Switchgear

Abstract

To provide an opening / closing device reduced in worker's labor and allowing efficient opening / closing work.SOLUTION: An opening / closing device 1 allows opening / closing of a lid body 11 directly or indirectly connected to a structure 15 via a hinge 12. The opening / closing device 1 includes: a lid body holding unit 2 holding the lid body 11; and a moving unit 3 moving the lid body holding unit 2 so that a second part P2 of the lid body holding unit 2 in contact with the lid body 11 moves along a moving locus L in which a first part P1 of the lid body 11 held by the lid body holding unit 2 moves.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an opening and closing device capable of opening and closing a lid body that is directly or indirectly connected to a structure via a hinge. [Background technology]

[0002] Patent Document 1 describes the provision of a lid-opening tool that is versatile enough to be adapted to any type of lid, regardless of the position of the handhold hole, and that can prevent the lid from falling by performing a stable lid-opening operation. Patent Document 1 also describes a lid-opening tool that has a hook that is bent forward at the tip of a long, rod-shaped main body, and left and right support parts that are provided on the back side of the hook at separate positions on an imaginary line that is perpendicular to a line extending the hook backward, so that when the hook is engaged with the handhold hole in the lid, the left and right support parts come into contact with the top surface of the lid, allowing the lid to be lifted by three-point support. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2009-68230 A (Abstract) Summary of the Invention [Problem to be solved by the invention]

[0004] Conventionally, an operator has had to manually open and close the lid body using a lid opening tool such as that disclosed in Patent Document 1, which has made the opening and closing work laborious. [Means for solving the problem]

[0005] One aspect of the present invention is an opening and closing device capable of opening and closing a lid body directly or indirectly connected to a structure via a hinge, the opening and closing device including a lid body holding unit that holds the lid body, and a movement unit that moves the lid body holding unit such that a second portion of the lid body holding unit that contacts the lid body moves along a movement trajectory of a first portion of the lid body held by the lid body holding unit.

[0006] According to the movement unit of this opening / closing device, the second part of the lid body holding unit that contacts the lid body can be moved along the movement trajectory of the first part of the lid body. Therefore, the lid body holding unit can be moved to follow the movement trajectory of the lid body when opening or closing the lid body. This eliminates the need for the worker to manually follow the movement trajectory of the lid body, reducing the worker's effort and enabling efficient opening and closing operations.

[0007] The moving unit preferably includes a first rotation unit that rotates the lid body holding unit about a first rotation axis, and a position adjustment unit that adjusts the position of the lid body holding unit in a first direction along the rotation radius of the first rotation axis when the first rotation unit rotates the lid body holding unit about the first rotation axis. This opening / closing device allows the position of the lid body holding unit to be adjusted in the first direction along the rotation radius of the first rotation axis while rotating the lid body holding unit about the first rotation axis. Therefore, even if the lid body follows various movement trajectories when opening or closing the lid body, the lid body holding unit can easily follow the movement trajectory of the lid body. This allows for more efficient opening and closing of a wide variety of lid bodies.

[0008] Preferably, the first rotation unit includes a support member that supports the lid body holding unit and a rotation drive mechanism that rotates the support member about the first rotation axis, and the position adjustment unit includes a slide mechanism that slides the lid body holding unit in a first direction relative to the support member. With this opening / closing device, the support member that supports the lid body holding unit and the mechanisms that rotate the support member about the first rotation axis and slide the lid body holding unit relative to the support member allow the position of the lid body holding unit in the first direction to be continuously changed while rotating the lid body holding unit. This allows the lid body holding unit to more smoothly follow the movement trajectory of the lid body with a simple configuration. This makes it easy to provide an opening / closing device that can open and close a wide variety of lid bodies more efficiently at low cost.

[0009] Preferably, the moving unit includes a second rotation unit that rotates the lid body holding unit around a second rotation axis different from the first rotation axis. With this opening / closing device, the position of the lid body holding unit can be adjusted in a first direction along the rotation radius of the first rotation axis while rotating the lid body holding unit around the first rotation axis, and the lid body holding unit can also be rotated around the second rotation axis different from the first rotation axis. This improves the rotational freedom of the lid body holding unit, making it easier for the lid body holding unit to more smoothly follow the movement trajectory of the lid body, even for lids that follow various movement trajectories when opening or closing the lid body. This allows for more efficient opening and closing of a wide variety of lid bodies.

[0010] The moving unit preferably includes a position maintaining mechanism that maintains the position of the lid body in a predetermined position when the lid body holding unit is moved. With this opening / closing device, the position of the lid body can be easily stabilized when opening or closing the lid body, thereby enabling more efficient opening and closing operations. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic diagram showing the opening and closing device when viewed from the side with the lid body closed. [Figure 2] FIG. 2 is a schematic diagram showing the opening and closing device when viewed from the side with the lid body in an open state. [Figure 3] FIG. 3 is a schematic diagram showing the opening and closing device in the state shown in FIG. 2 (state in which the cover body is open) as viewed from above, and shows only the base unit extracted from the opening and closing device. [Figure 4] FIG. 4 is a schematic diagram showing an example of use of the opening and closing device. DETAILED DESCRIPTION OF THE INVENTION

[0012] FIG. 1 is a schematic diagram showing the opening and closing device 1 as seen from the side with the lid body 11 closed. For ease of explanation, in FIG. 1, the area below the ground G on which the opening and closing device 1 is installed is shown in cross section. The same applies to FIGS. 2 and 4. As shown in FIG. 1, the opening and closing device 1 is a device capable of opening and closing the lid body 11 that is indirectly connected to a structure 15 via a hinge 12. A typical opening and closing device 1 is a device capable of opening and closing the lid body 11 of an underground structure lid 10 used for an underground structure 15.

[0013] The underground structure lid 10 of this example includes a receiving frame 13 installed on the open end 15a of the underground structure 15, a lid body 11 supported by the receiving frame 13, and a hinge 12 that connects the lid body 11 to the receiving frame 13 so that it can be opened and closed. The lid body 11 of this example is connected to the underground structure 15 via the hinge 12 and the receiving frame 13. That is, the lid body 11 of this example is indirectly connected to the underground structure 15 via the hinge 12. Note that the lid body 11 may also be directly connected to the structure 15 via the hinge 12.

[0014] The underground structure cover 10 includes a type of cover in which a cover body 11 is directly or indirectly connected via a hinge 12 to an underground structure 15 at least a portion of which is buried underground. Examples of the underground structure cover 10 include manhole covers, large iron covers, and sewage manhole covers that close openings connecting underground buried objects or underground structure facilities in sewerage systems with the ground, openable iron covers for utility tunnels that protect underground facility equipment or underground cables in electrical or communication facilities, iron covers for power transmission and distribution, fire hydrant covers that function as openable doors connecting buried conduits under the road surface in water supply or gas piping and their associated equipment with the ground, water control valve covers, gate valve covers, air valve covers, gas piping covers, water meter covers, and the like.

[0015] The opening and closing device 1 comprises a lid body holding unit 2 that holds the lid body 11, a moving unit 3 that moves the lid body holding unit 2 when opening and closing the lid body 11, and a control unit 4 that controls the operation of the lid body holding unit 2 via the moving unit 3.

[0016] FIG. 2 is a schematic diagram showing the opening / closing device 1 as viewed from the side with the lid body 11 in an open state. For ease of explanation, FIG. 2 also shows the internal mechanism of the support member 50 (described later) in a see-through state. As shown in FIG. 2, the lid body holding unit 2 includes a lid body holding member 20. The lid body holding member 20 includes a main body 21, a holding portion 22 attached to the main body 21 so as to be able to hold the lid body 11 by contacting a held portion 14 provided on the lid body 11, and a rotationally supported portion 23 supported by the moving unit 3 so as to enable the main body 21 to rotate about a second rotation axis A2 (described later). The held portion 14 in this example is an insertion hole 14 recessed into the surface (top surface) 11a of the lid body 11 for inserting an opening / closing tool that has conventionally been used by an operator to open or close the lid body 11. Moreover, the holding portion 22 in this example is an insertion portion (holding portion) 22 formed so as to be able to hold the lid main body 11 when inserted into and in contact with the insertion hole (held portion) 14. The insertion portion 22 in this example includes a hook-shaped portion 24 that hooks onto the insertion hole 14. Moreover, the rotationally supported portion 23 in this example is a bearing portion 26 formed so as to be rotatably supported by a shaft portion 25 (described later) that functions as the second rotation axis A2.

[0017] The moving unit 3 includes a base unit 5 that determines the three-dimensional position of a first rotation axis A1 that serves as the rotation center of the lid body holding unit 2, a first rotation unit 6 that rotates the lid body holding unit 2 about the first rotation axis A1, and a position adjustment unit 7 that can adjust the position P of the lid body holding unit 2 in a first direction X1 along the rotation radius R1 of the first rotation axis A1 when the first rotation unit 6 rotates the lid body holding unit 2 about the first rotation axis A1. In this example, the first rotation axis A1 extends horizontally parallel to the ground G when the opening / closing device 1 is placed on the ground G.

[0018] The base unit 5 includes a frame section 30 on which the moving unit 3 (and the lid body holding unit 2 via the moving unit 3) and the control unit 4 are mounted, and a frame support section 40 that supports the frame section 30 at a distance from the ground G. The frame section 30 includes a rotation fulcrum section 31 that functions as a fulcrum when the first rotation unit 6 rotates the lid body holding unit 2. In this example, the rotation fulcrum section 31 includes a hinge member 32. The hinge member 32 includes a rotation axis 32a that functions as the first rotation axis A1. The frame support section 40 includes a caster 41 used when moving the opening and closing device 1 relative to the ground G, and a stopper 42 used when fixing the opening and closing device 1 to the ground G, and the caster 41 and the stopper 42 are configured to be switchable between each other.

[0019] When the opening / closing device 1 is viewed from above (see FIG. 3), the frame section 30 includes three main frame members 33, 34, and 35 formed in a U-shape in plan view, and two auxiliary frame members 36 and 37 for mounting the moving unit 3 (not shown in FIG. 3). The main frame members 33, 34, and 35 and the auxiliary frame members 36 and 37 are arranged parallel to each other and connect the horizontally opposing main frame members 33 and 34. The main frame members 33, 34, and 35 and the auxiliary frame members 36 and 37 are arranged above and horizontally spaced a distance from the outer periphery of the receiving frame 13 so as to open (not block) the space SP (see FIG. 2) above the lid main body 11 (not shown in FIG. 3). Therefore, with the lid main body 11 opened by the opening / closing device 1, users such as workers can smoothly enter and exit the underground structure 15 (structure) without interfering with the opening / closing device 1.

[0020] As shown in Figure 2, the first rotation unit 6 includes a support member 50 that supports the lid body holding unit 2, a rotation drive mechanism 60 that rotates the support member 50 around the first rotation axis A1, and an attitude maintaining mechanism 70 that maintains the attitude of the lid body 11 in a predetermined attitude when the lid body holding unit 2 is moved.

[0021] The support member 50 includes a main body portion 51, a first connecting portion 52 located at one end side 51a of the main body portion 51 in the first direction X1 and connected to the hinge member 32, and a second connecting portion 53 located at the other end side 51b of the main body portion 51 in the first direction X1 and rotatably supporting the lid body holding member 20 via a rotationally supported portion (bearing portion) 26.

[0022] The second connecting portion 53 includes an attachment portion 80 attached to the main body portion 51 so as to be slidable in the first direction X1 by a slide mechanism 100 (described later) of the position adjustment unit 7, and a second rotation unit 90 that rotates the lid body holding unit 2 about a second rotation axis A2. In this example, the rotation axes A1 and A2 are different and parallel to each other. The second rotation unit 90 includes a shaft portion 91 that supports the bearing portion 26 of the lid body holding member 20 so that the lid body holding member 20 is rotatable relative to the second connecting portion 53, a shaft arrangement portion 92 provided on the second connecting portion 53 so that the shaft portion 91 is rotatably arranged relative to the second connecting portion 53, and a rotation stop portion 93 provided on the second connecting portion 53 so that the rotation of the main body portion 21, which rotates due to gravity acting on the lid body holding member 20, stops at a predetermined position (the state shown in FIG. 2). In this example, the shaft portion 91 functions as the second rotation axis A2. In this example, the lid body holding member 20 and the second connecting portion 53 are joined by a so-called pin joint so as to be rotatable. This makes it easy to change the posture of the holding portion 22 of the lid body holding member 20 in accordance with changes in the movement trajectory and posture of the lid body 11 during opening and closing operations. This allows the lid body holding member 20 to continue to hold the lid body 11 stably.

[0023] The rotation drive mechanism 60 includes a support member 61 connected to the frame portion 30 (auxiliary frame member 36 shown in FIG. 3) so as to be rotatable about a first auxiliary rotation axis B1, the support member 61 extending in a second direction X2 along a rotation radius R2 of the first auxiliary rotation axis B1, and a pair of cylinder mechanisms 62, 63 that extend and retract so that the support member 61 rotates about the first auxiliary rotation axis B1. One of the cylinder mechanisms 62 includes a connecting portion 62a connected to the support member 61 so as to be rotatable about the second auxiliary rotation axis B2 located at one end side 61a of the support member 61 in the second direction X2, and a connecting portion 62b connected to the main body portion 51 of the support member 50 so as to be rotatable about a third auxiliary rotation axis B3. The other cylinder mechanism 63 includes a connecting portion 63a connected to the support member 61 so as to be rotatable about a fourth auxiliary rotation axis B4 located on one end side 61a of the support member 61 in the second direction X2, and a connecting portion 63b connected to the frame portion 30 (auxiliary frame member 37 shown in FIG. 3) so as to be rotatable about a fifth auxiliary rotation axis B5. In this example, the rotation axes A1, A2 and the auxiliary rotation axes B1, B2, B3, B4, and B5 are different from one another and parallel to one another. In this example, the control unit 4 controls the extension and contraction amounts of the pair of cylinder mechanisms 62, 63 to rotate the support member 61 about the first auxiliary rotation axis B1, thereby controlling the rotation angle θ of the lid body holding member 20 (second connecting portion 53) about the rotation axis A1.

[0024] The posture maintaining mechanism 70 includes a posture maintaining member 71 attached to the main body 51 of the support member 50. The posture maintaining member 71 includes a main body 72 extending in a third direction X3 inclined toward the lid main body 11 relative to the main body 51 of the support member 50, a contact portion 73 disposed at a position that contacts the surface 11a of the lid main body 11 when the lid main body 11 swings toward the main body 72 due to shaking or the like occurring during opening and closing operations, and a vibration absorbing portion (not shown) that absorbs vibrations transmitted from the lid main body 11 to the contact portion 73. In this example, the contact portion 73 is a wheel portion 74 protruding from the main body 72 toward the lid main body 11. Examples of vibration absorbing portions include a coil-shaped member such as a spring, an elastic member such as vibration-isolating rubber, and a damping device such as a damper. In this example, even if the lid main body 11 shakes during opening and closing operations, the vibration can be damped by the lid main body 11 contacting the contact portion 73 of the posture maintaining member 71 before contacting the support member 50. Therefore, it is possible to prevent the impact force caused by the swinging of the lid main body 11 from acting on the moving unit 3 via the support member 50, and to prevent the moving unit 3 from being damaged.

[0025] The position adjustment unit 7 includes a slide mechanism 100 that slides (continuously moves) the second connecting portion 53 in the first direction X1 relative to the main body portion 51. The slide mechanism 100 includes a cylinder mechanism 101 that performs an extension / contraction operation so that the position P of the second connecting portion 53 in the first direction X1 relative to the rotation axis A1 changes continuously. In this example, when rotating the support member 50 around the first rotation axis A1, the control unit 4 continuously slides the second connecting portion 53 of the support member 50 in the first direction X1, thereby making it possible to simultaneously control the rotation angle θ of the lid body holding member 20 (second connecting portion 53) and the position P in the first direction X1 during the rotation operation.

[0026] The control unit 4 that controls the operation of the lid body holding unit 2 via the above-described moving unit 3 includes general-purpose hardware resources such as a CPU, a memory (RAM, ROM, etc.), an HDD, an input device (controller, etc.), and a display device, etc. The control unit 4 in this example includes various functions for independently or simultaneously controlling the rotation angle θ of the lid body holding unit 2 and the position P in the first direction X1 by the CPU reading and executing programs stored in the memory and the HDD. These various functions may be implemented in the control unit 4 by a program or an appropriate circuit such as an ASIC or an FPGA, or may be executed by another computer using technologies such as cloud computing.

[0027] FIG. 4 schematically shows an example of the use of the opening / closing device. In FIG. 4, as an example, an example of the lid body 11 that follows the movement locus La is shown among various lid bodies that follow various movement loci (hereinafter collectively referred to as "movement locus L") when opening and closing the lid body. In this example, the first portion P1 of the insertion hole (held portion) 14 provided in the lid body 11 follows the movement locus La. Here, if the rotation angles of the first portion P1 centered on the rotation axis A1 are θ1, θ2, θ3 (where θ1 < θ2 < θ3), and the rotation radii of the first portion P1 centered on the rotation axis A1 are R11, R12 (where R11 < R12), the movement locus La in this example includes an arc-shaped locus La1 with a rotation radius R11 that the first portion P1 follows in the section where the rotation angle is from 0° (the state where the lid body 11 is closed) to θ1, a linear locus La2 with a rotation radius from R11 to R12 that the first portion P1 follows while the rotation angle remains θ1, an arc-shaped locus La3 with a rotation radius R12 that the first portion P1 follows in the section where the rotation angle is from θ1 to θ2, and a non-arc-shaped locus La4 that the first portion P1 follows in the section where the rotation angle is from θ2 to θ3 (the state where the lid body 11 is opened).

[0028] When using this opening / closing device 1, first, the hook-shaped portion 24 of the insertion portion (holding portion) 22 of the lid body holding member 20 is hooked onto the insertion hole (held portion) 14. As a result, the second portion P2 (e.g., the hook-shaped portion 24) of the insertion portion (holding portion) 22 comes into contact with the first portion P1 of the insertion hole 14. Next, the control unit 4 of the opening / closing device 1 controls the rotation drive mechanism 60 to rotate the lid body holding member 20 by a predetermined rotation angle. As a result, the second portion P2 of the insertion portion 22 can be made to follow the arc-shaped locus La1 of the first portion P1 of the insertion hole 14 in conjunction with the rotation of the lid body holding member 20. Next, the control unit 4 of the opening / closing device 1 controls the slide mechanism 100 to slide the lid body holding member 20 by a predetermined distance in the first direction X1. As a result, the second portion P2 of the insertion portion 22 can be made to follow the linear locus La2 of the first portion P1 of the insertion hole 14 in conjunction with the sliding movement of the lid body holding member 20. Next, the control unit 4 of the opening and closing device 1 controls the rotation drive mechanism 60 to rotate the lid body holding member 20 by a predetermined rotation angle. As a result, the second portion P2 of the insertion portion 22 can be made to follow the arc-shaped locus La3 of the first portion P1 of the insertion hole 14 in conjunction with the rotational movement of the lid body holding member 20. Next, the control unit 4 of the opening and closing device 1 simultaneously controls the rotation drive mechanism 60 and the slide mechanism 100 to slide the lid body holding member 20 by a predetermined distance in the first direction X1 while rotating the lid body holding member 20 by the predetermined rotation angle. As a result, the second portion P2 of the insertion portion 22 can be made to follow the non-arcuate locus La4 of the first portion P1 of the insertion hole 14 in conjunction with the rotational movement and slide movement of the lid body holding member 20. As a result, the second portion P2 of the lid body holding unit 2 in contact with the lid body 11 can be moved along the movement locus La along which the first portion P1 of the lid body 11 held by the lid body holding unit 2 moves.

[0029] In this way, with this opening and closing device 1, the second part P2 of the lid body holding unit 2 that contacts the lid body 11 can be moved along the movement trajectory La along which the first part P1 of the lid body 11 moves. Therefore, the lid body holding unit 2 can be moved so as to follow the movement trajectory La of the lid body 11 when opening or closing the lid body 11. Therefore, the worker does not need to manually follow the movement trajectory L of the lid body 11, which reduces the worker's effort and allows for efficient opening and closing operations.

[0030] Furthermore, with this opening / closing device 1, the position of the lid body holding unit 2 in the first direction X1 along the rotation radius R1 of the first rotation axis A1 can be adjusted while rotating the lid body holding unit 2 about the first rotation axis A1. Therefore, even if the lid body follows various movement loci L when opening or closing the lid body, it is easy to make the lid body holding unit 2 follow the movement loci L of the lid body. Therefore, a wide variety of lid bodies can be opened and closed more efficiently.

[0031] Furthermore, with this opening and closing device 1, the position of the lid body holding unit 2 in the first direction X1 can be continuously changed while rotating the lid body holding unit 2 by using the support member 50 that supports the lid body holding unit 2 and the mechanisms 60, 100 that rotate the support member 50 about the first rotation axis A1 and slide the lid body holding unit 2 relative to the support member 50. This makes it possible to achieve smoother following of the lid body holding unit 2 to the movement locus L of the lid body with a simple configuration. Therefore, it is easy to provide an opening and closing device 1 that can open and close a wide variety of lid bodies more efficiently at low cost.

[0032] Furthermore, with this opening / closing device 1, the position of the lid body holding unit 2 can be adjusted in a first direction X1 along the rotation radius R1 of the first rotation axis A1 while rotating the lid body holding unit 2 about the first rotation axis A1, and the lid body holding unit 2 can also be rotated about a second rotation axis A2 different from the first rotation axis A1. This improves the rotational freedom of the lid body holding unit 2, making it easier to make the lid body holding unit 2 more smoothly follow the movement trajectory L of the lid body, even if the lid body follows various movement trajectories L when opening or closing the lid body. This allows a wide variety of lid bodies to be opened and closed more efficiently.

[0033] Furthermore, in this opening / closing device 1, the base unit 5 positions the first rotation axis A1 three-dimensionally at a position different from the position of the hinge 12, and the second rotation unit 90 rotatably joins the lid body holding member 20 and the second connecting portion 53. Therefore, in the case of the lid body 11 connected via the hinge 12 of the type that allows fluctuations in position and orientation relative to the receiving frame 13 as in this example, even if the rotation fulcrum position of the lid body 11 itself fluctuates due to fluctuations in the position of the hinge 12, the lid body holding member 20 rotates about the second rotation axis A2 to absorb the fluctuation in the rotation fulcrum position, thereby preventing misalignment of the first rotation axis A1, which serves as the starting point (reference) for rotation and sliding of the lid body holding unit 2. Therefore, it is possible to provide an opening / closing device 1 that can accurately follow the first portion P2 of the first portion P1, which follows a complex and diverse movement locus L due to differences in the shape and structure of the hinge.

[0034] The present invention is not limited to the above-described embodiment, but includes those defined in the claims. In the above-described embodiment, expressions such as "horizontal" and "parallel" are used, but they do not necessarily have to be "horizontal" or "parallel" in a strict sense. In other words, these expressions allow for deviations in manufacturing accuracy, installation accuracy, etc. [Explanation of symbols]

[0035] 1 opening and closing device, 2 lid body holding unit, 3 moving unit, 7 position adjustment unit, 10 lid for underground structure, 11 lid body, 12 hinge, 50 support member, 60 rotation drive mechanism, 100 slide mechanism, 70 attitude maintenance mechanism, A1 first rotation axis, A2 second rotation axis, L movement trajectory, P1 first part, P2 second part

Claims

1. An opening and closing device capable of opening and closing a lid body that is directly or indirectly connected to a structure via a hinge, a lid body holding unit that holds the lid body; a moving unit that moves the lid body holding unit so that a second portion of the lid body holding unit that contacts the lid body moves along a moving trajectory along which a first portion of the lid body held by the lid body holding unit moves, The moving unit includes a first rotation unit that rotates the lid body holding unit about a first rotation axis; An opening and closing device comprising: a position adjustment unit that can adjust the position of the lid body holding unit in a first direction along the rotation radius of the first rotation axis when the first rotation unit rotates the lid body holding unit around the first rotation axis.

2. The first rotation unit includes a support member that supports the lid body holding unit; a rotation drive mechanism that rotates the support member around the first rotation axis, The opening and closing device according to claim 1 , wherein the position adjustment unit includes a slide mechanism that slides the lid body holding unit in the first direction relative to the support member.

3. The opening and closing device according to claim 1 or 2, wherein the moving unit includes a second rotation unit that rotates the lid body holding unit about a second rotation axis different from the first rotation axis.

4. The opening and closing device according to any one of claims 1 to 3, wherein the moving unit includes a position maintaining mechanism that maintains the position of the lid body in a predetermined position when the lid body holding unit is moved.

5. An opening and closing device capable of opening and closing a lid body that is directly or indirectly connected to a structure via a hinge, a lid body holding unit that holds the lid body; a moving unit that moves the lid body holding unit so that a second portion of the lid body holding unit that contacts the lid body moves along a moving trajectory along which a first portion of the lid body held by the lid body holding unit moves, The opening and closing device includes a position maintaining mechanism in which the moving unit maintains the position of the lid body in a predetermined position when the lid body holding unit is moved.

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