JP2005001870A - Cargo carrier - Google Patents

Cargo carrier Download PDF

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Publication number
JP2005001870A
JP2005001870A JP2003170135A JP2003170135A JP2005001870A JP 2005001870 A JP2005001870 A JP 2005001870A JP 2003170135 A JP2003170135 A JP 2003170135A JP 2003170135 A JP2003170135 A JP 2003170135A JP 2005001870 A JP2005001870 A JP 2005001870A
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JP
Japan
Prior art keywords
cargo handling
hand
force
cargo
lifting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2003170135A
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Japanese (ja)
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JP4326266B2 (en
Inventor
Satoshi Hosokawa
覚史 細川
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Aikoku Alpha Corp
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Aikoku Alpha Corp
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Publication date
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Priority to JP2003170135A priority Critical patent/JP4326266B2/en
Publication of JP2005001870A publication Critical patent/JP2005001870A/en
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a cargo carrier, holding a cargo with both hands without a special attachment, coping with a cargo of an unspecified shape, and instantaneously holding a cargo according to worker's intention to be elevated. <P>SOLUTION: A hand part is hung on an elevating part of the cargo carrier through a connector, the hand part is provided with a command part for giving an elevating command, and the hand part includes a force sensor. The hand part is brought into contact with the hands of the worker, the hand part is located between the hands and the cargo, the worker holds the cargo with the force of both hands, the load of the cargo is received by the connector and the hands of the worker, and the cargo is elevated depending on the force received by the force sensor. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

【０００１】
【産業上の利用分野】
アーム式やホイスト式などの荷役物運搬機の把持方法及び昇降指令の制御に関するものである。
【０００２】
【従来の技術】
かぎ爪のアタッチメントを手に装着し、箱形状の荷役物を引っ掛けて昇降させる方法がある（例えば、特許文献１参照）。また、手袋にスイッチを装着した操作装置で昇降させる方法がある（例えば、特許文献２参照）。また、昇降の指令部に力センサを用いた荷役物運搬機がある（例えば、特許文献３参照）。
【０００３】
【特許文献１】
特開平１１−１２４２８９号公報
【０００４】
【特許文献２】
特開昭４９−１１８１４８号公報
【０００５】
【特許文献３】
特開平９−１７５８００号公報
【０００６】
【発明が解決しようとする課題】
かぎ爪のアタッチメントを手に装着し、箱形状の荷役物を引っ掛けて昇降させる方法では、かぎ爪で箱の角を引っ掛けているので、箱形状以外の荷役物には対応できなかった（例えば、特許文献１参照）。
【０００７】
手袋にスイッチを装着した操作装置で昇降させる方法では、荷役物の形状に応じた専用のアタッチメントを必要としていた。よって、生産の都合で荷役物の形状が変わると、その都度アタッチメントも変える必要があった（例えば、特許文献２参照）。
【０００８】
昇降の指令部に力センサを用いた荷役物運搬機では、作業者の持ち上げ力の量に応じた昇降速度であり、作業者の意思に応じて昇降するが、荷役物の形状に応じた専用のアタッチメントを必要としていた。よって、生産の都合で荷役物の形状が変わると、その都度アタッチメントも変える必要があった（例えば、特許文献３参照）。
【０００９】
本発明では、専用のアタッチメントを必要とせず、両手を用いて荷役物を把持でき、不特定な形状の荷役物にも対応でき、作業者の意思に応じ、昇降できる荷役物運搬機を提供することを目的としている。
【００１０】
【課題を解決するための手段】
ハンド部は連結具を介して荷役物運搬機の昇降部に吊られており、該ハンド部には昇降を指令する指令部を有し、該ハンド部を作業者の手に着接させ、該手と荷役物の間に該ハンド部が位置し、該作業者は両手の力により該荷役物を把持し、該荷役物の荷重を該連結具及び該作業者の該手で受け、該荷役物を昇降する。
【００１１】
該ハンド部は力センサを備え、該力センサが受ける力に応じて該荷役物を昇降する。
【００１２】
該力センサで該作業者の持ち上げ力及び把持力を検出し、該持ち上げ力及び該把持力の電気信号を演算して、該荷役物を昇降させる。
【００１３】
該ハンド部は荷重切替スイッチを備え、該荷重切替スイッチで負荷モードと無負荷モードに切替る。
【００１４】
【実施例】
図１は荷役物運搬機の総体図である。台座１に旋回台２が取り付けられ、旋回台２には昇降機構３が取り付けられ、昇降機構に３は平行リンク式アーム４が取り付けられている。昇降機構３は、昇降駆動源（図示せず）により昇降駆動され、平行リンク式アーム４の先端の昇降部５が上下する。ハンド部６は昇降部５に連結具７で吊られている。ハンド部６を作業者８の手９に着接させて、手９と荷役物１０の間にハンド部６が位置している。作業者８は両手９の力により荷役物１０を把持する。荷役物１０の荷重を連結具７及び作業者８の手９で受けて、荷役物１０を昇降させる。実施例では、荷役物運搬機１１を平行リンク式アーム４で説明しているが、クレーンなどの場合はフック部分が昇降部５となる。
【００１５】
図２は実施例１のハンド部と指令部を説明する図である。連結具７に手袋状のハンド部６が取り付けられている。作業者８は、ハンド部６に手９を入れる。指令部１２はハンド部６に取り付けられている。指令部１２は作業者８の人差し指１３付近となる位置に取り付けられているが、掌等どの位置でも良い。
【００１６】
図３は実施例１のハンド部と指令部を説明する断面図である。ハンド部６に指令部１２が取り付けられている。ハンド部６には作業者８の手９の指１４が着接されている。また、作業者８は荷役物１０を把持した状態である。指令部１２は力センサ１５・１６を備えており、力センサ１５・１６が受ける力に応じて荷役物を昇降する。力センサ１５・１６に繋がれている配線は図示していない。力センサ１５で持ち上げ力を検出する。力センサ１６で把持力を検出する。力センサ１５・１６の電気信号を適宜比較して演算を行い指令信号として、昇降駆動源に出力される。床に置いてある荷役物１０を把持して持ち上げようとする場合、荷役物１０とハンド部６とが滑らない程度の把持力で把持しないと昇降出来ない様に予め演算式を設定する。また、荷役物１０を把持した昇降において、荷役物１０がハンド部６から滑って落下しない程度の把持力で把持しないと昇降出来ない様に予め演算式を設定する。
【００１７】
図１、図２、図３を用いて作用を説明する。床に置いてある荷役物１０を昇降ようとする場合、作業者８がハンド部６を着接して荷役物１０とハンド部６とが滑らない程度に把持力を加えると、センサ１６が把持力を検出する。次に、持ち上げようとするとセンサ１５に持ち上げ力が加わり、センサ１５が持ち上げ力を検出する。力センサ１５の持ち上げ力と力センサ１６の把持力の電気信号を演算して指令信号として、昇降駆動源に出力され、昇降部５が昇降し、荷役物１０が昇降する。作業者８は荷役物１０の重量に応じた把持力が必要であるが、上下方向は僅かな力で操作できる。荷役物１０を把持していない状態では、力センサ１５・１６とは無関係に昇降できる。ハンド部６は手袋状であるので、様々な荷役物形状に対応できる。
【００１８】
図４は実施例２のハンド部を説明する図である。連結具１７にハンド部１８が取り付けられている。ハンド部１８は作業者８の指を入れる指固定穴１９・２０を備えている。指令部（図示せず）はハンド部１８に取り付けられている。指令部（図示せず）は作業者８の人差し指１３付近となる位置に取り付けられているが、どの位置でも良い。又、ハンド部１８は軟質の素材であり、様々な荷役物形状に対応できる。
【００１９】
図５は実施例２のハンド部と指令部を説明する断面図である。ハンド部１８に指令部２１が取り付けられている。指固定穴１９・２０には作業者８の手９の指が着接されている。また、作業者８は荷役物１０を把持した状態である。指令部は力センサ２２・２３を備えており、力センサ２２・２３が受ける力に応じて荷役物１０を昇降する。力センサ２２・２３に繋がれている配線は図示していない。力センサ２２で持ち上げ力を検出する。力センサ２３で把持力を検出する。力センサ２２・２３の電気信号を適宜比較して演算を行い指令信号として、昇降駆動源に出力される。床に置いてある荷役物１０を把持して持ち上げようとする場合、荷役物１０とハンド部１８とが滑らない程度の把持力で把持しないと昇降出来ない様に予め演算式を設定する。また、荷役物１０を把持した昇降時において、荷役物１０がハンド部１８から滑って落下しない程度の把持力で把持しないと昇降出来ない様に予め演算式を設定する。
【００２０】
図６は実施例３のハンド部と指令部を説明する断面図である。斜視図としては、図２と同様である。ハンド部２４に指令部２５が取り付けられている。ハンド部２４には作業者８の手９の指１４が着接されている。また、作業者８は荷役物１０を把持した状態である。指令部２５は荷重切替スイッチ２６を備えており、負荷モードと無負荷モードに切替て昇降させる。荷重切替スイッチ２６は、荷役物１０に触れていると負荷モードとなる。荷重切替スイッチ２６は、荷役物１０に触れていないと無負荷モードとなる。また、荷重切替スイッチ２６を右手用と左手用の両方のハンド部２４に取り付け、両方の荷重切替スイッチ２６が荷役物１０に触れていないと負荷モードにならない。
【００２１】
図１、図２、図６を用いて作用を説明する。作業者８が荷役物１０を把持すると、荷重切替スイッチ２６が負荷モードとなり、負荷モードの電気信号が昇降駆動源に出力され、作業者８が把持している荷役物１０が昇降可能となる。荷役物１０を把持している時は、作業者８は把持力が必要だが上下方向の力は僅かである。また、荷役物１０を置く場合は、荷役物１０を着地させて作業者８が荷役物１０から手を離せば、荷重切替スイッチ２６が無負荷モードとなり、無負荷モードの電気信号が昇降駆動源に出力され、無負荷で昇降可能となる。
【００２２】
【発明の効果】
本発明では、専用のアタッチメントを必要とせず、両手を用いて荷役物を把持でき、不特定な形状の荷役物にも対応でき、作業者の意思に応じ、荷役物を昇降できる。
【図面の簡単な説明】
【図１】荷役物運搬機の総体図である。
【図２】ハンド部と指令部を説明する図である。（実施例１）
【図３】ハンド部と指令部を説明する断面図である。（実施例１）
【図４】ハンド部と指令部を説明する図である。（実施例２）
【図５】ハンド部と指令部を説明する断面図である。（実施例２）
【図６】ハンド部と指令部を説明する断面図である。（実施例３）
【符号の説明】
１ 台座
２ 旋回台
３ 昇降機構
４ 平行リンク式アーム
５ 昇降部
６・１８・２４ ハンド部
７・１７ 連結具
８ 作業者
９ 手
１０ 荷役物
１１ 荷役物運搬機
１２・２１・２５ 指令部
１３ 人差し指
１４ 指
１５・１６・２２・２３ 力センサ
１９・２０ 指固定穴
２６ 荷重切替スイッチ[0001]
[Industrial application fields]
The present invention relates to a gripping method for a material handling machine such as an arm type or a hoist type and control of a lifting command.
[0002]
[Prior art]
There is a method of attaching a claw attachment to a hand and hooking and lifting a box-shaped cargo item (see, for example, Patent Document 1). Further, there is a method of moving up and down with an operating device in which a switch is attached to a glove (see, for example, Patent Document 2). In addition, there is a cargo handling machine using a force sensor in a lifting / lowering command unit (see, for example, Patent Document 3).
[0003]
[Patent Document 1]
Japanese Patent Laid-Open No. 11-124289
[Patent Document 2]
Japanese Patent Laid-Open No. 49-118148
[Patent Document 3]
JP-A-9-175800 [0006]
[Problems to be solved by the invention]
In the method of attaching the hook attachment to the hand and hooking the box-shaped cargo handling object to raise and lower, the hook of the box was hooked with the claws, so it could not handle cargo handling other than the box shape (for example, Patent Document 1).
[0007]
In the method of raising and lowering with an operating device having a switch attached to a glove, a dedicated attachment corresponding to the shape of the cargo handling object is required. Therefore, when the shape of the cargo handling item changes due to production reasons, it is necessary to change the attachment each time (see, for example, Patent Document 2).
[0008]
In cargo handling equipment using a force sensor in the lifting command section, the lifting speed is according to the amount of lifting force of the operator, and the elevator moves up and down according to the operator's intention. Needed attachments. Therefore, when the shape of the cargo handling item changes due to production, it is necessary to change the attachment each time (for example, see Patent Document 3).
[0009]
In the present invention, there is provided a cargo handling material transporter that does not require a dedicated attachment, can handle a cargo handling object using both hands, can handle an unspecified shape cargo handling object, and can be lifted and lowered according to the intention of an operator. The purpose is that.
[0010]
[Means for Solving the Problems]
The hand part is hung on the lifting part of the cargo handling equipment via a connector, and the hand part has a command part for commanding raising and lowering, and the hand part is attached to an operator's hand, The hand portion is located between a hand and a cargo handling material, and the operator grips the cargo handling material with the force of both hands, receives the load of the cargo handling material with the joint and the operator's hand, and Raise and lower things.
[0011]
The hand portion includes a force sensor, and raises and lowers the cargo item according to the force received by the force sensor.
[0012]
The force sensor detects the lifting force and the gripping force of the worker, calculates an electrical signal of the lifting force and the gripping force, and moves the cargo item up and down.
[0013]
The hand unit includes a load changeover switch, and the load changeover switch switches between a load mode and a no-load mode.
[0014]
【Example】
FIG. 1 is a general view of a material handling machine. A swivel base 2 is attached to the pedestal 1, a lifting mechanism 3 is attached to the swivel base 2, and a parallel link arm 4 is attached to the lifting mechanism 3. The elevating mechanism 3 is driven up and down by an elevating drive source (not shown), and the elevating unit 5 at the tip of the parallel link arm 4 moves up and down. The hand unit 6 is suspended from the elevating unit 5 by a connector 7. The hand part 6 is attached to the hand 9 of the operator 8, and the hand part 6 is located between the hand 9 and the cargo handling object 10. The operator 8 grips the cargo handling object 10 with the force of both hands 9. The load of the cargo handling object 10 is received by the connector 7 and the hand 9 of the operator 8, and the cargo handling object 10 is moved up and down. In the embodiment, the cargo handling equipment 11 is described with the parallel link type arm 4, but in the case of a crane or the like, the hook portion becomes the lifting unit 5.
[0015]
FIG. 2 is a diagram illustrating the hand unit and the command unit according to the first embodiment. A glove-like hand portion 6 is attached to the connector 7. The operator 8 puts the hand 9 in the hand unit 6. The command unit 12 is attached to the hand unit 6. The command unit 12 is attached to a position near the index finger 13 of the worker 8, but any position such as a palm may be used.
[0016]
FIG. 3 is a cross-sectional view illustrating the hand unit and the command unit according to the first embodiment. A command unit 12 is attached to the hand unit 6. The finger 14 of the hand 9 of the worker 8 is attached to the hand unit 6. Further, the worker 8 is in a state of holding the cargo handling object 10. The command unit 12 includes force sensors 15 and 16 and raises and lowers the cargo item according to the force received by the force sensors 15 and 16. The wiring connected to the force sensors 15 and 16 is not shown. The lifting force is detected by the force sensor 15. The force sensor 16 detects the gripping force. The electric signals of the force sensors 15 and 16 are appropriately compared and calculated, and output as a command signal to the lifting drive source. When the cargo handling object 10 placed on the floor is to be gripped and lifted, an arithmetic expression is set in advance so that the cargo handling object 10 and the hand unit 6 cannot be lifted or lowered without gripping with a gripping force that does not slip. In addition, an arithmetic expression is set in advance so that the lifting / lowering operation cannot be performed unless the handling object 10 is gripped with a gripping force that prevents the cargo handling object 10 from sliding and dropping from the hand portion 6 during the lifting / lowering operation.
[0017]
The operation will be described with reference to FIGS. 1, 2, and 3. When the cargo handling object 10 placed on the floor is to be lifted or lowered, if the operator 8 touches the hand portion 6 and applies a gripping force to the extent that the cargo handling material 10 and the hand portion 6 do not slip, the sensor 16 grips the gripping force. Is detected. Next, when trying to lift, a lifting force is applied to the sensor 15, and the sensor 15 detects the lifting force. Electric signals of the lifting force of the force sensor 15 and the gripping force of the force sensor 16 are calculated and output as command signals to the lifting drive source, the lifting unit 5 is lifted and the cargo handling object 10 is lifted. The operator 8 needs a gripping force corresponding to the weight of the cargo handling object 10, but can operate with a slight force in the vertical direction. In the state where the cargo handling object 10 is not gripped, it can be lifted and lowered independently of the force sensors 15 and 16. Since the hand part 6 is glove-shaped, it can respond to various cargo handling shapes.
[0018]
FIG. 4 is a diagram illustrating the hand unit according to the second embodiment. A hand portion 18 is attached to the connector 17. The hand portion 18 is provided with finger fixing holes 19 and 20 for inserting the fingers of the operator 8. A command unit (not shown) is attached to the hand unit 18. The command section (not shown) is attached at a position near the index finger 13 of the worker 8, but any position may be used. Moreover, the hand part 18 is a soft material and can respond to various cargo handling object shapes.
[0019]
FIG. 5 is a cross-sectional view illustrating a hand unit and a command unit according to the second embodiment. A command unit 21 is attached to the hand unit 18. A finger of the hand 9 of the operator 8 is attached to the finger fixing holes 19 and 20. Further, the worker 8 is in a state of holding the cargo handling object 10. The command unit includes force sensors 22 and 23, and raises and lowers the cargo handling object 10 according to the force received by the force sensors 22 and 23. The wiring connected to the force sensors 22 and 23 is not shown. The force sensor 22 detects the lifting force. The force sensor 23 detects the gripping force. The electric signals of the force sensors 22 and 23 are appropriately compared and calculated, and output as a command signal to the lifting drive source. When the cargo handling object 10 placed on the floor is to be gripped and lifted, an arithmetic expression is set in advance so that the cargo handling object 10 and the hand portion 18 cannot be moved up and down unless gripped with a gripping force that does not slip. In addition, an arithmetic expression is set in advance so that when the cargo handling object 10 is lifted or lowered, the cargo handling object 10 cannot be lifted or lowered unless it is gripped with a gripping force that prevents the cargo handling object 10 from sliding and dropping from the hand portion 18.
[0020]
FIG. 6 is a cross-sectional view illustrating a hand unit and a command unit according to the third embodiment. The perspective view is the same as FIG. A command unit 25 is attached to the hand unit 24. The finger 14 of the hand 9 of the worker 8 is attached to the hand unit 24. Further, the worker 8 is in a state of holding the cargo handling object 10. The command unit 25 is provided with a load changeover switch 26, and moves up and down by switching between a load mode and a no-load mode. When the load changeover switch 26 is touching the cargo handling object 10, the load mode switch 26 enters a load mode. When the load changeover switch 26 is not touching the cargo handling object 10, the load changeover switch 26 enters a no-load mode. The load changeover switch 26 is attached to both the right-hand and left-hand hand portions 24, and the load mode cannot be entered unless both the load changeover switches 26 touch the cargo handling article 10.
[0021]
The operation will be described with reference to FIGS. 1, 2, and 6. When the worker 8 grips the cargo handling object 10, the load changeover switch 26 enters the load mode, an electric signal in the load mode is output to the lifting drive source, and the cargo handling object 10 gripped by the worker 8 can be lifted and lowered. When holding the cargo 10, the worker 8 needs a gripping force, but the vertical force is slight. When placing the cargo handling object 10, when the cargo handling object 10 is landed and the operator 8 releases his / her hand from the cargo handling object 10, the load changeover switch 26 enters the no-load mode, and the electric signal in the no-load mode is sent to the lifting drive source. It can be raised and lowered without load.
[0022]
【The invention's effect】
According to the present invention, a dedicated attachment is not required, the cargo handling object can be gripped using both hands, the cargo handling object of an unspecified shape can be handled, and the cargo handling object can be raised and lowered according to the operator's intention.
[Brief description of the drawings]
FIG. 1 is an overall view of a material handling machine.
FIG. 2 is a diagram illustrating a hand unit and a command unit. (Example 1)
FIG. 3 is a cross-sectional view illustrating a hand unit and a command unit. (Example 1)
FIG. 4 is a diagram illustrating a hand unit and a command unit. (Example 2)
FIG. 5 is a cross-sectional view illustrating a hand unit and a command unit. (Example 2)
FIG. 6 is a cross-sectional view illustrating a hand unit and a command unit. Example 3
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Base 2 Swivel 3 Elevating mechanism 4 Parallel link type arm 5 Elevating part 6,18,24 Hand part 7,17 Connecting tool 8 Worker 9 Hand 10 Cargo handling object 11 Cargo handling machine 12,21,25 Command part 13 Index finger 14 Finger 15, 16, 22, 23 Force sensor 19, 20 Finger fixing hole 26 Load switch

Claims (4)

ハンド部は連結具を介して荷役物運搬機の昇降部に吊られており、該ハンド部には昇降を指令する指令部を有し、該ハンド部を作業者の手に着接させ、該手と荷役物の間に該ハンド部が位置し、該作業者は両手の力により該荷役物を把持し、該荷役物の荷重を該連結具及び該作業者の該手で受け、該荷役物を昇降することを特徴とする荷役物運搬機。The hand part is hung on the lifting part of the cargo handling equipment via a connector, and the hand part has a command part for commanding raising and lowering, and the hand part is attached to an operator's hand, The hand portion is located between a hand and a cargo handling material, and the operator grips the cargo handling material with the force of both hands, receives the load of the cargo handling material with the joint and the operator's hand, and A cargo handling equipment characterized by moving up and down. 該ハンド部は力センサを備え、該力センサが受ける力に応じて該荷役物を昇降することを特徴とする請求項１記載の荷役物運搬機。The cargo handling equipment according to claim 1, wherein the hand portion includes a force sensor, and the cargo handling article is moved up and down according to a force received by the force sensor. 該力センサで該作業者の持ち上げ力及び把持力を検出し、該持ち上げ力及び該把持力の電気信号を演算して、該荷役物を昇降させることを特徴とする請求項２記載の荷役物運搬機。3. The cargo handling article according to claim 2, wherein the force sensor detects a lifting force and a gripping force of the worker, calculates an electric signal of the lifting force and the gripping force, and moves the cargo handling article up and down. Transporter. 該ハンド部は荷重切替スイッチを備え、該荷重切替スイッチで負荷モードと無負荷モードに切替ることを特徴とする請求項１記載の荷役物運搬機。The material handling machine according to claim 1, wherein the hand portion includes a load changeover switch, and the load changeover switch is used to switch between a load mode and a no-load mode.
JP2003170135A 2003-06-16 2003-06-16 Cargo handling equipment Expired - Lifetime JP4326266B2 (en)

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006131329A (en) * 2004-11-05 2006-05-25 Aikoku Alpha Corp Carrying method, and carrying device
JP2008184277A (en) * 2007-01-30 2008-08-14 Aikoku Alpha Corp Glove for cargo carrier, glove unit for cargo carrier, and cargo carrier
JP2008184710A (en) * 2007-01-30 2008-08-14 Aikoku Alpha Corp Glove for cargo transporting machine, glove unit for cargo transporting machine, and cargo transporting machine
JP2008247488A (en) * 2007-03-29 2008-10-16 Aikoku Alpha Corp Cargo carrier
WO2013064686A1 (en) 2011-11-04 2013-05-10 J. Schmalz Gmbh Lifting device
JP2017178463A (en) * 2016-03-28 2017-10-05 アイコクアルファ株式会社 Hand part of handled cargo conveyer
WO2018003868A1 (en) * 2016-06-28 2018-01-04 株式会社クボタ Assist tool
JP2018002343A (en) * 2016-06-28 2018-01-11 株式会社クボタ Assist tool
JP2018203537A (en) * 2017-06-05 2018-12-27 アイコクアルファ株式会社 Hand part of cargo handling conveyer
JP2019038669A (en) * 2017-08-28 2019-03-14 アイコクアルファ株式会社 Suspension support member for cargo carrier
JP2020073413A (en) * 2020-02-04 2020-05-14 株式会社クボタ Assisting device

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006131329A (en) * 2004-11-05 2006-05-25 Aikoku Alpha Corp Carrying method, and carrying device
JP2008184277A (en) * 2007-01-30 2008-08-14 Aikoku Alpha Corp Glove for cargo carrier, glove unit for cargo carrier, and cargo carrier
JP2008184710A (en) * 2007-01-30 2008-08-14 Aikoku Alpha Corp Glove for cargo transporting machine, glove unit for cargo transporting machine, and cargo transporting machine
JP2008247488A (en) * 2007-03-29 2008-10-16 Aikoku Alpha Corp Cargo carrier
WO2013064686A1 (en) 2011-11-04 2013-05-10 J. Schmalz Gmbh Lifting device
JP2017178463A (en) * 2016-03-28 2017-10-05 アイコクアルファ株式会社 Hand part of handled cargo conveyer
WO2018003868A1 (en) * 2016-06-28 2018-01-04 株式会社クボタ Assist tool
JP2018002343A (en) * 2016-06-28 2018-01-11 株式会社クボタ Assist tool
JP2018203537A (en) * 2017-06-05 2018-12-27 アイコクアルファ株式会社 Hand part of cargo handling conveyer
JP2019038669A (en) * 2017-08-28 2019-03-14 アイコクアルファ株式会社 Suspension support member for cargo carrier
JP6996908B2 (en) 2017-08-28 2022-01-17 アイコクアルファ株式会社 Suspended support of cargo carrier
JP2020073413A (en) * 2020-02-04 2020-05-14 株式会社クボタ Assisting device

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