JP2009247536A - Holding device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a holding device capable of easily holding an object from above even on an unlevel surface. <P>SOLUTION: This holding device includes right/left arms 10 being driven into an opened position being mutually opened by an arm drive device and a holding position displaced from the opened position to be closed mutually, wherein each arm has an insertion part 14 being insertable between the object and a mount face where the object is placed. The insertion part 14 has a plurality of insertion members 16a and 16b aligned in parallel with respect to the insertion direction. The respective insertion members are driven by the drive mechanism. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a holding apparatus for an object such as a human body or an article, and more particularly to a holding apparatus suitable for use in lifting and moving an object placed on a placement surface.

  For example, when a disaster victim is rescued at a disaster site, if the disaster site is still in a dangerous state, there is a situation where the rescuer cannot approach the disaster victim. In such a situation, using a robot equipped with a camera and microphone, support for rescue operations by remote control has been proposed, but when a disaster victim is discovered, the victim who is unable to move lying on the site is moved There is no means.

On the other hand, a transfer device used when moving a patient on a bed to a stretcher in a hospital has been proposed (Patent Document 1). This transfer device includes an upper mechanism and a lower mechanism each having an endless belt that circulates in the forward and reverse directions independently of each other. The transfer device is advanced between the patient and the bed by driving the endless belt of the lower mechanism, and the patient is moved onto the upper mechanism by driving the endless belt of the upper mechanism.
JP-A-2005-102789

However, this transfer device has a problem that it is limited to use on a flat surface such as a bed for structural reasons.
The present invention has been made to solve such problems, and an object thereof is to provide a holding device that can easily hold an object from above even in a place that is not a flat surface. It is in.

  In order to achieve the above object, each of the holding devices of claim 1 extends downward and is driven to an open position where the distance between the holding devices is widened by an arm driving device and a holding position where the object is held close to each other from the open position. A holding device having a pair of arms, wherein at least one of the pair of arms is displaced between the object and a mounting surface on which the object is placed as it is displaced toward the holding position. The insertion portion has a plurality of insertion members arranged in parallel with respect to the insertion direction, and the plurality of insertion members are divided into a plurality of groups. A drive mechanism that repeats the vertical displacement of the tip of the member in order for each group, and further, the drive mechanism is a group of insertion members that are on the top and support the lower surface of the object. The insertion member of each group is driven so as to be displaced in a direction opposite to the insertion direction with respect to the arm as the other group of the insertion member rises and supports the lower surface of the object. And

A holding device according to a second aspect is the holding device according to the first aspect, wherein the driving mechanism drives each insertion member so that the distal end of each insertion member performs a circular motion with respect to the arm in a plane parallel to the driving locus of the arm. The circular motion rotates in a direction that rises from the lowest point of the circular motion toward the object.
According to a third aspect of the present invention, there is provided the holding device according to the second aspect, wherein the driving mechanism is supported by the arm and is rotated by a driving source in a plane parallel to the driving locus of the arm, and the first connecting member. A second connecting member rotatably supported by the arm at a position offset from the at least one group, and each first and second connecting member is rotatably connected to an insertion member of each group. It is characterized by that.

According to a fourth aspect of the present invention, there is provided the holding device according to the third aspect, wherein the second connecting member in the driving mechanism is rotated by a driving source.
According to a fifth aspect of the present invention, there is provided a holding device according to the first aspect, wherein at least the distal ends of the plurality of insertion members are formed of a flexible material.

  According to the holding device of the first aspect, first, the pair of arms are driven to the open position by the arm driving device above the object. Next, the arm driving device displaces the arm toward the holding position so that the insertion portion is inserted between the object and the mounting surface on which the object is placed, and at the same time, the driving By the mechanism, the vertical displacement of the tip of each insertion member is repeated in order for each group. At this time, the drive mechanism is further lifted by one group insertion member that is at the top and supports the lower surface of the object, and the other insertion member of the other group that rises and supports the lower surface of the object. Accordingly, the insertion members of each group are driven so as to be displaced in the direction opposite to the insertion direction with respect to the arm.

  Thus, at first, one group of insertion members is inserted between the object and the mounting surface on which the object is placed, and the object is supported by the group of insertion members while supporting the object. It is displaced in the direction opposite to the insertion direction. In other words, this allows the arm to easily advance in the insertion direction, and then another group of insertion members rise to support the object. In this way, the insertion members of each group move forward in the insertion direction while gradually lifting up the end portions of the objects in order, so that the arm insertion portion can be connected to the object without damaging the object. It can be smoothly inserted between the mounting surface. Therefore, this holding device is very useful particularly when the object is easily damaged such as a victim.

  According to the holding device of claim 2, the driving mechanism drives each insertion member to perform a circular motion with respect to the arm, and the circular motion is moved from the lowest point of the circular motion to the object. Since the function of the drive mechanism is achieved by rotating in the direction that rises when heading, it can be realized by connecting each insertion member and arm with a simple structure, which is sufficient at low cost. It becomes easy to design to obtain strength.

  According to the holding device of claim 3, the first connection member supported by the arm and rotated by the rotation driving source, and the second connection rotatably supported by the arm at a position offset from the first connection member. Since the parallel link mechanism is constituted by the members, the entire insertion member moves in a circular motion while moving in parallel with the distal end portion thereof. For this reason, even if the dimension of the insertion member is set to be long, by setting the dimensions of both connecting members to be small, the distal end portion of the insertion member can be circularly moved with a small radius. Therefore, in the holding operation, when the insertion member of each group lifts the end of the object little by little in order and advances, the lifting amount can be set small and the area supporting the object can be set large. Thus, damage to the object can be prevented.

According to the holding device of the fourth aspect, since both the first connecting member and the second connecting member are rotated by the driving source, a smoother rotating motion can be obtained and the torque when the inserting member is raised is easy. Can be large.
According to the holding device of the fifth aspect, since the distal end portion of the insertion member is composed of at least a flexible member, it is possible to prevent the object from being damaged during insertion.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
FIG. 1 is a front view showing a holding device according to an embodiment of the present invention, FIG. 2 is a plan view of FIG. 1, FIG. 3 is an enlarged view of a main part of FIG. FIG. 5 is an explanatory view showing the operation of the insertion member in the embodiment, FIG. 6 is an explanatory view showing the holding operation in the embodiment, and FIG. 7 is an application of the holding device according to the embodiment. FIG. 8 is a front view showing another embodiment, and FIG. 9 is an arrow view along arrow IX in FIG. 8.

  First, an embodiment will be described with reference to FIGS. The holding device 2 includes a pair of arms 10 that are rotatably supported by a base body 4 via a bracket 6 and a shaft member 8, respectively. The left and right arms 10 have an arc shape and are driven by the actuator 12 which is an arm driving device to a holding position which is displaced so as to be closed from the retracted position and the retracted position (FIG. 4A). To (C)). Each actuator 12 has one end connected to the base 4 via a bracket (not shown) and the other end connected to each arm 10.

Each arm 10 has an insertion portion 14 that can be inserted between the object S and a placement surface E on which the object S is placed. Each insertion portion 14 has a plurality of arc-shaped insertion members arranged in parallel with each other in the insertion direction, and these insertion members are a first group of insertion members 16a and a second group of insertion members. 16b.
These insertion members 16a and 16b are driven by a drive mechanism configured as described below. FIG. 3 is an enlarged view of the shaft member 8 and the left arm 10 of FIG. 2. As is apparent particularly in FIG. 3, the shaft member 8 is alternately turned 180 to a position offset with respect to its axis 8A. First connecting pins 18a and 18b as connecting members whose phases are shifted from each other are provided corresponding to each group. One end of the first group of insertion members 16a is rotatably connected to the first connecting pin 18a, and one end of the second group of inserting members 16b is rotatably connected to the first connecting pin 18b. As is also apparent from FIG. 3, a shaft member 20 having an axis 20 </ b> A parallel to the shaft member 8 is rotatably supported at the distal end portion of the arm 10. The shaft member 20 includes second connection pins 22a and 22b as connection members whose phases are alternately shifted by 180 degrees at positions offset with respect to the axis 20A corresponding to each group. The other end of the first group of insertion members 16a is rotatably connected to the second connection pin 22a, and the other end of the second group of insertion members 16b is rotatably connected to the second connection pin 22b. ing.

  As is apparent from FIG. 3, the phases of the first connecting pin 18a and the second connecting pin 22a are set to be the same, and the phases of the first connecting pin 18b and the second connecting pin 22b are set to be the same. ing. Thereby, since the insertion members 16a and 16b constitute a parallel link mechanism with the arm 10, each insertion member 16a and 16b moves circularly while the whole insertion member moves in parallel with the tip portion thereof. In addition, the first connecting pin 18a and the second connecting pin 22a corresponding to the first group and the first connecting pin 18b and the second connecting pin 22b corresponding to the second group have a phase shift of 180 degrees. The insertion member 16a of the group and the insertion member 16b of the second group can perform a circular motion that is parallel to the arm 10 and that is 180 degrees out of phase with each other.

  A gear 24 is fixed to the end of the shaft member 8, and a rotation drive source 28 having a gear 26 that meshes with the gear is provided on the base 4. The rotational drive source 28 incorporates an electric motor and a speed reduction mechanism as necessary. In addition, the circular motion of each insertion member 16a and 16b is comprised so that it may rotate in the direction which goes up when it goes to the target object S from the lowest point of the same circular motion (FIG. 5 (A)-(C). And the arrow in FIG.

Next, the effect of the holding device 2 will be described.
First, when holding the object S, the holding device 2 is positioned above the object S, and as shown in FIG. 4A, the pair of arms 10 are expanded by the actuator 12 and displaced to the open position. Next, as shown in FIG. 6A, the holding device 2 is lowered so that the insertion members 16a and 16b can be inserted between the object S and the mounting surface E on which the object is placed, and the actuator 10, the left and right arms 10 are displaced toward the holding position. At the same time, the shaft member 8 is rotated by the rotation drive source 24, and the first group of insertion members 16a and the second group of insertion members 16b sequentially perform the circular motion described above.

  When one of the insertion member 16a of the first group and the insertion member 16b of the second group is first inserted between the end of the object S and the mounting surface E, the one insertion member rises and becomes the object. While supporting the object S, the arm 10 is displaced in the direction opposite to the insertion direction. As a result, the arm 10 is easily displaced in the insertion direction, and then the other insertion member is raised to support the object S. In this way, the insertion members 16a and 16b of both groups move forward in the insertion direction while gradually lifting the ends of the object S in order, so that the insertion of the arm 10 can be performed without damaging the object S. The part 14 can be smoothly inserted between the object S and the placement surface E. Finally, the holding of the object S is completed as shown in FIG. Therefore, the holding device 2 is very useful particularly when the object is easily damaged such as a victim.

  As is clear from the above, the holding device 2 supports the object S on the insertion members 16a and 16b so that the insertion portion 14 can be smoothly inserted between the object S and the mounting surface E. Therefore, an ascending operation and an operation of displacing in the direction opposite to the insertion direction of the arm 10 while the object S is supported are required. In this respect, the holding device 2 is achieved by the circular motion of the insertion members 16a and 16b with respect to the arm 10 by the parallel link mechanism described above, and therefore can be designed to obtain sufficient strength. . Further, by using the parallel link mechanism described above, regardless of the lengths of the insertion members 16a and 16b, the rotation radii of the first connection pin 18a and the second connection pin 18b with respect to the axis 8A are set to be small. It is possible to make a circular motion with a small radius at the front end of the. Therefore, in the holding operation, when the insertion members 16a and 16b of the first group and the second group lift the end portions of the object S little by little in order and advance with the arm 10, the amount to be lifted is set small, and the object The length that supports objects can be set large. Thereby, damage to an object can be prevented more effectively.

In FIG. 6, a total of four insertion members 16a and 16b are shown for each side. However, for the sake of convenience, in order to make the displacement due to the circular motion of each insertion member 16a and 16b easier to understand, Is shown every 90 degrees.
FIG. 7 conceptually shows a rescue device for an injured person S to which the holding device 2 is applied. The holding device 2 is mounted on a robot arm 32 mounted on an unmanned vehicle 30. The vehicle 30, the robot arm 32, and the holding device 2 are configured to be controlled by remote operation. Then, as shown in FIG. 7, the vehicle is moved to the vicinity of the injured person S, the holding device 2 is positioned above the injured person S by the robot arm 32, and the injured person S is held. Next, the injured person S is lifted onto the vehicle 30 by the robot arm 2. Then, the injured person S is loaded on the vehicle 30 and the vehicle 30 is moved to a safe place.

Next, another embodiment will be described with reference to FIGS. In addition, about the member or part corresponding to embodiment mentioned above in FIGS. 1-7, the same code | symbol as used above is attached | subjected and detailed description is abbreviate | omitted.
A shaft member 8 is rotatably supported by the base 4, and an arm 10 is rotatably supported by the coaxial member 8 via a bracket 40. The shaft member 20 is rotatably supported at the distal end portion of the arm 10 via a bracket 42. Actuators 12 are respectively provided between a portion extending above the base 4 and the left and right arms 10. Each arm 10 has an insertion portion 14, and each insertion portion 14 has a first group of insertion members 16a and a second group of insertion members 16b.

  As clearly shown in FIG. 9, the shaft member 8 includes first connecting pins 18a and 18b whose phases are alternately shifted by 180 degrees at positions offset with respect to the axis 8A. One end of the first group of insertion members 16a is rotatably connected to the first connecting pin 18a, and one end of the second group of inserting members 16b is rotatably connected to the first connecting pin 18b. As is also apparent from FIG. 9, the shaft member 20 at the tip of the arm 10 has second connecting pins 22a and 22b as connecting members whose phases are alternately shifted by 180 degrees at positions offset with respect to the axis 20A. For each group. The other end of the first group of insertion members 16a is rotatably connected to the second connection pin 22a, and the other end of the second group of insertion members 16b is rotatably connected to the second connection pin 22b. ing.

  Pulleys 44 and 46 are attached to the shaft members 8 and 20, respectively. On the other hand, a pulley 48 is attached to a rotational drive source 45 composed of an electric motor supported by the arm 40. Belts 50 and 52 are stretched between the pulley 48 and the pulley 44 and between the pulley 48 and the pulley 46, respectively, and the shaft members 8 and 20 are rotated by the rotational drive source 45. Has been. Accordingly, as in the embodiment shown in FIGS. 1 to 6, the first group of insertion members 16a and the second group of insertion members 16b are parallel to the arm 10 and are 180 degrees out of phase with each other. A deviated circular motion can be performed. In particular, since not only the shaft member 8 but also the shaft member 20 is driven by the rotational drive source 45, the rotational movement of the insertion members 16a and 16b can be performed more smoothly.

In addition, fingers 54 formed of a flexible material are attached to the distal ends of the insertion members 16a and 16b, and damage to the object S in the holding operation can be prevented.
Although the description of the embodiment according to the present invention is finished above, the embodiment is not limited to the above, and various modifications can be made without departing from the spirit of the invention.

For example, in each of the above embodiments, the insertion members 16a and 16b are configured to perform a circular motion, but instead, the cam member or the guide raises the displacement of the insertion member so as to support the object. It is also possible to make a non-circular motion in which the displacement of retreating in the direction opposite to the insertion direction of the arm is repeated while the object is supported.
In each of the above embodiments, the insertion member is divided into two groups, and the first group insertion member 16a and the second group insertion member 16b are configured to perform circular motion in order, but instead, It is also possible to divide the insert members into three or more groups. For example, when it is divided into three groups, it is configured to perform a circular motion that is 120 degrees out of phase between the groups. In any case, one group of insertion members that are at the top and support the lower surface of the object is raised, and then the other group of insertion members that support the lower surface of the object rises. It is necessary that the arm be displaced in the direction opposite to the insertion direction.

  Further, in each of the above embodiments, each of the pair of arms 10 has the insertion portion 14, but instead, only one arm 10 may be provided with the insertion portion 14 having a plurality of insertion members 16a and 16b. In that case, the other arm has a structure that supports only one side of the object S or a structure that is inserted into only one side of the object A and a part of the lower surface continuous to the one side, In the work, mainly, the insertion members 16a and 16b of the one arm 10 gradually enter between the object S and the placement surface E.

It is a front view which shows the holding apparatus which concerns on one Embodiment of this invention. FIG. 2 is a plan view of FIG. FIG. 3 is an enlarged view of a main part of FIG. 2. It is explanatory drawing which shows the action | operation of the left-right arm in the said one Embodiment. It is explanatory drawing which shows the action | operation of the insertion member in the said one Embodiment. It is explanatory drawing which shows the holding operation in the said one Embodiment. It is a conceptual diagram which shows the rescue apparatus of the wounded person to which the holding device which concerns on the said one embodiment is applied. It is a front view which shows another embodiment. It is an arrow line view which follows the arrow IX of FIG.

Explanation of symbols

2 Holding device 4 Base 10 Arm 12 Actuator 14 Insertion part 16a, 16b Insertion member

Claims (5)

A holding device provided with a pair of arms that are driven downward to an opening position that extends downward, and that is spaced apart from each other by an arm driving device, and a holding position that holds objects close to each other from the opening position,
At least one of the pair of arms has an insertion portion that is inserted between the object and a placement surface on which the object is placed as it is displaced toward the holding position,
The insertion portion has a plurality of insertion members arranged in parallel with respect to the insertion direction, and the plurality of insertion members are divided into a plurality of groups,
A drive mechanism that repeats the vertical displacement of the tips of the plurality of insertion members in order for each group,
In addition, the drive mechanism has a structure in which one group of insertion members that are at the top and support the lower surface of the object are raised, and then the other group of insertion members that support the lower surface of the object rises. A holding apparatus for driving the insertion member of each group so as to be displaced in a direction opposite to the insertion direction with respect to the arm. The drive mechanism drives each insertion member so that the tip of each insertion member performs a circular motion with respect to the arm in a plane parallel to the drive locus of the arm,
The holding device according to claim 1, wherein the circular motion rotates in a direction of rising when going from the lowest point of the circular motion toward the object.   The drive mechanism is supported by the arm and is rotatably supported by the arm at a position offset from the first connection member and a first connection member that is rotated by a drive source in a plane parallel to the drive locus of the arm. The holding device according to claim 2, further comprising a second connecting member for at least each of the groups, wherein each of the first and second connecting members is rotatably connected to an insertion member of each group.   The holding apparatus according to claim 3, wherein the second connecting member in the driving mechanism is rotated by a driving source.   The holding device according to claim 1, wherein at least tip portions of the plurality of insertion members are formed of a flexible material.

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