Conveying device

Abstract

To provide a carrying device that can convey a heavy object to be carried which is difficult for a person to carry, with a simpler structure.SOLUTION: A carrying device 100 is provided with: first and second hand parts 1 and 2, arranged separately in a first direction in a horizontal surface, which hold an object to be carried 5 at the same time; a first moving part 10 that moves each of the first and second hand parts 1 and 2 in the first direction; a second moving part 20 that moves the first moving part 10 in a second direction perpendicular to the first direction in the horizontal surface; a third moving part 30 that moves the second moving part 20 in a vertical direction; and a carrier 40 with the third moving part 30 fixed thereto. This configuration can move the first and second hand parts 1 and 2 holding the object 5 to be carried, with a simple structure, which can greatly enhance a weight capacity.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a transport apparatus capable of moving a pair of hand units that simultaneously hold a transport target object in three axial directions.

Background Art

[0002] Conventionally, at manufacturing sites and the like, there is a demand for transporting transport target objects of a weight that is difficult for humans to transport, such as welding jigs and plasma power supplies. To transport such a transport target object, using a forklift is conceivable, but there are cases where the weight of the transport target object is not large enough to require transport by a forklift. Further, when the transport target object is not placed on a pallet, it is difficult to transport the object with a forklift.

[0003] It is also conceivable to transport such a transport target object with a manipulator, but if the hand unit of the manipulator cannot hold the vicinity of the center of gravity of the transport target object, a moment will act on the hand unit during transport of the transport target object. In order to cope with that moment, it is necessary to improve the strength of the manipulator, which leads to the problem of an increased size of the manipulator.

[0004] This moment problem can be solved by using a dual-arm manipulator to simultaneously hold the transport target object at two positions. For such dual-arm robots, improvements have been made to enhance the operating range and workability (see, for example, Patent Documents 1 and 2).

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Summary of the Invention

[0006] However, highly versatile dual-arm robots have a large number of axes, making the manipulator itself heavy. Therefore, to increase the payload capacity, it is necessary to use high-power motors on each axis, which leads to the problem of the dual-arm robot becoming large. On the other hand, if the dual-arm robot is not made large, the payload capacity will be small.

[0007] This invention was made to solve the above problems, and aims to provide a transport device that can transport objects of a weight that is difficult for humans to transport, with a simpler configuration. [Means for solving the problem]

[0008] To achieve the above objective, a conveying device according to one aspect of the present invention comprises: first and second handles arranged spaced apart in a first direction in the horizontal plane and simultaneously holding an object to be conveyed; a first moving part that moves the first and second handles in the first direction, respectively; a second moving part that moves the first moving part in a second direction perpendicular to the first direction in the horizontal plane; a third moving part that moves the second moving part in a vertical direction; and a trolley to which the third moving part is fixed. [Effects of the Invention]

[0009] According to one aspect of the present invention, the transport device can be made to carry a larger weight by simplifying the configuration for moving a pair of hand parts that simultaneously hold the object to be transported. [Brief explanation of the drawing]

[0010] [Figure 1] Perspective view showing the configuration of a conveying device according to an embodiment of the present invention. [Figure 2A] Front view showing an example of the hand unit and the object to be transported in the same embodiment. [Figure 2B]Front view showing an example of the hand unit and the object to be transported in the same embodiment. [Figure 2C] Front view showing an example of the hand unit and the object to be transported in the same embodiment. [Figure 2D] Front view showing an example of the hand unit and the object to be transported in the same embodiment. [Figure 3] Functional block diagram showing the function of the conveying device according to the same embodiment. [Figure 4] Flowchart showing the operation of the transport device according to this embodiment. [Figure 5A] A perspective view showing an example of an object to be transported in the same embodiment. [Figure 5B] Plan view showing an example of the object to be transported and the holding part in the same embodiment. [Modes for carrying out the invention]

[0011] The conveying device according to the present invention will be described below using embodiments. In the following embodiments, components and steps denoted by the same reference numerals are the same or equivalent, and their repeated explanation may be omitted. The conveying device according to this embodiment has first to third moving parts that move two hand parts in three axial directions, and the third moving part on the base end is fixed to a trolley.

[0012] Figure 1 is a perspective view showing the conveying device 100 according to this embodiment, Figure 2A is a front view showing the first and second hand sections 1 and 2 in a state of holding the object to be conveyed 5, and Figure 3 is a functional block diagram showing the functions of the conveying device 100.

[0013] The transport device 100 comprises a first hand unit 1, a second hand unit 2, a receiving unit 7, a control unit 8, a first moving unit 10, a second moving unit 20, a third moving unit 30, and a trolley 40.

[0014] The first hand portion 1 and the second hand portion 2 are spaced apart in a first direction in the horizontal plane. The first hand portion 1 and the second hand portion 2 simultaneously hold the object to be transported 5. By simultaneously holding the object to be transported 5 with the first and second hand portions 1 and 2, the above-mentioned moment problem can be solved, and it becomes unnecessary to enlarge the first to third moving portions 10, 20, and 30. The first hand portion 1 may, for example, have a first base portion 1a, a first holding portion 1b for holding the object to be transported 5, and a first sensor 1c for obtaining the weight of the object to be transported 5 held by the first holding portion 1b. The second hand portion 2 may, for example, have a second base portion 2a, a second holding portion 2b for holding the object to be transported 5, and a second sensor 2c for obtaining the weight of the object to be transported 5 held by the second holding portion 2b. The first and second holding portions 1b and 2b may be directly or indirectly connected to the first and second base portions 1a and 2a, respectively.

[0015] The first sensor 1c acquires the weight applied to the first holding part 1b, and the second sensor 2c acquires the weight applied to the second holding part 2b. The sum of the weights acquired by the first and second sensors 1c and 2c may be, for example, the weight of the object to be transported 5, or the weight of the object to be transported 5 plus the weights of the first and second holding parts 1b and 2b. The first and second sensors 1c and 2c may be, for example, sensors for detecting external forces, or they may be weight sensors. The sensors for detecting external forces may be, for example, 3-axis or 6-axis force sensors. If the first and second sensors 1c and 2c are sensors for detecting external forces, it is preferable that they are arranged so as to be able to measure the weight of the object to be transported 5 held by the first and second hand parts 1 and 2.

[0016] The first and second hand units 1, 2 are moved in a first direction and a second direction within a horizontal plane, as well as in a vertical direction, by the first to third moving units 10, 20, 30. The second direction is a direction perpendicular to the first direction. That is, the first and second hand units 1, 2 are each moved in the directions of the three axes in an orthogonal coordinate system. In the present embodiment, the first direction, the second direction, and the vertical direction are respectively assumed to be the y-axis direction, the x-axis direction, and the z-axis direction shown in FIG. 1.

[0017] The method by which the first and second hand units 1, 2 hold the conveyance target object 5 is not limited. As shown in FIG. 1 and FIG. 2A, the first and second hand units 1, 2 may suspend and hold the conveyance target object 5. In the present embodiment, a case where the cross sections of the first and second holding units 1b, 2b that suspend and hold the conveyance target object 5 are J-shaped will be mainly described, but as will be described later, the cross sections of the first and second holding units 1b, 2b may have other shapes. Further, as will be described later, the first and second hand units 1, 2 may hold the conveyance target object 5 by sandwiching it from both sides, may hold the conveyance target object 5 with an electromagnet, may hold the conveyance target object 5 with a vacuum suction mechanism, or may hold the conveyance target object 5 by other methods.

[0018] The conveyance target object 5 is not particularly limited, and may be, for example, an object used at a manufacturing site such as a plasma power source or a welding jig. The weight of the conveyance target object 5 is not particularly limited, and may be a weight that is difficult for a human to carry, for example, 30 kg or more, or 50 kg or more. In addition, the weight of the conveyance target object 5 may be a weight that does not require the use of a large transport vehicle such as a forklift, for example, 200 kg or less, 150 kg or less, or 100 kg or less.

[0019] Figure 1 and others show an example where the object to be transported 5 is a plate-shaped member, but the object to be transported 5 may also be a three-dimensional object, or it may be a plate-shaped member on which another device or the like is placed. In the latter case, for example, the object to be transported 5 may be the plate-shaped member and the device or other object placed on the plate-shaped member. Furthermore, when the object to be transported 5 is suspended by the first and second handles 1 and 2, as shown in Figure 1 and others, the object to be transported 5 may be provided with two holding parts 5a, such as handles. The object to be transported 5 may then be held by the first and second handles 1 and 2 by suspending the holding parts 5a by the first and second holding parts 1b and 2b.

[0020] The reception unit 7 may receive operations and instructions from the user. The reception unit 7 may, for example, receive operations and instructions related to the first to third mobile units 10, 20, and 30, or it may receive operations and instructions related to the trolley 40. Here, this reception may be, for example, the reception of information input from an input device (e.g., a keyboard, mouse, touch panel, etc.), or the reception of information transmitted via a wired or wireless communication line. The reception unit 7 may or may not include a device for performing reception (e.g., an input device, a communication device, etc.). Furthermore, the reception unit 7 may be implemented by hardware, or by software such as a driver that drives a predetermined device.

[0021] The control unit 8 controls the first moving unit 10, the second moving unit 20, and the third moving unit 30, respectively. Through this control by the control unit 8, for example, the object to be transported 5 is held by the first and second hand units 1 and 2, and released from being held. This control also enables localized transport, such as positioning of the object to be transported 5. Furthermore, if the trolley 40 has a driving means, the control unit 8 may also control the movement of the trolley 40. These controls may be performed, for example, in response to operations or instructions received by the reception unit 7. The movement control of the trolley 40 may be, for example, movement control relating to the direction and speed of movement in response to operations received by the reception unit 7, or it may be autonomous movement control from a predetermined starting point to a destination. The specific control by the control unit 8 will be described later.

[0022] The first movable part 10 supports the first and second hand parts 1 and 2, and moves the first and second hand parts 1 and 2 in a first direction. Preferably, the first movable part 10 can move the first and second hand parts 1 and 2 independently in the first direction. By moving the first and second hand parts 1 and 2 with the first movable part 10, it is possible to, for example, hold the object to be transported 5 with the first and second hand parts 1 and 2, or release that hold. Also, by moving the first and second hand parts 1 and 2 simultaneously in the same direction with the first movable part 10, it is possible to, for example, move the object to be transported 5 held by the first and second hand parts 1 and 2 in the first direction.

[0023] The first movable part 10 may, for example, include a first support part 11 that supports the first and second hand parts 1 and 2, and a linear actuator that moves the first and second hand parts 1 and 2 in a first direction relative to the first support part 11. More specifically, a guide along the first direction may be provided on the bottom surface of the first support part 11 that extends in the first direction, and a slider may be assembled to the guide so as to be slidable in the first direction. The first and second base parts 1a and 2a of the first and second hand parts 1 and 2 may each be fixed to different sliders.

[0024] The second movable part 20 supports the first movable part 10 and moves the first movable part 10 in the second direction. Therefore, the first and second hand parts 1 and 2 are moved together in the second direction by the second movable part 20. The second movable part 20 may, for example, have a second support part 21 that supports the first support part 11 of the first movable part 10, and a linear actuator that moves the first support part 11 in the second direction relative to the second support part 21. More specifically, a guide along the second direction may be provided on the bottom surface of the second support part 21 that extends in the second direction, and a slider may be mounted to the guide so as to be slidable in the second direction. The upper surface of the first support part 11 may be fixed to the slider.

[0025] The third movable part 30 supports the second movable part 20 and moves the second movable part 20 vertically. Therefore, the first and second hand parts 1 and 2 are moved together vertically by the third movable part 30. The third movable part 30 may, for example, include a pair of support columns 31 and 32 spaced apart in the first direction, a top plate 33 connecting the upper ends of the support columns 31 and 32, a lifting part 34 whose ends are supported by the pair of support columns 31 and 32 and which supports the second support part 21 of the second movable part 20, and a pair of linear actuators that move the lifting part 34 vertically synchronously with respect to the pair of support columns 31 and 32. More specifically, guides along the vertical direction may be provided on the lifting part 34 side of the vertically extending support columns 31 and 32, and sliders may be assembled to these guides so as to be slidable vertically. Furthermore, both ends of the lifting section 34 in the first direction may be fixed to the slider.

[0026] In the first to third moving parts 10, 20, and 30, for example, the slider may be assembled to two or more parallel guides. Furthermore, the linear actuators of the first to third moving parts 10, 20, and 30 may each independently have, for example, a rack and pinion mechanism and a driving means for rotating the pinion, or a ball screw mechanism and a driving means for rotating the screw shaft of the ball screw mechanism, or a pair of pulleys, an endless belt stretched between the pair of pulleys, and a driving means for rotating the pulleys, or a sprocket and chain may be used instead of the pulleys and belt, or other configurations may be used. In order to move the first and second hand parts 1 and 2 independently in the first direction, the first moving part 10 may have a linear actuator for moving the first hand part 1 and a linear actuator for moving the second hand part 2. Mechanisms for moving a supported object in a linear direction using guides, sliders, linear actuators, etc., are already well known, and a detailed explanation of them will be omitted. In Figure 1, the guides, sliders, and linear actuators are not shown.

[0027] The third movable part 30 is fixed to the trolley 40. The base end, i.e., the lower end, of the third movable part 30 may also be fixed to the trolley 40. For example, the trolley 40 may have a base 41 to which the base end of the third movable part 30 is fixed, and a plurality of running means 42 fixed to the base 41 and capable of running on a running surface such as a floor. For example, the base 41 may be a plate-shaped member. The running means 42 are usually wheels, but may also be rollers, tracks, ball casters, etc. The trolley 40 may or may not have a drive means for driving the running means 42. In the latter case, the trolley 40 may be moved manually. Furthermore, a manually moved trolley 40 may have a fixing means for fixing the running means 42 so that the trolley 40 does not move when the first to third movable parts 10, 20, and 30 are used to transport the object 5. The fixing means may be, for example, wheel stoppers. In this embodiment, the case in which the trolley 40 does not have a driving means and is moved manually will be mainly described. While the object to be transported 5 is transported locally by the first to third moving parts 10, 20, and 30, the object to be transported 5 is transported more globally by the trolley 40.

[0028] Here, the control of the first to third movable parts 10, 20, and 30 by the control unit 8 will be briefly explained. When the reception unit 7 receives an operation to move at least one of the first and second hand parts 1 and 2, the control unit 8 may, for example, operate the driving means of the linear actuator of the first movable part 10 to move at least one of the first and second hand parts 1 and 2 in the first direction. Also, when the reception unit 7 receives an operation to move the first movable part 10 in the second direction, the control unit 8 may, for example, operate the driving means of the linear actuator of the second movable part 20 to move the first movable part 10 in the second direction. Also, when the reception unit 7 receives an operation to raise or lower the lifting part 34, the control unit 8 may, for example, synchronously operate the driving means of the pair of linear actuators of the third movable part 30 to raise or lower the lifting part 34 in the vertical direction. Furthermore, the control unit 8 may, for example, simultaneously operate at least two of the first to third moving units 10, 20, and 30. More specifically, the control unit 8 may simultaneously move the object to be transported 5 in the first and second directions by simultaneously operating the first and second moving units 10 and 20. Also, for example, if a predetermined operation program for the first to third moving units 10, 20, and 30 is set in advance, the control unit 8 may control the first to third moving units 10, 20, and 30 so that they perform operations according to the set operation program. Specifically, if the position for holding the object to be transported 5 is determined when performing global transport using the trolley 40, the control unit 8 may control the first to third moving units 10, 20, and 30 before transport to move the object to be transported 5 to a predetermined position. In this embodiment, the case in which the control unit 8 controls the first to third moving parts 10, 20, and 30 in response to an operation received by the reception unit 7, that is, the case in which the first to third moving parts 10, 20, and 30 are manually controlled, will be mainly described.

[0029] Furthermore, when the control unit 8 moves the second moving unit 20 upward in response to operations or instructions received by the reception unit 7, or in response to a pre-set operation program, it controls the third moving unit 30 to move the second moving unit 20 upward if the weights obtained by the first and second sensors 1c and 2c of the first and second hand units 1 and 2 match. If the weights do not match, the third moving unit 30 does not need to move the second moving unit 20 upward. In this way, for example, a situation in which the second moving unit 20 is moved upward while the object to be transported 5 is being held by only one of the first and second hand units 1 and 2 can be avoided. Note that the matching of weights obtained by the first and second sensors 1c and 2c may mean that they match exactly, or that they match within a margin of error. This margin of error may be, for example, a measurement error, or an error corresponding to the bias of the center of gravity of the object to be transported 5.

[0030] Next, the operation of the transport device 100 will be explained using the flowchart in Figure 4. (Step S101) The reception unit 7 determines whether it has received an operation related to the first to third moving units 10, 20, and 30. If it has received an operation, it proceeds to step S102; otherwise, it repeats the process in step S101 until it receives an operation.

[0031] (Step S102) The control unit 8 determines whether an operation for controlling the movement of the first and second hand units 1 and 2 upwards has been received. If an operation for controlling the movement of the first and second hand units 1 and 2 upwards has been received, the unit proceeds to step S103; otherwise, it proceeds to step S105. The control unit 8 may determine, for example, that an operation for controlling the movement of the first and second hand units 1 and 2 upwards has been received when an operation for raising the lifting unit 34 of the third moving unit 30 has been received.

[0032] (Step S103) The control unit 8 determines whether the weights obtained by the first and second sensors 1c and 2c match. If they match, the unit proceeds to step S104; otherwise, it returns to step S101. When returning to step S101, the unit may notify the user that the weights on the first and second hand units 1 and 2 do not match. This notification may be output by an output unit, for example. This output may be a display, sound output, transmission, or illumination of a warning light.

[0033] (Step S104) The control unit 8 controls the movement of the first and second hand units 1 and 2 upward, that is, controls the raising of the lifting unit 34. Then, the process returns to step S101.

[0034] (Step S105) The control unit 8 controls the first and second hand parts 1 and 2 in ways other than moving them upward, for example, by moving the first and second hand parts 1 and 2 in a first direction or a second direction, or by moving the first and second hand parts 1 and 2 descent Control is performed to enable the action. Then, the process returns to step S101.

[0035] Furthermore, when control is performed according to the operating program, the control unit 8 may repeatedly determine whether the weights obtained by the first and second sensors 1c and 2c match while performing control to move the first and second hand units 1 and 2 upward. If the weights match, the control unit 8 may continue the control; if the weights no longer match, it may stop the control. In addition, if control is not performed using the weights obtained by the first and second sensors 1c and 2c, the first to third moving units 10, 20, and 30 may be controlled according to the operation when an operation is received, as shown in the flowchart of Figure 4. Also, as shown in the flowchart of Figure 4, the process ends with a power off or a processing completion interrupt.

[0036] Next, the operation of the conveying device 100 according to this embodiment will be explained using a specific example. In this example, the case in which the object to be conveyed 5 is conveyed from a first position to a second position will be described.

[0037] First, the user manually moves the transport device 100 to the vicinity of the object to be transported 5, which is located at the first position. After moving the transport device 100 to the vicinity of the object to be transported 5, the user fixes the running means 42 of the trolley 40 so that it does not move.

[0038] Subsequently, the user inputs operations to the first to third moving parts 10, 20, and 30 to move the first and second holding parts 1b and 2b to a position where the pair of held parts 5a of the object to be transported 5 can be suspended (steps S101, S102, S105). After that, the user inputs operations to the third moving part 30 so that the pair of held parts 5a of the object to be transported 5 can be suspended by the first and second holding parts 1b and 2b (steps S101 to S104). The user also inputs operations to the second moving part 20 so that the object to be transported 5 is near the center of the trolley 40 in a plan view (steps S101, S102, S105).

[0039] Furthermore, when the object to be transported 5 is moved upward, if only one of the first and second holding parts 1b and 2b is able to hold the part to be held 5a and the other is not able to hold the part to be held 5a, the weights acquired by the first and second sensors 1c and 2c will be different, and the upward movement of the object to be transported 5 will be stopped (step S103). In this way, the object to be transported 5 is lifted while being held by only one of the first and second hand parts 1 and 2, and a situation in which the object to be transported 5 may be damaged by tipping over can be avoided.

[0040] Next, the user releases the lock on the travel mechanism 42 and manually moves the transport device 100 to the vicinity of the second position. Then, the user locks the travel mechanism 42 of the trolley 40 to prevent it from moving. The user then inputs an operation to the second moving part 20 to move the object to be transported 5 in the positive direction of the x-axis, and stops its movement when the object to be transported 5 is above the second position (steps S101, S102, S105). The user also inputs an operation to the third moving part 30 to move the object to be transported 5 downward, and stops its movement when the object to be transported 5 is placed on the floor surface of the second position and the first and second holding parts 1b, 2b can be detached from the pair of held parts 5a by horizontal movement (steps S101, S102, S105). Then, when the user inputs an operation to the first moving unit 10, moving the first hand unit 1 in the negative direction of the y-axis and the second hand unit 2 in the positive direction of the y-axis, the holding of the object to be transported 5 by the first and second hand units 1 and 2 is released (steps S101, S102, S105). In this way, the object to be transported 5 can be moved to the desired position.

[0041] Furthermore, the conveying device 100 may pick up the object to be conveyed 5 which is placed on a shelf or table rather than on the floor, or it may convey the object to be conveyed 5 to a shelf or table. Also, the conveying device 100 may convey the object to be conveyed 5 so that it is positioned relative to a positioning member placed at the destination. Specifically, at the destination, the object to be conveyed 5 may be positioned along a positioning guide member or the like.

[0042] As described above, with the conveying device 100 according to this embodiment, the number of axes can be reduced by moving the first and second hand sections 1 and 2 together in the second direction and the vertical direction, and the configuration for moving the first and second hand sections 1 and 2 can be made simpler compared to a dual-arm robot. As a result, the weight of the first and second hand sections 1 and 2 can not be increased, and the payload capacity can be increased accordingly. Also, because the number of parts is reduced compared to a dual-arm robot, the weight of the conveying device 100 can be reduced, and the overall size can be made smaller. Furthermore, the first to third moving sections 10, 20, and 30 can move the first and second hand sections 1 and 2 in three axes, and the conveying object 5 held by the first and second hand sections 1 and 2 can be positioned. Furthermore, the trolley 40 can be used to realize the global conveying of the conveying object 5 held by the first and second hand sections 1 and 2. For this reason, the conveying device 100 can be used, for example, when changing the layout of heavy objects in a manufacturing site. Furthermore, when the object to be transported 5 is suspended and held by the first and second hand sections 1 and 2, the position of the object to be transported 5 can be prevented from shifting when the hold is released, enabling highly accurate positioning.

[0043] As mentioned above, the cross-sections of the first and second holding parts 1b and 2b that suspend and hold the object to be transported 5 may not be J-shaped. The first and second hand parts 1 and 2 may suspend and hold the object to be transported 5 by the first and second holding parts 1b and 2b having L-shaped cross-sections, as shown in Figure 2B.

[0044] Furthermore, the first and second hand parts 1 and 2 may hold the object to be transported 5 by electromagnets. In this case, for example, as shown in Figure 2C, the upper surface of the object to be transported 5 may be held by the first and second holding parts 1b and 2b, which are electromagnets. The object to be transported 5 held by the first and second holding parts 1b and 2b, which are electromagnets, is preferably made of a ferromagnetic material such as iron. If the object to be transported 5 is made of a material other than a ferromagnetic material, for example, a ferromagnetic part to be held may be provided on the object to be transported 5. In addition, the surface of the object to be transported 5 that comes into contact with the first and second holding parts 1b and 2b, which are electromagnets, is preferably flat. When the first and second holding parts 1b and 2b are electromagnets, the electromagnets may be energized when holding the object to be transported 5, and the energization to the electromagnets may be stopped when releasing the object from being held. Even when the first and second hand sections 1 and 2 hold the object to be transported 5 using electromagnets, the position of the object to be transported 5 is prevented from shifting when the hold is released, enabling highly accurate positioning. Furthermore, if the object to be transported 5 is made of a ferromagnetic material, there is no need to provide a holding portion on the object to be transported 5 side.

[0045] Furthermore, the first and second handles 1 and 2 may hold the object to be transported 5 by gripping it from both sides in the first direction. In this case, for example, the object to be transported 5 may be held by gripping it with the first and second holding parts 1b and 2b, which have a U-shaped cross-section as shown in Figure 2D. The first and second holding parts 1b and 2b may be arranged so that the openings of the U-shape face each other, as shown in Figure 2D. In addition, in order to allow the first and second holding parts 1b and 2b to grip the object to be transported 5 when it is placed on a surface such as the floor, the end of the U-shaped opening side of the first and second holding parts 1b and 2b that contacts the surface may be wedge-shaped. This wedge shape may be inclined so that the height of the upper side increases from the opening side of the U-shape toward the bottom side, as shown in Figure 2D. Furthermore, when the object to be transported 5 is placed on the mounting surface, if there is a gap between the peripheral edge of the object to be transported 5 and the mounting surface, for example, if the peripheral edge of the object to be transported 5 is located above the central side, the openings of the first and second holding parts 1b and 2b do not need to be wedge-shaped. Also, the object to be transported 5 may be held by the first and second holding parts 1b and 2b having a cross-section other than U-shaped, for example, the first and second holding parts 1b and 2b having an L-shaped cross-section. In this way, when the first and second hand parts 1 and 2 hold the object to be transported 5 by holding it, it is not necessary to provide a holding part on the object to be transported 5 side.

[0046] Note that Figure 2D shows a state in which both ends of the object to be transported 5 in the first direction (i.e., the left-right direction in the figure) are in contact with the U-shaped bottoms of the first and second holding parts 1b and 2b, but this is not required. In the range in which both ends of the object to be transported 5 in the first direction are not in contact with the U-shaped bottoms of the first and second holding parts 1b and 2b, the first and second holding parts 1b and 2b may hold the object to be transported 5 by sandwiching it from both sides.

[0047] Furthermore, when positioning the object to be transported 5 using a positioning member placed at the destination of the object to be transported 5, there may be some play between the first and second hand parts 1 and 2 and the object to be transported 5 while the first and second hand parts 1 and 2 are holding the object to be transported 5. That is, while the first and second hand parts 1 and 2 are holding the object to be transported 5, the relative positional relationship between the first and second hand parts 1 and 2 and the object to be transported 5 may not be fixed but may be changeable. Also, the surfaces of the first and second hand parts 1 and 2 that come into contact with the object to be transported 5 when the first and second hand parts 1 and 2 are holding the object to be transported 5 may be surfaces with a low coefficient of friction. A surface with a low coefficient of friction may be, for example, a surface made of a material with a low coefficient of friction such as fluororesin or monomer-cast nylon, or a surface coated with such a material. The fluororesin is not particularly limited, but may be, for example, polytetrafluoroethylene, FEP (perfluoroethylene propene copolymer), PFA (perfluoroalkoxyalkane), etc. Furthermore, the monomer cast nylon is preferably of a sliding grade, for example, sliding grade MC nylon (registered trademark). In this way, when the first and second hand parts 1 and 2 hold the object to be conveyed 5, there is play between them, or the surfaces of the first and second hand parts 1 and 2 that come into contact with the object to be conveyed 5 have a low coefficient of friction, so that the object to be conveyed 5 can move more easily relative to the first and second hand parts 1 and 2 when positioning the object to be conveyed 5, and as a result, more appropriate positioning can be achieved.

[0048] Furthermore, it is preferable that even if there is play between the first and second hand parts 1 and 2 and the object to be transported 5 while the first and second hand parts 1 and 2 are holding the object to be transported 5, the object to be transported 5 will not fall from the first and second hand parts 1 and 2. For example, when the object to be transported 5 is held by the first and second holding parts 1b and 2b, which are electromagnets, as shown in Figure 2C, the object to be transported 5 may be held by the first and second holding parts 1b and 2b, which are electromagnets, at the position of the recess 5b provided on the upper surface of the object to be transported 5, as shown in Figure 5A. The recess 5b is a region that is recessed downward from the upper surface of the object to be transported 5. Furthermore, it is preferable that the bottom surface of the recess 5b is flat. In plan view, the area of ​​the recess 5b should be larger than the contact surface of the first and second holding parts 1b and 2b with the object to be transported 5. In this way, even if the position in which the first and second holding parts 1b and 2b, which are electromagnets, hold changes, the contact surfaces of the first and second holding parts 1b and 2b will remain within the region of the recess 5b, thereby preventing the first and second holding parts 1b and 2b from coming off the object to be transported 5. Furthermore, for example, when the object to be transported 5 is held by the first and second holding parts 1b and 2b, which have a U-shaped cross-section as shown in Figure 2D, the object to be transported 5 may be held by the first and second holding parts 1b and 2b at the positions of the recesses 5c provided on both ends of the object to be transported 5 in the first direction, as shown in Figure 5B. Figure 5B is a plan view showing the object to be transported 5 and the first and second holding parts 1b and 2b. The recess 5c is formed to be recessed toward the center of the object to be transported 5, and in the second direction, the length of the recess 5c is longer than the length of the first and second holding parts 1b and 2b. In this way, even if the relative positional relationship between the first and second holding parts 1b and 2b, which have a U-shaped cross-section, and the object to be transported 5 changes, it is possible to prevent the first and second holding parts 1b and 2b from detaching from the object to be transported 5.

[0049] Furthermore, although this embodiment mainly describes the case in which the first and second hand portions 1 and 2 each have first and second sensors 1c and 2c for obtaining the weight of the object to be transported 5 held by the first and second holding portions 1b and 2b, this is not required. Hand section 1, 2 The system does not necessarily have to have the first and second sensors 1c and 2c. In this case, the control unit 8 does not need to perform control using the weights acquired by the first and second sensors 1c and 2c.

[0050] Furthermore, in the conveying device 100 according to this embodiment, a lifting unit 34 may be connected to one end of a linear member such as a rope, wire, or chain stretched over a pulley, and a counterweight may be connected to the other end of the linear member. In this way, heavier objects to be conveyed 5 can be moved vertically with less force.

[0051] Furthermore, in the above embodiment, each process or function may be implemented by centralized processing by a single device or a single system, or by distributed processing by multiple devices or multiple systems.

[0052] Furthermore, in the above embodiment, each component may be configured with dedicated hardware, or, if it is a component that can be implemented by software, it may be implemented by executing a program. For example, each component can be implemented by a program execution unit such as a CPU reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory. During execution, the program execution unit may execute the program while accessing the storage unit or recording medium. The program may also be executed by being downloaded from a server or the like, or by being executed by reading a program recorded on a predetermined recording medium (e.g., an optical disk, magnetic disk, semiconductor memory, etc.). Furthermore, this program may be used as a program that constitutes a program product. Furthermore, the computer executing the program may be one or multiple computers. That is, centralized processing may be performed, or distributed processing may be performed.

[0053] Furthermore, the embodiments described above are illustrative examples for specifically carrying out the present invention and do not limit the technical scope of the present invention. The technical scope of the present invention is indicated by the claims rather than by the description of the embodiments, and modifications within the literal scope and equivalent meaning of the claims are intended. [Explanation of symbols]

[0054] 1 First hand unit, 2 Second hand unit, 1c First sensor, 2c Second sensor, 5 Object to be transported, 8 Control unit, 10 First moving unit, 20 Second moving unit, 30 Third moving unit, 40 Trolley, 100 Transporting device

Claims

1. The first and second hand parts are spaced apart in a first direction in the horizontal plane and simultaneously hold the object to be transported, A first moving part that moves the first and second hand parts in the first direction, A second moving part moves the first moving part in a second direction perpendicular to the first direction in the horizontal plane, A third moving part moves the second moving part in the vertical direction, The trolley on which the third movable part is fixed, The system comprises a control unit that controls the first to third moving parts, The first and second hand units each have sensors for acquiring the weight of the object being transported. The control unit controls the third moving part to move the second moving part upward when the weights obtained by the sensors of the first and second hand parts match.

2. The conveying device according to claim 1, wherein the first and second hand portions suspend and hold the object to be conveyed.

3. The conveying device according to claim 1, wherein the first and second hand portions hold the object to be conveyed by gripping it from both sides in the first direction.

4. The conveying device according to claim 1, wherein the first and second hand sections hold the object to be conveyed by an electromagnet.

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