Handling device

Abstract

To suck and hold an appropriate part of an object by suction when handling the object.SOLUTION: A handling device includes: a hand section 18 having a vacuum suction holding section 40 that holds an object by vacuum suction and a magnetic suction holding section 38 that holds an object by magnetic suction; a detection section 50 that detects a vacuum suctionable portion and a magnetic suctionable portion of the object; and an adjustment section that adjusts positions of the vacuum suction holding section 40 and the magnetic suction holding section 38 based on positions of the vacuum suctionable portion and magnetic suctionable portion detected by the detection section 50.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a handling device.

Background Art

[0002] When installing an inner wall that partitions the inside in a logistics warehouse or the like, it is common to install column materials in the warehouse and then screw a gypsum board to the column materials. In this case, when attaching the gypsum board near the upper end of the column material (near the ceiling), high-altitude work is required, so it takes time for construction and measures for ensuring safety are necessary.

[0003] On the other hand, recently, a device is known that horizontally places a prefabricated wall on the floor or the like and then vertically erects the placed wall (for example, Patent Document 1 etc.).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] The wall erecting device of Patent Document 1 is a device that can erect a wall even when an anchor is installed in advance. However, in Patent Document 1, no consideration has been given to holding and handling an object such as a wall.

[0006] Therefore, an object of the present invention is to provide a handling device that can adsorb and hold an appropriate portion of an object when handling the object.

Means for Solving the Problems

[0007] The handling device according to the present invention is Wall body equipped with column members having magnetismA handling device for handling an object, comprising a hand portion having a vacuum adsorption holding portion for holding the object by vacuum adsorption and a magnetic adsorption holding portion for holding the object by magnetic adsorption, a vacuum adsorption possible portion of the object, and By detecting the column members having magnetism a detection portion for detecting a magnetically adsorbable portion, and an adjustment portion for adjusting the positions of the vacuum adsorption holding portion and the magnetic adsorption holding portion based on the positions of the vacuum adsorption possible portion and the magnetically adsorbable portion detected by the detection portion.

Advantages of the Invention

[0008] According to the present invention, when handling an object, an appropriate portion of the object can be adsorbed and held.

Brief Description of the Drawings

[0009]

Figure 1

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Figure 20

Embodiments for Carrying Out the Invention

[0010] 《First Embodiment》 Hereinafter, the erecting device (handling device) according to the first embodiment will be described in detail with reference to Figs. 1 to 13.

[0011] The erecting device 100 (see Fig. 3(a), etc.) of the first embodiment is a device used for installing an inner wall in a space surrounded by columns and ceiling beams in a logistics warehouse with a large number of columns and ceiling beams as shown in Fig. 1. More specifically, the erecting device 100 is a device that holds an inner wall (wall body) created halfway near the place where the inner wall is to be installed and transports it to the installation place to assist the operator in installing the wall body.

[0012] In the first embodiment, as an example, the case where three wall bodies are installed in the space below the concrete ceiling beam shown hatched in Fig. 1 (the space between the ceiling beam and two columns) and the inside of the logistics warehouse is partitioned as shown in Fig. 2 will be described.

[0013] Figs. 3(a) and 3(b) are diagrams schematically showing the erecting device 100 according to the first embodiment. As shown in Fig. 3(a), the erecting device 100 includes a traveling part 12 that can travel by a plurality (for example, four) of wheels 10, an arm part (boom) 16 that is rotatably provided with respect to a support column 14 provided on the traveling part 12, and a hand part 18 provided at the tip of the arm part 16. In Fig. 3(a), the front-rear direction of the traveling part 12 is shown as the X-axis direction, the width direction is shown as the Y-axis direction, and the direction perpendicular to the X-axis direction and the Y-axis direction (vertical direction) is shown as the Z-axis direction.

[0014] The traveling part 12 has a power source such as a motor and travels on the traveling surface by the wheels 10 under the instruction of the control part 50 (see Fig. 5) in response to the operation of the operator on the remote control device 30 (see Fig. 5). The traveling part 12 is equipped with a battery 22 for supplying power to each part of the erecting device 100. Further, the traveling part 12 is equipped with a counterweight 24 for preventing the erecting device 100 from tipping over when the hand part 18 holds the wall body.

[0015] The arm part 16 rotates around the Y axis by the expansion and contraction of the cylinder 20. Further, the arm part 16 has a plurality of cylindrical (or rod-shaped) members with different diameters, and is expanded and contracted by an arm expansion and contraction drive part (see Fig. 5), and the overall length is adjusted. The rotation and expansion and contraction of the arm part 16 are executed under the instruction of the control part 50 according to the operation of the operator on the remote operation device 30. In addition, Fig. 3(b) shows a state in which the arm part 16 rotates around the Y axis (counterclockwise in Fig. 3(a)) and the arm part 16 becomes shorter from the state of Fig. 3(a).

[0016] The hand part 18 is provided at the tip of the arm part 16 and adsorbs and holds the wall body. The hand part 18 is rotated in the direction of arrow A in Fig. 3(a) and rotated in the direction of arrow B by the hand drive part 34 (see Fig. 5) under the instruction of the control part 50 according to the operation of the operator on the remote operation device 30. In addition, Fig. 3(b) shows a state in which the hand part 18 rotates 90° in the direction of arrow A (counterclockwise direction) and the hand part 18 rotates 90° in the direction of arrow B from the state of Fig. 3(a). Since wiring and piping are connected to the hand part 18 from the arm part 16 side, the rotation in the direction of arrow A and the rotation in the direction of arrow B are limited to a range that does not affect the wiring and piping. For example, the rotation range in the direction of arrow A is about 180°, and the rotation range in the direction of arrow B is about 90°.

[0017] The hand part 18 adsorbs and holds the wall body using a vacuum suction force or a magnetic suction force. Fig. 4(a) shows the state of the hand part 18 in Fig. 3(a) viewed from the +Z direction. Fig. 4(b) shows the state where the hand part 18 is rotated 90° around the Z axis. As shown in Figs. 4(a) and 4(b), the hand part 18 has two adsorption groups 36A and 36B. The adsorption groups 36A and 36B each have a plurality (eight in Fig. 4(a)) of magnetic adsorption pads 38 and a plurality (four in Fig. 4(a)) of vacuum adsorption pads 40. The magnetic adsorption pad 38 has an electromagnet, and when an electric current is supplied to the electromagnet, a magnetic suction force is generated to magnetically adsorb a magnetic member (column material) of the wall body. The vacuum adsorption pad 40 forms a space with the wall body in contact with the wall body, and the wall body is vacuum-adsorbed by a vacuum pump (not shown) sucking the air in the space.

[0018] The distance H between the adsorption groups 36A and 36B in Figs. 4(a) and 4(b) can be adjusted by the distance adjustment part 42. The distance adjustment part 42 is controlled by the control part 50, and adjusts the distance H by adjusting the length of the arm that holds the magnetic adsorption pad 38 and the vacuum adsorption pad 40. Note that the magnetic adsorption pad 38 and the vacuum adsorption pad 40 may each be adjusted individually. Also, the magnetic adsorption pad 38 and the vacuum adsorption pad 40 may be adjusted in the X direction in Fig. 4(b).

[0019] FIG. 5 is a block diagram showing the control system of the erecting device 100. The erecting device 100 operates each part under the instruction of the control unit 50 in response to the operator's operation on the remote control device 30. Further, the erecting device 100 is provided with an imaging unit 44, and images the wall before the hand unit 18 adsorbs and holds the wall. The control unit 50 controls the interval adjustment unit 42 based on the image of the wall imaged, and adjusts the interval between the adsorption groups 36A and 36B of the hand unit 18. The installation position of the imaging unit 44 is a position where the wall can be imaged from above. For example, the imaging unit 44 may be installed on the hand unit 18 or on the arm unit 16. Further, the imaging unit 44 may be installed in a device (such as an automatic tucker punching machine described later) used when creating the wall, or on the ceiling of the logistics warehouse where the wall is installed. When the imaging unit 44 is provided outside the erecting device 100, the imaging unit 44 and the control unit 50 may communicate so that the image captured by the imaging unit 44 is transmitted to the control unit 50.

[0020] Next, the method for installing the wall using the erecting device 100 will be described in detail. In the first embodiment, a wall that will be an inner wall is created halfway in the logistics warehouse (wall creation step), the wall created halfway is held using the erecting device 100, and transported to the installation location (transport step), and the operator fixes the wall to the installation location to complete the inner wall (installation step). Hereinafter, each step will be described in detail.

[0021] (Wall creation step) In FIGS. 6(a) to 10(c), the flow of the wall creation step is schematically shown. FIG. 6(a) shows a state of a pair of assembly stands 102 installed on the floor surface of the logistics warehouse as viewed from above (+Z side). The pair of assembly stands 102 are arranged at a predetermined interval in the Y-axis direction (the width direction of the erecting device 100). Each assembly stand 102 is a substantially plate-shaped member (see FIG. 8(a)). In FIGS. 6(a) etc., since the erecting device 100 approaches from the left side of the assembly stand 102, the coordinate system when the erecting device 100 approaches is shown.

[0022] From the state of Fig. 6(a), as shown in Fig. 6(b), the operator temporarily places the stud 60 of the wall on the pair of assembly tables 102. Fig. 6(b) shows a state where ten studs 60 are temporarily placed so as to extend in the Y-axis direction and at a predetermined interval in the X-axis direction.

[0023] Next, as shown in Fig. 6(c), the operator engages and screws the lower runner 62A, which extends in the X-axis direction and has a U-shaped YZ cross-section, to the -Y side ends of the ten studs 60. Also, the operator engages and temporarily fixes the upper runner 62B, which has the same shape as the lower runner 62A, to the +Y side ends of the ten studs 60. For temporary fixing, several screws or an adhesive tape etc. may be used.

[0024] Next, as shown in Fig. 7(a), the operator lays the plaster board 64 on the upper side (+Z side) of the stud 60. At this time, as shown in Fig. 7(b), the operator leaves the vicinity of the upper runner 62B and makes it in a state of being laid almost entirely. Then, the operator uses an automatic tucker nailer etc. to fix (screw) the plaster board 64 to the stud 60 with screws 66. Note that the automatic tucker nailer can use, for example, a device including a tucker capable of driving screws, a moving device that moves the tucker within the XY plane, and a control device that controls the moving device to position the tucker at a predetermined position (screw fixing position). The automatic tucker nailer drives the screws 66, for example, at the position of a mark pre-marked on the plaster board 64, a position preset by the operator, or the position where the stud 60 that can be specified from an image taken before laying the plaster board 64 exists. Note that it is not necessary to use an automatic tucker nailer for screwing. For example, the operator may perform screwing etc. using an electric driver or an air nailer etc. Note that the wall in Fig. 7(b) is called a single-sided wall 300.

[0025] Next, the operator operates the erecting device 100 to turn the single-sided wall 300 upside down as shown in Fig. 7(c). Hereinafter, the method of turning the single-sided wall 300 upside down will be described in detail.

[0026] First, the operator operates the remote control device 30 to move the erecting device 100 near the assembly table 102. Next, the operator operates the remote control device 30 to input an instruction to start holding the single-sided wall body 300. When the control unit 50 receives the instruction, it captures an image of the single-sided wall body 300 from above via the imaging unit 44, and identifies, from the captured image, a location on the wall body where adsorption and holding are possible. The location where adsorption and holding are possible is, for example, a location where the gypsum board 64 and the column member 60 are fixed by, for example, a tacker or a screw. For a location on the gypsum board 64 where there is no column member 60 on the back side, if the location is vacuum-adsorbed and held, bending stress may be generated in the gypsum board 64 more than necessary, causing deformation, etc., and the adsorption force may be reduced. Therefore, in the present embodiment, it is not considered a location where adsorption and holding are possible. Also, for a location where there is a column member 60 made of a magnetic material such as iron on the back side, sufficient magnetic adsorption force can be generated when magnetically adsorbed and held, so it is considered a location where adsorption and holding are possible.

[0027] The control unit 50 identifies the location where the column member 60 exists by analyzing the image of the single-sided wall body 300 captured from above in FIG. 7(b). Specifically, the control unit 50 identifies the position of the screw 66 from the image, or the position of a mark indicating the position where the gypsum board 64 is to be screwed, or the X position of the column member 60 that can be confirmed at the +Y end of the single-sided wall body 300, thereby identifying the location (the location where adsorption and holding are possible) where the column member 60 exists.

[0028] Then, the control unit 50 adjusts the interval H between the adsorption groups 36A and 36B of the hand part 18 based on the arrangement of the locations where adsorption and holding are possible. For example, when the control unit 50 identifies 10 rows of screw rows b1, b2,..., b9, b0 arranged in the Y-axis direction, the control unit 50 identifies the positions of the second and third screw rows b2, b3, b9, b0 from both outer sides as the locations where adsorption and holding are possible, and adjusts the interval H between the adsorption groups 36A and 36B so that these locations can be adsorbed.

[0029] Next, the operator operates the hand part 18 so that the center position of the single-sided wall body 300 and the center position of the hand part 18 substantially coincide, and brings the suction groups 36A and 36B of the hand part 18 into contact with the upper surface of the single-sided wall body 300 as shown in Fig. 8(a). At this time, when viewed from above, the hand part 18 is in the orientation as shown in Fig. 4(a). In Fig. 8(a), the lower runner 62A is not shown, and the assembled base 102 on the +Y side is visible.

[0030] Next, when the operator operates the remote control device 30 to instruct a top-bottom inversion, the control unit 50 starts magnetic adsorption by the magnetic adsorption pad 38 and vacuum adsorption by the vacuum adsorption pad 40. The control unit 50 starts the top-bottom inversion operation at a predetermined timing before the magnetic adsorption force reaches its maximum and the vacuum adsorption force reaches its maximum. Vacuum adsorption is to assist magnetic adsorption, because it is set so that the hand part 18 can hold the single-sided wall body 300 with only the magnetic adsorption force. By doing so, it is not necessary to wait until the vacuum adsorption force reaches its maximum, so the time until the top-bottom inversion operation starts can be shortened. Here, even if one of the vacuum adsorption force and the magnetic adsorption force cannot perform adsorption due to a malfunction or the like, it is preferable to prevent the object held by the hand part 18 from falling. Therefore, the vacuum adsorption force and the magnetic adsorption force need to be set to a magnitude such that the object can be held by only one of the forces. For example, for a standard wall body (e.g., 1500 kg), it is preferable that both the vacuum adsorption force and the magnetic adsorption force can hold 1500 kg or more. Note that the weight of the object held by the hand part 18 may vary widely in the range of 500 kg to 2000 kg and the like. In such a case, the vacuum adsorption force and the magnetic adsorption force may be made changeable according to the weight of the object.

[0031] Next, as shown in Fig. 8(b), the control unit 50 drives the arm part 16 via the cylinder 20 and the arm telescopic drive unit 32, raises the hand part 18 by a predetermined height, and rotates the hand part 18 around the Y axis (counterclockwise in Fig. 8(b)) via the hand drive unit 34 to invert the single-sided wall body 300 top to bottom.

[0032] Next, as shown in FIG. 9, the control unit 50 drives the arm portion 16 via the cylinder 20 and the arm telescopic drive unit 32 to return the single-sided wall body 300 to its original position (on the assembly base 102). After the single-sided wall body 300 is turned upside down, the adsorption and holding by the hand portion 18 may be released.

[0033] After the single-sided wall body 300 is turned upside down, as shown in FIG. 10(a), the operator lays the gypsum board 64 on the upper side of the column member 60, and as shown in FIG. 10(b), leaving the vicinity of the lower runner 62A and the upper runner 62B, the gypsum board 64 is spread over the entire area. Then, the operator uses a tucker punching machine or the like to fix the gypsum board 64 with screws 66 (screw it).

[0034] Also, as shown in FIG. 10(c), the operator further lays 12 gypsum boards 64 in the central portion of the wall body, and uses an automatic tucker punching machine or the like to screw the gypsum boards 64. The wall body in FIG. 10(c) is referred to as a double-sided wall body 400.

[0035] Thus, the wall body creation process ends.

[0036] (Conveying process) Next, the conveying process of the double-sided wall body 400 is executed. At the stage when the wall body creation process is completed, the state is as shown in FIG. 11.

[0037] From the state of FIG. 11, the operator operates the remote control device 30 to change the erecting device 100 to the state of FIG. 12(a). Specifically, as shown in FIG. 11, the control unit 50 rotates and adjusts the length of the arm portion 16 and rotates and turns the hand portion 18 from the state where the hand portion 18 adsorbs and holds the lower surface of the double-sided wall body 400, so as to erect the double-sided wall body 400 as shown in FIG. 12(a). If the adsorption and holding by the hand portion 18 was released after the single-sided wall body 300 was turned upside down in the wall body creation process, it is necessary to resume the adsorption and holding by the hand portion 18 before erecting the double-sided wall body 400.

[0038] Next, the operator operates the remote control device 30 to move the erecting device 100 to the vicinity of the installation location of the double-sided wall 400 as shown in FIG. 12(b), and then moves it parallel along the floor surface to insert the double-sided wall 400 under the ceiling beam.

[0039] Thus, the conveyance process of the double-sided wall 400 is completed.

[0040] (Installation process) In the state shown in FIG. 12(b), the operator removes the temporary fixing of the upper runner 62B and lifts it upward, and then screws the upper runner 62B to the ceiling beam. Also, the operator screws the lower runner 62A to the floor. Then, the operator operates the remote control device 30 to release the adsorption and holding of the double-sided wall 400 by the hand part 18, and retracts the erecting device 100. FIG. 13(a) shows the state where the double-sided wall 400 is fixed under the ceiling beam.

[0041] Next, the operator screws the gypsum board 64 at the position shown in black in FIG. 13(b). Further, the operator screws the gypsum board 64 at the position shown in black in FIG. 13(c). Thus, the installation of the wall with one layer of gypsum board on the -X side and two layers of gypsum board on the +X side is completed.

[0042] As shown in FIG. 2, when installing three walls under the ceiling beam, the above-described operations are repeated two more times. Thereby, the inner wall can be installed in the logistics warehouse. Note that while one double-sided wall 400 is being conveyed and installed, the creation of the next single-sided wall 300 may be executed in parallel. Thereby, the construction period can be shortened.

[0043] As described in detail above, according to the first embodiment, the erecting device 100 includes a hand portion 18 having suction groups 36A and 36B for sucking and holding the wall bodies 300 and 400, a control unit 50 for detecting a suctionable portion (in the first embodiment, the portion corresponding to the magnetic column member 60) from an image of the wall body, and a gap adjustment unit 42 for adjusting the gap between the suction groups 36A and 36B of the hand portion 18 based on the position of the suctionable portion detected by the control unit 50. By the vacuum suction pad 40 vacuum-sucking the portion corresponding to the column member 60, it is possible to suppress the deformation, breakage of the wall body when holding the heavy wall body, or the release of the suction holding due to the deformation or breakage of the wall body, and the fall or tilt of the wall body. Further, by the magnetic suction pad 38 magnetically sucking the portion corresponding to the column member 60 which is a magnetic body, the force of the hand portion 18 for magnetically sucking and holding the wall body can be increased. Thus, in the first embodiment, the hand portion 18 can suck and hold the appropriate position of the heavy wall body.

[0044] Further, in the first embodiment, since the double-sided wall body 400 created up to the middle is sucked and held by the hand portion 18 and conveyed, the amount of high-place work can be reduced compared to the case of installing column members in the logistics warehouse and attaching gypsum boards to the column members.

[0045] Further, in the first embodiment, the control unit 50 detects the position of the screw 66 used for screwing or the position of a pre-marked mark from the image of the single-sided wall body 300, and adjusts the gap between the suction groups 36A and 36B according to the positions of the screw 66 and the mark. Thereby, since the suction groups 36A and 36B can easily detect the position of the column member 60 from the outside, it is possible to easily suppress the deformation, breakage of the wall body when holding the wall body, and the fall or tilt of the wall body.

[0046] In addition, in the first embodiment, the hand portion 18 is provided at the tip of the arm portion 16, and the hand drive portion 34 can turn the hand portion 18 holding the single-sided wall body 300 upside down. As a result, since the single-sided wall body 300 can be turned upside down, it is not necessary for the operator to manually turn over the single-sided wall body 300, and the work load can be reduced.

[0047] In addition, in the first embodiment, after the magnetic adsorption pad 38 and the vacuum adsorption pad 40 start adsorption, the control unit 50 starts the conveyance operation of the wall body by the hand portion 18 and the upside-down operation of the wall body before the vacuum adsorption force of the vacuum adsorption pad 40 reaches the maximum. Thereby, the time required for the conveyance operation by the hand portion 18 can be shortened.

[0048] In addition, in the first embodiment, since the arm portion 16 and the hand portion 18 are provided on the traveling portion 12 that moves on the traveling surface, the created double-sided wall body 400 can be conveyed to the installation location.

[0049] In addition, in the first embodiment, since the building-up device 100 holds and conveys the wall body based on the operation of the operator on the remote operation device 30, the operator does not have to approach the building-up device 100 more than necessary. Thereby, the safety of the operator can be enhanced.

[0050] <<Second Embodiment>> Next, the building-up device 200 according to the second embodiment will be described.

[0051] FIG. 14 schematically shows a building-up device 200 according to the second embodiment. As shown in FIG. 14, the building-up device 200 has a hand mechanism 118 that can sandwich an object (wall body). Note that the configuration of the building-up device 200 other than the hand mechanism 118 is the same as that of the building-up device 100 of the first embodiment. Therefore, hereinafter, the configuration of the hand mechanism 118 and the like will be described in detail.

[0052] The hand mechanism 118 has a first hand part 120, a second hand part 122, and a connecting part 124 that connects the first hand part 120 and the second hand part 122.

[0053] The first hand part 120 has the same configuration as the hand part 18 of the first embodiment. Specifically, the first hand part 120 has suction groups 36A and 36B, and the interval between the suction groups 36A and 36B is adjustable. The suction groups 36A and 36B have a plurality of vacuum suction pads 40 and a plurality of magnetic suction pads 38, as described above.

[0054] The second hand part 122 has the same configuration as the first hand part 120. Specifically, the second hand part 122 has suction groups 136A and 136B, and the interval between the suction groups 136A and 136B is adjustable.

[0055] The connecting part 124 has a telescopic jack 146. One end of the telescopic jack 146 is rotatably fixed to the first hand part 120 via a rotation mechanism 142, and the other end of the telescopic jack 146 is rotatably fixed to the second hand part 122 via a rotation mechanism 144. In FIG. 14, only one connecting part 124 is shown, but actually, another connecting part 124 with the same structure is provided on the back side of the paper of the connecting part 124 (see FIG. 17). The rotation mechanism 142 rotates the telescopic jack 146 around the Y axis with the lower end of the telescopic jack 146 as the center. The rotation mechanism 142 rotates the second hand part 122 around the Y axis with the upper end of the telescopic jack 146 as the center. The telescopic jack 146 is extendable and retractable, and has a function of adjusting the interval between the first hand part 120 and the second hand part 122 in a state where the first hand part 120 and the second hand part 122 face each other (see FIG. 15(b)). The first hand 120 and the second hand part 122 can adsorb and hold, and sandwich the wall body. Thereby, the hand mechanism 118 can firmly hold the wall body, so that it can prevent the wall body from falling when holding the wall body, and prevent the wall body from toppling when erecting the wall body.

[0056] (Operation of the Erection Device 200, etc.) Hereinafter, the operation of the erection device 200, etc. will be described centering on the movement of the hand mechanism 118. Note that although the hand mechanism 118 actually operates by the operation of an operator or the control of the control unit 50, for simplicity of explanation, the description of the operation of the operator or the control of the control unit 50 will be omitted.

[0057] FIG. 15(a) is a diagram showing the state of the hand mechanism 118 corresponding to FIG. 8(a) of the first embodiment. As shown in FIG. 15(a), the hand mechanism 118 approaches the single-sided wall body 300 with the first hand portion 120 and the second hand portion 122 opened at approximately 90°. At this time, the first hand portion 120 approaches the upper surface of the single-sided wall body 300.

[0058] Next, as shown in FIG. 15(b), the hand mechanism 118 drives the connecting portion 124 so as to sandwich the single-sided wall body 300 between the first hand portion 120 and the second hand portion 122. In this state, the suction operations of the suction groups 136A and 136B of the first hand portion 120 and the second hand portion 122 are started. Also in the second embodiment, the interval between the suction groups 36A and 36B of the first hand portion 120 is adjusted based on the position of the screws, etc., and the interval between the suction groups 136A and 136B of the second hand portion 122 is also adjusted in the same manner as the suction groups 36A and 36B. Since the gypsum board 64 is not yet attached to the second hand portion 122 side, the suction of the second hand portion 122 may be only magnetic suction.

[0059] Next, the hand mechanism 118 rises while sandwiching the single-sided wall body 300, and as shown in FIG. 15(c), the single-sided wall body 300 is turned upside down. Then, after turning upside down, it descends, and as shown in FIG. 15(d), the single-sided wall body 300 is placed on the assembly table 102.

[0060] Next, the hand mechanism 118 releases the adsorption and holding of the single-sided wall body 300 by the second hand part 122 and opens the second hand part 122 as shown in FIG. 16(a). After that, when the operator creates the double-sided wall body 400 as shown in FIG. 16(b), the hand mechanism 118 drives the connecting part 124 so as to sandwich the double-sided wall body 400 between the first hand part 120 and the second hand part 122 as shown in FIG. 16(c). Then, the hand mechanism 188 starts the adsorption and holding of the double-sided wall body 400 by the second hand part 122. During the time when the operator is creating the double-sided wall body 400 as shown in FIG. 16(b), the adsorption and holding of the first hand part 120 may be released. In this case, in the state of FIG. 16(c), the adsorption and holding of the first hand part 120 may be restarted.

[0061] After the double-sided wall body 400 is adsorbed and held by the hand mechanism 118, the hand mechanism 118 raises the double-sided wall body 400 and transports it to the installation location as shown in FIG. 17.

[0062] FIG. 18(a) shows the installation location after the double-sided wall body 400 is transported, as viewed from above. The upper runner 62B is not shown. In the state of FIG. 18(a), similar to FIG. 13(a) of the first embodiment, the operator screws the upper runner 62B of the double-sided wall body 400 to the ceiling beam of the logistics warehouse and screws the lower runner 62A to the floor surface of the logistics warehouse. After that, the hand mechanism 118 releases the adsorption and holding by the first hand part 120 and the second hand part 122 and opens the second hand part 122 as shown in FIG. 18(b). After that, the hand mechanism 118 moves in a direction away from the double-sided wall body 400 as shown in FIG. 18(c). The operator completes the inner wall by screwing the remaining gypsum board 64 to the double-sided wall body 400.

[0063] After this, the second double-sided wall body 400 is similarly created and transported next to the first double-sided wall body 400 as shown in Fig. 19(a). Then, when the installation of the second double-sided wall body 400 is completed, as shown in Fig. 19(b), the hand mechanism 118 moves in a direction away from the double-sided wall body 400.

[0064] Note that the third double-sided wall body 400 is similarly created and transported. However, during transportation, there is a risk that the second hand portion 122 may hit a pillar in the logistics warehouse and become an obstacle. In this case, the second hand portion 122 may be set in the state shown in Fig. 20 and transported in the same manner as in the first embodiment.

[0065] As described in detail above, according to this second embodiment, the same effects as those of the first embodiment are achieved. Moreover, since the hand mechanism 118 sandwiches the wall bodies 300 and 400 with the first hand portion 120 and the second hand portion, the wall bodies can be firmly held. As a result, it is possible to prevent the wall bodies from falling when held and to prevent the wall bodies from tipping over when erected.

[0066] In the above embodiments, the case where an operator remotely operates the erecting devices 100 and 200 has been described. However, the present invention is not limited to this, and the erecting devices 100 and 200 may be configured to perform automatic operation. In the case of automatic operation, for example, the operator may manually move the hand portion 18, the hand mechanism 118, and the arm portion 16 directly to teach the erecting devices 100 and 200 to perform operations (also referred to as direct teaching), thereby performing the teaching process. Further, in the case of automatic operation, a conveyance route of the wall body may be set in advance, and the erecting devices 100 and 200 may be moved along the conveyance route.

[0067] In the above embodiments, the case where the position of the screw 66 is specified from an image captured by the imaging unit 44 has been described. However, the present invention is not limited to this, and the position of the screw 66 (the position of the column member 60) may be specified by other methods (for example, a metal detector, etc.).

[0068] In each of the above embodiments, the hand portion 18, the first hand portion 120, and the second hand portion 122 have been described as having the magnetic adsorption pad 38 and the vacuum adsorption pad 40. However, the present invention is not limited to this, and any one of the magnetic adsorption pad 38 and the vacuum adsorption pad 40 may be provided alone.

[0069] In each of the above embodiments, the hand portion 18, the first hand portion 120, and the second hand portion 122 have been described as being provided at the tip of the arm portion 16 provided on the traveling portion 12. However, the present invention is not limited to this. For example, the hand portion 18, the first hand portion 120, and the second hand portion 122 may be provided at the tip of a robot arm. Further, the traveling portion 12 may be a vehicle on which an operator can ride.

[0070] In each of the above embodiments, the object held and transported by the building-up devices 100 and 200 has been described as a wall body installed in a logistics warehouse. However, the present invention is not limited to this. The object may be a wall body installed outside the logistics warehouse, or may be, for example, a solar panel. Further, it may be other plate-like members, or may be members capable of magnetic adsorption holding and / or vacuum adsorption holding other than plate-like members.

[0071] The above-described embodiments are preferred examples of the present invention. However, the present invention is not limited thereto, and various modifications can be made without departing from the gist of the present invention.

Explanation of Reference Numerals

[0072] 12 Traveling portion 16 Arm portion 18 Hand portion 38 Magnetic adsorption pad (magnetic adsorption portion) 40 Vacuum adsorption pad (vacuum adsorption portion) 42 Spacing adjustment portion (adjustment portion) 44 Imaging portion (detection portion) 50 Control portion 60 Column member 64 Gypsum board (plate member) 66 screws (fixing members) 100, 200 erection devices (handling devices) 120 first hand part (first surface side hand part) 122 second hand part (second surface side hand part) 300 single-sided wall (object, wall) 400 double-sided wall (object, wall)

Claims

A handling device for handling an object of a wall body provided with a columnar material having magnetism, comprising: a hand part having a vacuum adsorption holding part for holding the object by vacuum adsorption and a magnetic adsorption holding part for holding the object by magnetic adsorption; a detection part for detecting a magnetically adsorbable part by detecting a vacuum-adsorbable part of the object and the columnar material having magnetism; a handling device comprising an adjustment part for adjusting the positions of the vacuum adsorption holding part and the magnetic adsorption holding part based on the positions of the vacuum-adsorbable part and the magnetically adsorbable part detected by the detection part.

2. The hand part is provided on a drivable arm part, The handling device according to claim 1, wherein the arm part starts moving the hand part before the vacuum adsorption force reaches its maximum after starting the vacuum adsorption and magnetic adsorption of the object by the hand part.

3. The handling device according to claim 1 or claim 2, wherein the magnetic adsorption holding part is set with a magnetic adsorption force so as to hold the object even when there is no vacuum adsorption by the vacuum adsorption holding part.

4. The handling device according to any one of claims 1 to 3, further comprising a traveling device for moving the object held by the hand part to a predetermined position.

5. The handling device according to any one of claims 1 to 4, wherein the detection part has an imaging device for imaging the object.

Images