5b. The inner link member 5a and the outer link member 5b are rotatably attached at their upper portions to the frame 4. Specifically, the upper end of the inner link member 5a on the left side in the figure is rotatably attached at a connection point A by a pin 11. The upper end of the inner link member 5a on the right side in the figure is rotatably attached at a connection point B by a pin 11 (see FIG. 3). As will be described later, the upper end of the inner link member 5a on the right side in the figure protrudes upward from the connection point B. The upper end of the outer link member 5b on the left side in the figure is rotatably attached at a connection point C provided at the left end of the frame 4 by a pin 12. The upper end of the outer link member 5b on the right side in the figure is rotatably attached at a connection point D provided at the right end of the frame 4 by a pin 12 (see FIG. 3).

[0027] As shown in Fig. 3, the inner link member 5a has a pair of plate members 5c spaced apart in the left-right direction of Fig. 3 (the direction perpendicular to the paper surface of Fig. 2) and a connecting member 5d connecting the pair of plate members 5c. The outer link member 5b is disposed between the pair of plate members 5c.

[0028] In the inner link member 5a on the right side of Fig. 2 (the front side of the paper in Fig. 3), of the pair of plate members 5c, the plate member 5c on the right side of Fig. 3 protrudes upward from the connection point B. The other end of the interlocking member 8, which will be described later, is rotatably attached to the upper end of this plate member 5c.

[0029] As shown in Fig. 2, a pair of arm members 6 are provided. The pair of arm members 6 are arranged side by side in the left-right direction. The arm member 6 is L-shaped, but may be V-shaped. The arm member 6 has a lower part 6a extending in the up-down direction and an upper part 6b extending in the left-right direction. The up-down direction is perpendicular to the left-right direction and the depth direction in Fig. 2, respectively.

[0030] The upper part 6b of the arm member 6 is rotatably attached to the lower end of the link member 5. Specifically, a base portion of the upper part 6b is rotatably attached to the lower end of the inner link member 5a, and a tip portion of the upper part 6b is rotatably attached to the lower end of the outer link member 5b. In other words, the upper part 6b of the arm member 6 is attached to the frame 4 via the link member 5. Then, as described below, by rotating the link member 5 relative to the frame 4, the upper part 6b of the arm member 6 moves in the left-right direction.

[0031] 2, the distance between connection point E of the upper part 6b and the inner link member 5a and connection point F of the upper part 6b and the outer link member 5b is the same as the distance between connection point A and connection point C. Also, on the right side of the figure, the distance between connection point G of the upper part 6b and the inner link member 5a and connection point H of the upper part 6b and the outer link member 5b is the same as the distance between connection point B and connection point D. Therefore, the left-right distance between the inner link member 5a and the outer link member 5b is kept constant.

[0032] The driving device 7 is a hydraulic cylinder and is disposed between the left and right inner link members 5a. The driving device 7 changes the left-right distance between the pair of arm members 6 by rotating the link members 5 relative to the frame 4. The driving device 7 may be an electric cylinder or the like.

[0033] The driving device 7 has a tube 7a and a rod 7b. The rod 7b is inserted into the tube 7a and moves in the longitudinal direction of the tube 7a. One end of the driving device 7 (the tip of the rod 7b) is rotatably attached to a connection point I provided in the middle of the inner link member 5a on the left side of the figure by a pin. The other end of the driving device 7 (the base end of the tube 7a) is rotatably attached to a connection point J provided in the middle of the inner link member 5a on the right side of the figure by a pin. The base end of the tube 7a is the end opposite to the side from which the rod 7b protrudes with respect to the tube 7a.

[0034] 2, when the telescopic length of the rod 7b of the driving device 7 is contracted, the distance between the pair of arm members 6 in the left-right direction is narrowed. On the other hand, when the telescopic length of the rod 7b of the driving device 7 is extended, the distance between the pair of arm members 6 in the left-right direction is widened, as shown in FIG. 4, which is a front view of the holding device 1.

[0035] The driving device 7 may have one end rotatably attached to the connection point I or the connection point J, and the other end rotatably attached to the frame 4.

[0036] Here, even if the distance between the pair of arm members 6 in the left-right direction is changed, the above-mentioned configuration maintains the state in which the lower portion 6a of the arm member 6 extends in the vertical direction. That is, as described above, each of the pair of link members 5 has the inner link member 5a and the outer link member 5b. And, on the left side of the drawings in FIG. 2 and FIG. 4, the distance between the connection point E and the connection point F is the same as the distance between the connection point A and the connection point C. Similarly, on the right side of the drawings, the distance between the connection point G and the connection point H is the same as the distance between the connection point B and the connection point D. Therefore, no matter how the link member 5 is rotated relative to the frame 4, the posture of the arm member 6 relative to the frame 4 does not change. That is, the state in which the lower portion 6a of the arm member 6 extends in the vertical direction is maintained. In this way, the frame 4, the link member 5, and the arm member 6 constitute a maintaining device that maintains the state in which the lower portion 6a of the arm member 6 extends in the vertical direction.

[0037] The interlocking member 8 is, for example, plate-shaped. The interlocking member 8 is connected to each of the pair of link members 5 so as to connect the pair of link members 5 to each other. One end of the interlocking member 8 is rotatably attached to the left inner link member 5a by a pin at a connection point I below the connection point A. The other end of the interlocking member 8 is rotatably attached to the right inner link member 5a by a pin at a connection point K above the connection point B, which is provided at an upper end of the right inner link member 5a protruding above the connection point B.

[0038] The interlocking member 8 interlocks the movements of the left and right link members 5 as follows. When the drive device 7 expands and contracts, the connection point I moves in the left-right direction, and the connection point J moves in the opposite direction to the movement direction of the connection point I. As a result, the lower end of the link member 5 on the left side of the figure moves in the left-right direction, and the lower end of the link member 5 on the right side of the figure moves in the opposite direction to the movement direction of the lower end of the link member 5 on the left side of the figure. Here, when the lower end of the link member 5 on the left side of the figure moves in the left-right direction, the entire interlocking member 8 moves in the left-right direction, so that the lower end of the link member 5 on the right side of the figure moves in the opposite direction to the lower end of the link member 5 on the left side of the figure. Also, when the lower end of the link member 5 on the right side of the figure moves in the left-right direction, the entire interlocking member 8 moves in the left-right direction, so that the lower end of the link member 5 on the left side of the figure moves in the opposite direction to the lower end of the link member 5 on the right side of the figure.

[0039] In this way, when one of the pair of arm members 6 is moved in the left-right direction, the other of the pair of arm members 6 is moved in the opposite direction by the interlocking member 8, so that the amount of movement between connection points I and J due to the expansion and contraction of the drive device 7 is equal. Note that without the interlocking member 8, the amount of movement between connection points I and J due to the expansion and contraction of the drive device 7 would not necessarily be equal, and the amount of movement of the one that is more likely to expand or contract would be greater depending on factors such as the inclination of the holding device 1, so the movements of the left and right link members 5 are unlikely to be equal.

[0040] The holding part 9 is a part that holds the transported object 50. The holding part 9 is rotatably attached to the lower part 6a of the arm member 6. Specifically, the holding part 9 is rotatably attached to the lower end part of the lower part 6a.

[0041] As shown in Fig. 5, which is a perspective view of the holding part 9 including the lower part 6a of the arm member 6, both left and right sides of the holding part 9 are formed with contact surfaces with the transported object 50. Specifically, plate-shaped elastic bodies (contact members) 15 are attached to both sides of the metal holding part main body 9a of the holding part 9 with bolts (fastening members) 16. The elastic bodies 15 are, for example, rubber. The surface of the elastic bodies 15 is the contact surface with the transported object 50. In other words, the contact surface of the holding part 9 is composed of the elastic bodies 15.

[0042] As shown in Fig. 5, the holding device 1 has a limiting member 10. The limiting member 10 limits the rotation angle of the holding part 9 relative to the lower part 6a of the arm member 6. As also shown in Fig. 6, which is a perspective view of the holding part 9, the limiting member 10 has an elongated hole 10a formed in the side of the holding part main body 9a, and a bolt 10b inserted into the lower end of the lower part 6a and the elongated hole 10a. The tip of the bolt 10b is disposed within the elongated hole 10a, so that the rotation angle of the holding part 9 is limited to the length of the elongated hole 10a.

[0043] (Composition of transported goods) As shown in Fig. 2 and Fig. 4, the transported object 50 is held by the holding device 1 and transported. The transported object 50 has an open top. In this embodiment, the transported object 50 is a U-shaped ditch, but may be a box-shaped object with an open top. The transported object 50 is made of, for example, concrete, e.g., precast concrete.

[0044] The transported object 50 has a bottom surface portion 50a and a side surface portion 50b. The two side surface portions 50b are separated in the left-right direction, and the bottom surface portion 50a connects the two side surface portions 50b at the bottom of the transported object 50. There are multiple types of U-shaped gutters that differ in overall size, left-right width of the bottom surface portion 50a, inclination angle of the outer surface of the side surface portion 50b, and inclination angle of the inner surface of the side surface portion 50b.

[0045] In the holding device 1 of this embodiment, as shown in Fig. 4, by widening the left-right distance between the pair of arm members 6, the overall left-right width of the pair of holding parts 9 can be made wider than the left-right width of the transported object 50. Also, as shown in Fig. 2, by narrowing the left-right distance between the pair of arm members 6, the overall left-right width of the pair of holding parts 9 can be made narrower than the left-right width of the opening of the transported object 50.

[0046] (Operation of holding device 1) Next, the operation of the holding device 1 will be described.

[0047] The holding device 1 is moved (translated or rotated) by operating at least any one of the lower traveling body 31, the upper rotating body 32, the boom 34a, the arm 34b, and the rotation mechanism 37. Furthermore, the holding device 1 is operated to open and close the pair of arm members 6. The above "operation" may be an operation by an operator of the work machine 30, or may be an automatic operation by a control device.

[0048] (Opening and closing of a pair of arm members 6) The operation of opening the pair of arm members 6 (i.e., the operation of widening the left-right distance between the pair of holding parts 9) is performed as follows. In the state shown in Fig. 2, when the driving device 7 is driven so as to extend the telescopic length of the rod 7b, the connection point I moves to the left in the figure, and the inner link member 5a on the left side in the figure rotates around the connection point A, which is the upper end. In addition, the connection point J moves to the right in the figure, and the inner link member 5a on the right side in the figure rotates around the connection point B, which is the upper end. As a result, the lower end of the link member 5 on the left side in the figure moves to the left in the figure, and the arm member 6 on the left side in the figure moves to the left in the figure.

[0049] When the connection point I moves to the left in the figure, the entire interlocking member 8 moves to the left in the figure, and as a result, the connection point K moves to the left in the figure. Then, the inner link member 5a on the right side in the figure rotates around the connection point B, and the lower end of the link member 5 on the right side in the figure moves to the right in the figure, and the arm member 6 on the right side in the figure moves to the right in the figure. At the same time, when the connection point J moves to the right in the figure, the connection point K moves to the left in the figure, and as a result, the entire interlocking member 8 moves to the left in the figure. Then, the inner link member 5a on the left side in the figure rotates around the connection point A, and the lower end of the link member 5 on the left side in the figure moves to the left in the figure, and the arm member 6 on the left side in the figure moves to the left in the figure. As a result, as shown in FIG. 4, the distance between the pair of arm members 6 in the left-right direction increases.

[0050] An operation for closing the pair of arm members 6 (that is, an operation for narrowing the space between the pair of holding portions 9 in the left-right direction) is performed by an operation reverse to the operation for opening the pair of arm members 6.

[0051] In this way, by rotating the link member 5 about the upper end of the link member 5, the left-right distance between the lower ends of the pair of link members 5 is changed, and as a result, the left-right distance between the pair of arm members 6 is changed while the lower portions 6a of the arm members 6 are maintained in a state of extending in the vertical direction. It is also possible to change the left-right distance between the pair of arm members 6 by directly moving the arm members 6 without using the link member 5, but this requires a complicated mechanism to maintain the state in which the lower portions 6a of the arm members 6 extend in the vertical direction. Therefore, moving the arm members 6 via the link members 5 allows the left-right distance between the pair of arm members 6 to be changed with less movement than moving the arm members 6 directly.

[0052] Furthermore, when one of the pair of arm members 6 is moved in the left-right direction, the other of the pair of arm members 6 can be moved in the opposite direction by the interlocking member 8. In this way, since the pair of arm members 6 move in an interlocking manner, the position at which the transported object 50 is held can be easily adjusted.

[0053] (holding the transported goods from the outside) 4, when the transported object 50 is held from outside thereof, the lower portion 6a of the arm member 6 is kept extended in the vertical direction, and the left-right distance between the pair of holding parts 9 is made wider than the left-right width of the transported object 50. In this state, the holding device 1 is moved downward, and the holding parts 9 are disposed on both sides of the transported object 50.

[0054] Next, the pair of arm members 6 are closed. Then, while the lower portion 6a of the arm member 6 is maintained in a state of extending in the vertical direction, the inner contact surface of each of the pair of holding parts 9 comes into contact with the outer surface of the side portion 50b of the transported object 50, and the transported object 50 is sandwiched in the left-right direction. As a result, the transported object 50 is held by the holding device 1 from the outside of the transported object 50.

[0055] In this way, by widening the left-right distance between the pair of arm members 6, the overall left-right width of the pair of holding parts 9 can be made wider than the left-right width of the transported object 50. As a result, the pair of holding parts 9 can hold the transported object 50 from the outside by sandwiching the transported object 50 from both sides of the transported object 50.

[0056] Furthermore, since the holding portion 9 rotates relative to the lower portion 6a of the arm member 6, when the holding portion 9 is brought into contact with the outer surface of the transported object 50, the holding portion 9 rotates in accordance with the outer shape of the transported object 50. This allows a wide range of the contact surface from the upper end to the lower end to come into contact with the outer surface of the transported object 50. In other words, the area over which the contact surface of the holding portion 9 comes into contact with the outer surface of the transported object 50 can be made larger than when the holding portion 9 is fixed to the lower portion 6a of the arm member 6. This allows the transported object 50 to be held with sufficient holding force even if both side surfaces of the transported object 50 are inclined relative to each other.

[0057] The height position at which the holding unit 9 can hold the transported object 50 ranges from the upper part (upper end of the side surface portion 50b) to the lower part (lower end of the side surface portion 50b) of the outer surface of the transported object 50. Therefore, when the transported object 50 is held at a height position equivalent to the center of gravity position, the change in the center of gravity position with respect to the change in the orientation of the transported object 50 held by the holding device 1 is small, so the transported object 50 can be transported stably. When the lower part of the transported object 50 is held at a height position close to the bottom surface portion 50a connecting the two side surface portions 50b, the stronger part of the transported object 50 is sandwiched and held in the left-right direction compared to when the upper part of the transported object 50 is held, so that damage to the transported object 50 can be suppressed.

[0058] Moreover, by limiting the rotation angle of the holding part 9 with the limiting member 10, it is possible to prevent the holding part 9 from swinging unnecessarily. This makes it possible to prevent the non-contact part of the holding part 9 from contacting the transported object 50, so that it is possible to make the contact surface of the holding part 9 come into contact with the transported object 50 more easily.

[0059] Furthermore, because the lower portion 6a of the arm member 6 is maintained in an extended state in the vertical direction, the pair of holding portions 9 can each be brought into contact with the transported object 50 at a constant angle regardless of the left-right distance between the pair of arm members 6, and the transported object 50 can be held with sufficient holding force. Furthermore, because the lower portion 6a of the arm member 6 is maintained in an extended state in the vertical direction, when the transported object 50 is held by the holding portions 9, the holding portions 9 can be prevented from rotating to an angle limited by the limiting member 10, compared to a case in which the lower portion 6a of the arm member 6 is not maintained in an extended state in the vertical direction.

[0060] Holding the transported object 50 from outside the transported object 50 is effective when there is space available on the outside of the transported object 50 to insert the holding parts 9. In such a case, the outer surface of the transported object 50 and the holding parts 9 can be visually observed, so that the pair of holding parts 9 can be reliably positioned from outside the transported object 50 at a desired height position, such as the same height position as the center of gravity of the transported object 50 or the lower part of the transported object 50, and the transported object 50 can be suitably held from outside the transported object 50.

[0061] (Holding the transported goods from the inside) 2, when the transported object 50 is held from inside the transported object 50, the lower portion 6a of the arm member 6 is kept extended in the vertical direction, and the overall left-right distance between the pair of holding parts 9 is made narrower than the left-right width of the opening of the transported object 50. In this state, the holding device 1 is moved downward, and the pair of holding parts 9 are disposed inside the opening of the transported object 50.

[0062] Next, the pair of arm members 6 are opened. Then, while the lower portion 6a of the arm member 6 is maintained in an extended state in the vertical direction, the outer contact surface of each of the pair of holding parts 9 is abutted against the inner surface of the side portion 50b of the transported object 50. As a result, the transported object 50 is held by the holding device 1 from the inside of the opening of the transported object 50.

[0063] In this manner, by narrowing the left-right distance between the pair of arm members 6, the overall left-right width of the pair of holding parts 9 can be made narrower than the left-right width of the opening of the transported object 50. As a result, by abutting the pair of holding parts 9 against the inner surface of the transported object 50 from the inside to the outside of the transported object 50, the transported object 50 can be held from the inside of the opening of the transported object 50.

[0064] Furthermore, since the holding portion 9 rotates relative to the lower portion 6a of the arm member 6, when the holding portion 9 is brought into contact with the inner surface of the transported object 50, the holding portion 9 rotates in accordance with the outer shape of the transported object 50. This allows a wide range of the contact surface from the upper end to the lower end to come into contact with the inner surface of the transported object 50. In other words, the area over which the contact surface of the holding portion 9 comes into contact with the inner surface of the transported object 50 can be made larger than when the holding portion 9 is fixed to the lower portion 6a of the arm member 6. This allows the transported object 50 to be held with sufficient holding force even if both side surfaces of the transported object 50 are inclined relative to each other.

[0065] The height position at which the holding unit 9 can hold the transported object 50 ranges from the upper part (upper end of the side surface portion 50b) to the lower part (lower end of the side surface portion 50b) of the inner surface of the transported object 50. Therefore, when the transported object 50 is held at a height position equivalent to the center of gravity position, the change in the center of gravity position with respect to the change in the orientation of the transported object 50 held by the holding device 1 is small, so the transported object 50 can be transported stably. When the lower part of the transported object 50 is held at a height position close to the bottom surface portion 50a connecting the two side surface portions 50b, a part of the transported object 50 with higher strength is held from the inside of the opening of the transported object 50 compared to when the upper part of the transported object 50 is held, so that damage to the transported object 50 can be suppressed.

[0066] Moreover, by limiting the rotation angle of the holding part 9 with the limiting member 10, it is possible to prevent the holding part 9 from swinging unnecessarily. This makes it possible to prevent the non-contact part of the holding part 9 from contacting the transported object 50, so that it is possible to make the contact surface of the holding part 9 come into contact with the transported object 50 more easily.

[0067] Furthermore, because the lower portion 6a of the arm member 6 is maintained in an extended state in the vertical direction, the pair of holding portions 9 can each be brought into contact with the transported object 50 at a constant angle regardless of the left-right distance between the pair of arm members 6, and the transported object 50 can be held with sufficient holding force. Furthermore, because the lower portion 6a of the arm member 6 is maintained in an extended state in the vertical direction, when the transported object 50 is held by the holding portions 9, the holding portions 9 can be prevented from rotating to an angle limited by the limiting member 10, compared to a case in which the lower portion 6a of the arm member 6 is not maintained in an extended state in the vertical direction.

[0068] Holding the transported object 50 from inside the transported object 50 is effective when multiple transported objects 50 are placed side by side with their side surfaces 50b adjacent to each other. In such a case, if there is not enough space between the adjacent transported objects 50 to insert the holding parts 9, it is difficult to sandwich and hold the transported object 50 from the outside of the transported object 50. However, by arranging a pair of holding parts 9 inside the opening of the transported object 50, the transported object 50 can be suitably held from inside the transported object 50.

[0069] Furthermore, holding the transported object 50 from the inside of the transported object 50 is effective when placing the transported object 50 in a narrow groove or the like. When the transported object 50 is held by pinching it from the outside, if there is not enough space between the side of the groove and the side portion 50b of the transported object 50 placed in the groove, there is a risk that the holding portion 9 will hit the side of the groove when the pair of arm members 6 are opened to release the holding, causing the groove to collapse. In contrast, when the transported object 50 is held from the inside of the transported object 50, the holding portion 9 will not hit the side of the groove even when the pair of arm members 6 are closed to release the holding.

[0070] (Movement of 50 items) The transported object 50 is lifted while being held by the holding device 1 and moved to the destination. At this time, the transported object 50 is firmly held by utilizing the restoring force of the elastic body 15 constituting the contact surface of the holding part 9.

[0071] In this manner, the load 50 can be firmly held by utilizing the restoring force of the elastic body 15 that constitutes the contact surface of the holding portion.

[0072] When the transported article 50 is moved to the destination, the holding device 1 releases the hold of the transported article 50. Specifically, as shown in Fig. 4, if the transported article 50 is held from the outside of the transported article 50, the pair of arm members 6 are opened, and the holding device 1 releases the hold of the transported article 50. On the other hand, as shown in Fig. 2, if the transported article 50 is held from the inside of the transported article 50, the pair of arm members 6 are closed, and the holding device 1 releases the hold of the transported article 50.

[0073] Here, even if the direction in which the transported object 50 is placed at the destination is different from the direction in which the transported object 50 was placed before being held, the rotation unit 37c can easily change the orientation of the held transported object 50, making it easy to set up the transported object 50 in a direction different from the direction in which the transported object 50 was placed. Also, even if the destination is inclined or the transported object 50 held by the holding device 1 is inclined, the tilt unit 37b can easily change the inclination of the held transported object 50 with respect to the vertical direction, making it easy to set up the transported object 50 on inclined ground or the like.

[0074] In this way, the orientation of the held transported item 50 can be easily changed by the rotating portion 37c, making it easier to set up the transported item 50 in a direction different from the direction in which the transported item 50 was placed before being held.

[0075] In addition, the tilt portion 37b can easily change the inclination of the held transported object 50 relative to the vertical direction, which makes it easier to place the transported object 50 on a sloping ground or the like.

[0076] (Modification) As shown in Figures 7 and 8, which are oblique views of a modified holding device 101, when the telescopic length of the rod 7b of the drive device 7 is extended, the left-right distance between the pair of arm members 6 is narrowed, whereas when the telescopic length of the rod 7b of the drive device 7 is contracted, the left-right distance between the pair of arm members 6 is widened.

[0077] In this holding device 101, both ends of the frame 4 do not protrude from inside the housing 3. Each of the pair of outer link members 5b protrudes upward beyond connection points C and D. One end of the driving device 7 (the tip end of the rod 7b) is rotatably attached by a pin to connection point L provided at the upper end of the outer link member 5b on the left side of the figure. The other end of the driving device 7 (the base end of the tube 7a) is rotatably attached by a pin to connection point M provided at the upper end of the outer link member 5b on the right side of the figure.

[0078] One end of the interlocking member 8 is rotatably attached to the left outer link member 5b by a pin at connection point L, which is above connection point C. The other end of the interlocking member 8 is rotatably attached to the right outer link member 5b by a pin at connection point N, which is provided between connection point D and connection point H of the right outer link member 5b and is below connection point D.

[0079] In the state shown in FIG. 7, when the driving device 7 is driven to contract the telescopic length of the rod 7b, the connection point L moves to the right in the figure, and the outer link member 5b on the left side in the figure rotates around the connection point C. As a result, the arm member 6 on the left side in the figure moves to the left in the figure. When the connection point L moves to the right in the figure, the entire interlocking member 8 moves to the right in the figure, and as a result, the connection point N moves to the right in the figure. Then, the outer link member 5b on the right side in the figure rotates around the connection point D, and the arm member 6 on the right side in the figure moves to the right in the figure. As a result, the distance between the pair of arm members 6 in the left-right direction increases, as shown in FIG. 8.

[0080] By performing the reverse operation, the distance between the pair of arm members 6 in the left-right direction is narrowed.

[0081] The holding device 101 of the above modified example also provides the same effects as the holding device 1.

[0082] 9, which is a perspective view of a modified retaining portion 109 including the lower portion 6a of the arm member 6, the extensions 15b of the plate-shaped elastic body (contact member) 15 may be attached to both sides of the retaining portion main body 109a of the retaining portion 109 with bolts 16. Specifically, the elastic body 15 has a main body 15a which is a portion having a contact surface, and extensions 15b which extend from the upper and lower ends of the main body 15a in directions perpendicular to the contact surface. In other words, the extensions 15b which are bolted are different parts from the main body 15a which has the contact surface.

[0083] By attaching extension portion 15b, which is a part different from main body portion 15a having a contact surface, to retaining portion 109 with bolt 16, the area of ​​the contact surface can be increased compared to when main body portion 15a having a contact surface is attached to retaining portion 109 with bolt 16.

[0084] (effect) As described above, according to the holding device 1, 101 of this embodiment, by widening the interval between the pair of arm members 6 in the left-right direction, the overall width of the pair of holding parts 9 in the left-right direction can be made wider than the width of the transported object 50 in the left-right direction. As a result, the pair of holding parts 9 can hold the transported object 50 from the outside by sandwiching the transported object 50 from both sides of the transported object 50. In addition, by narrowing the interval between the pair of arm members 6 in the left-right direction, the overall width of the pair of holding parts 9 in the left-right direction can be made narrower than the width of the opening of the transported object 50 in the left-right direction. As a result, the pair of holding parts 9 are abutted against the inner surface of the transported object 50 from the inside to the outside of the transported object 50, respectively, so that the transported object 50 can be held from the inside of the opening of the transported object 50. In addition, since the holding parts 9 rotate with respect to the lower part 6a of the arm member 6, the area in which the contact surface of the holding parts 9 contacts the outer surface or inner surface of the transported object 50 can be made wider than when the holding parts 9 are fixed to the lower part 6a of the arm member 6. As a result, even if both sides of the transported object 50 are inclined to each other, the transported object 50 can be held with sufficient holding force. In addition, since the lower portion 6a of the arm member 6 is maintained in a state of extending in the vertical direction, the pair of holding parts 9 can be abutted against the transported object 50 at a constant angle regardless of the left-right distance between the pair of arm members 6, and the transported object 50 can be held with sufficient holding force. In addition, the height position at which the holding parts 9 can hold the transported object 50 ranges from the upper part to the lower part of the transported object 50, so that when the transported object 50 is held at a height position equivalent to the center of gravity of the transported object 50, the transported object 50 can be transported stably. In addition, when the lower part of the transported object 50 is held, damage to the transported object 50 can be suppressed compared to when the upper part of the transported object 50 is held.

[0085] In addition, the link member 5 is rotated relative to the frame 4, thereby changing the left-right distance between the pair of arm members 6. Specifically, the link member 5 is rotated around the upper portion of the link member 5, thereby changing the left-right distance between the lower ends of the pair of link members 5, and as a result, the left-right distance between the pair of arm members 6 is changed. It is possible to change the left-right distance between the pair of arm members 6 by directly moving the arm members 6 without using the link member 5, but this requires a complicated mechanism to maintain the lower portion 6a of the arm member 6 extended in the up-down direction. Therefore, moving the arm members 6 via the link members 5 allows the left-right distance between the pair of arm members 6 to be changed with less movement than moving the arm members 6 directly.

[0086] Moreover, one end of the interlocking member 8 is rotatably attached to one of the pair of link members 5 at a location below the connection point with the frame 4, and the other end of the interlocking member 8 is rotatably attached to the other of the pair of link members 5 at a location above the connection point with the frame 4. This allows the other of the pair of arm members 6 to move in the opposite direction when one of the pair of arm members 6 is moved in the left-right direction. In this way, the pair of arm members 6 move in conjunction with each other, so that the position at which the transported object 50 is held can be easily adjusted.

[0087] In addition, the rotation angle of the holding part 9 relative to the lower part 6a of the arm member 6 is limited by the limiting member 10. By limiting the rotation angle of the holding part 9, it is possible to suppress unnecessary swinging of the holding part 9. This makes it possible to suppress the part of the holding part 9 that is not the contact surface from coming into contact with the transported object 50, making it easier for the contact surface of the holding part 9 to come into contact with the transported object 50. In addition, since the lower part 6a of the arm member 6 is maintained in a state of extending in the vertical direction, when the transported object 50 is held by the holding part 9, the holding part 9 is suppressed from rotating to an angle limited by the limiting member 10.

[0088] In addition, the contact surface of the holding portion 9 is made of an elastic body, so that the load 50 can be firmly held by utilizing the restoring force of the elastic body.

[0089] As shown in a modified example (see FIG. 9), an extension 15b different from main body 15a having a contact surface in elastic body 15 having a contact surface is attached to retaining portion 109 with bolt 16. By attaching extension 15b different from main body 15a having a contact surface of elastic body 15 to retaining portion 109 with bolt 16, the area of ​​the contact surface can be increased compared to when main body 15a having a contact surface is attached to retaining portion 109 with bolt 16.

[0090] Furthermore, the rotating part 37c allows the frame 4 to rotate about a rotation axis extending in the mounting direction of the frame 4 to the base end attachment 34. This allows the orientation of the held transported object 50 to be easily changed, so that the transported object 50 can be easily set up in a direction different from the direction in which the transported object 50 was placed before being held.

[0091] In addition, the tilt section 37b allows the frame 4 to rotate about a rotation axis extending in a direction (machine lateral direction) perpendicular to both the left-right direction and the vertical direction. This makes it easy to change the inclination of the held transported object 50 relative to the vertical direction, facilitating the work of placing the transported object 50 on a sloping ground or the like.

[0092] [Second embodiment] Next, a retaining device of a second embodiment will be described with reference to the drawings. Note that the description of the configuration common to the first embodiment and the effects achieved thereby will be omitted, and the description will be focused mainly on the points different from the first embodiment. Note that the same members as those in the first embodiment are given the same reference numerals as those in the first embodiment.

[0093] (Configuration of holding device) In the first embodiment, as shown in Figures 5 and 6, the limiting member 10 has an elongated hole 10a formed on the side of the holding portion main body 9a, and a bolt 10b inserted into the lower end of the lower portion 6a of the arm member 6 and the elongated hole 10a, and the tip of the bolt 10b is positioned within the elongated hole 10a, thereby limiting the rotation angle of the holding portion 9 to the length of the elongated hole 10a.

[0094] In contrast, in this embodiment, as shown in Fig. 10, which is a perspective view of the holder 9 including the lower part 6a of the arm member 6, the limiting member 80 is disposed inside a pair of frames 6c included in the lower part 6a of the arm member 6. The pair of frames 6c are disposed on both sides of the holder 9 in the depth direction. The depth direction is a direction perpendicular to the up-down direction and the left-right direction.

[0095] The limiting member 80 protrudes in the depth direction from the frame 6c on the far side in the drawing of the pair of frames 6c toward the opposing frame 6c. In the present embodiment, the limiting member 80 has a prismatic shape with a rectangular cross section, but is not limited thereto, and may have a prismatic shape with a hexagonal cross section or a cylindrical shape.

[0096] As shown in Fig. 10, when the longitudinal direction of the holding portion 9 is along the up-down direction, a gap is generated between the bottom surface of the limiting member 80 and the top surface of the holding portion 9. This gap allows the holding portion 9 to rotate. When the holding portion 9 rotates and the top surface of the holding portion 9 abuts against the limiting member 80, the rotation of the holding portion 9 is stopped. In this way, the top surface of the holding portion 9 abuts against the limiting member 80, limiting the rotation angle of the holding portion 9.

[0097] As described above, by arranging the limiting member 80 inside the pair of frames 6c, it is possible to prevent the limiting member 80 from coming into contact with the transported object 50, etc., compared to the case where the limiting member is arranged outside the pair of frames 6c. This makes it possible to prevent damage to the limiting member 80.

[0098] Furthermore, when the holding portion 9 rotates, the upper surface of the holding portion 9 comes into contact with the limiting member 80, thereby limiting the rotation angle of the holding portion 9. Compared to the limiting member 10 of the first embodiment in which the tip of the bolt 10b inserted into the lower portion 6a of the arm member 6 is arranged in the elongated hole 10a formed in the holding portion 9, the rotation angle of the holding portion 9 can be limited with a simpler configuration.

[0099] In addition, in the case where the limiting member 10 is configured as in the first embodiment in which the tip of the bolt 10b inserted into the lower portion 6a of the arm member 6 is disposed in the elongated hole 10a formed in the holding portion 9 (see Figs. 5 and 6), if the transported object 50 is held only by the lower portion of the holding portion 9, a large load is applied to the bolt 10b abutting against the inner surface of the elongated hole 10a, and the bolt 10b may be damaged. In contrast, the limiting member 80 in this embodiment protrudes from the frame 6c, and the strength of the limiting member 80 is higher than the strength of the bolt 10b. Therefore, even if the transported object 50 is held only by the lower portion of the holding portion 9, the transported object 50 can be reliably held.

[0100] As shown in Fig. 11, which is a perspective view of the holding portion 9 including the lower portion 6a of the arm member 6, the limiting member 85 may connect a pair of frames 6c together. The strength of such a limiting member 85 is greater than the strength of the bolts 10b. Therefore, even if the transported object 50 is held only by the lower portion of the holding portion 9, the transported object 50 can be held reliably. Furthermore, by connecting the pair of frames 6c together with the limiting member 85, the strength of the lower portion 6a of the arm member 6 can be improved.

[0101] In the case of a restricting member 85 that connects a pair of frames 6c to each other, a recess 9c may be formed in the upper part of the holding portion 9 in order to ensure a space for arranging the restricting member 85.

[0102] 12, which is a perspective view of the holding portion 9 including the lower portion 6a of the arm member 6, the lower surface of the reinforcing plate 6d connecting the pair of frames 6c to each other may be extended to the vicinity of the upper surface of the holding portion 9 to serve as a substitute for the limiting member 85. In this case, the number of parts can be reduced.

[0103] In the first embodiment of the limiting member 10 (see Figs. 5 and 6), the bolts 10b are inserted from the outside to the inside of the pair of frames 6c, but the bolts 10b may be inserted from the inside to the outside of the pair of frames 6c. Even with this configuration, it is possible to prevent the limiting member 10 from contacting the transported object 50 or the like.

[0104] 10, in this embodiment, the center of gravity of the holding part 9 is located below the rotation axis 9b of the holding part 9. Specifically, the thickness of the lower part of the holding part main body 9a is made thicker than the thickness of the upper part of the holding part main body 9a, so that the mass of the lower part of the holding part main body 9a is made heavier than the mass of the upper part of the holding part main body 9a. This allows the contact surface of the holding part 9 to be aligned with the transported object 50 by the weight of the holding part 9 when holding the transported object 50.

[0105] 13, which is a perspective view of the holder 9 including the lower part 6a of the arm member 6, the mass of the lower part of the holder main body 9a may be made heavier than the mass of the upper part of the holder main body 9a by making the length a of the lower part of the holder main body 9a longer than the length b of the upper part of the holder main body 9a in the vertical direction. Also, the mass of the lower part of the holder main body 9a may be made heavier than the mass of the upper part of the holder main body 9a by, for example, embedding a weight in the lower part of the holder main body 9a.

[0106] The features of the holding part 9 in this embodiment are that it is provided with the limiting members 80 and 85 and that the center of gravity of the holding part 9 is located below the rotation axis 9b of the holding part 9, but only one of these may be provided. In the latter case, even if the holding device 1 is inclined relative to the ground, the contact surface of the holding part 9 can be suitably aligned with the transported object 50 placed on the ground.

[0107] Although the embodiments of the present invention have been described above, they are merely illustrative examples and do not limit the present invention, and the specific configurations and the like can be appropriately modified in design. Furthermore, the actions and effects described in the embodiments of the invention are merely a list of the most preferable actions and effects resulting from the present invention, and the actions and effects of the present invention are not limited to those described in the embodiments of the present invention.

[0108] For example, the pair of link members 5 does not have to be provided. In this case, the pair of arm members 6 may be configured to move left and right along a guide member provided on the frame 4. The drive device 7 moves the pair of arm members 6 left and right to change the distance between the pair of arm members 6 in the left and right direction.

[0109] Further, the driving device 7 is not limited to a hydraulic cylinder or an electric cylinder, and may be, for example, a motor provided at the connection point A shown in FIG. 2 to rotate the inner link member 5a.

[0110] Furthermore, the contact surface of the holding part 9 is not limited to being made of the elastic body 15, and may be made of metal, for example. In this case, it is preferable that the contact surface of the holding part 9 has an anti-slip structure formed by jagged notches or unevenness. This can prevent the transported object 50 from slipping when the transported object 50 is held by the holding device 1.

[0111] Although the transported object 50 has been described as being held from the inside (see FIG. 2) and from the outside (see FIG. 4), the transported object 50 may be held in other ways. For example, the inner contact surfaces of each of the pair of holding parts 9 are abutted against the outer and inner surfaces of one of the two side surface parts 50b of the transported object 50, respectively, so that the transported object 50 can be held by the holding device 1. Holding the transported object 50 by the holding device 1 in this manner is effective when the width of the opening of the transported object 50 in the left-right direction is large, making it difficult to hold the transported object 50 from the inside or the outside. [Explanation of symbols]

[0112] 1,101 Holding device 3. Chassis 4 Frames 5 Link member 5a Inner link member 5b Outer link member 6 Arm parts 6a Lower 6b Upper part 6c Frame 6d Reinforcement plate 7 Drive unit 7a Tube 7b Rod 8 Interlocking parts 9,109 Holding part 9a,109a Holding unit body 9b Rotation axis 9c Recess 10 Restrictive Members 10a long hole 10b Bolt 11,12 pin 15 Elastic body (contact member) 15a Main body 15b Extension 16 Bolt (fastening member) 30 Work Machinery 31 Undercarriage 32 Upper rotating body 33 Attachment 34 Base end attachment 34a Boom 34b Arm 36 Tip attachment 37 Rotation mechanism 37a Mounting part 37b Tilt section (tilt device) 37c Rotating section (rotating device) 50 Transport 50a Bottom part 50b Side part 80 Restriction member 85 Restriction member

Claims

1. A holding device that is attached to a base end attachment of a work machine and holds a transported object, A frame that can be attached to the base end attachment; a pair of arm members arranged side by side in the left-right direction, each having a lower portion extending in the up-down direction and an upper portion attached to the frame so as to be movable in the left-right direction; a drive device for changing a distance between the pair of arm members in the left-right direction; having a holding portion is attached to each of the lower portions of the pair of arm members so as to be rotatable about a rotation axis extending in a depth direction perpendicular to each of the up-down direction and the left-right direction, Each of the holding parts has a contact surface with the transported object formed on both sides in the left and right direction, the contact surface is disposed on the left side of the rotation shaft in the left-right direction and on the right side of the rotation shaft in the left-right direction in each of the holding portions, A holding device characterized by having a maintenance device that maintains the lower portions of the pair of arm members extended in the up-down direction even if the left-right distance between the pair of arm members is changed.

2. a pair of link members arranged side by side in the left-right direction and rotatably attached at their upper portions to the frame; the upper portion of the arm member is rotatably attached to the lower end portion of the link member, The holding device according to claim 1 , wherein the drive device changes the distance between the pair of arm members in the left-right direction by rotating the link member relative to the frame.

3. a linking member connected to each of the pair of link members so as to link the pair of link members together, one end of the interlocking member is rotatably attached to one of the pair of link members at a position lower than a connection portion between the linking member and the frame, 3. The holding device according to claim 2, wherein the other end of the interlocking member is rotatably attached to the other of the pair of link members at a position above the connection portion between the other of the pair of link members and the frame.

4. 4. The holding device according to claim 1, further comprising a limiting member for limiting a rotation angle of the holding portion relative to the lower portion of the arm member.

5. the lower portion of the arm member has a pair of frames arranged on both sides of the holding portion in a depth direction that is a direction perpendicular to the up-down direction and the left-right direction, The holding device according to claim 4 , wherein the restricting member is disposed inside the pair of frames.

6. The holding device according to claim 5 , wherein when the holding portion rotates, an upper surface of the holding portion abuts against the limiting member, thereby limiting a rotation angle of the holding portion.

7. The holding device according to claim 6 , wherein the restricting member protrudes in the depth direction from at least one of the pair of frames.

8. The holding device according to claim 6 , wherein the restricting member connects the pair of frames to each other.

9. 9. The holding device according to claim 1, wherein the center of gravity of the holding portion is located below the rotation axis of the holding portion.

10. 10. The holding device according to claim 1, wherein the contact surface of the holding portion is made of an elastic material.

11. The holding device according to any one of claims 1 to 10, wherein the contact surface of the holding portion has an anti-slip structure.

12. The holding portion is A holding portion main body, a contact member attached to the holder body by a fastening member and having the contact surface; having 12. The retaining device according to claim 1, wherein the fastening member is attached to a portion of the contact member different from a portion having the contact surface.

13. The frame is attachable to the base end attachment via a rotating device; The holding device according to any one of claims 1 to 12, characterized in that the rotation device is capable of rotating the frame around a rotation axis extending in a direction in which the frame is attached to the base end attachment.

14. The frame is attachable to the proximal attachment via a tilt device; The holding device according to any one of claims 1 to 13, characterized in that the tilting device is capable of rotating the frame around a rotation axis extending in a direction perpendicular to the left-right direction and the vertical direction.

Images