JP2014031246A - Crane and method for conveying conveyance object - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a crane and a method for conveying a conveyance object enabling workability in an installation work and reduction of installation cost.SOLUTION: A crane 131 includes: a pair of two-joint arm members 143 respectively including first arm 141 rotatably mounted with a first rotary shaft, which is horizontal or substantially horizontal to a prescribed base, as a center, and second arms 142 rotatably mounted on a tip part of the first arm with a second rotary shaft 145, which is parallel to the first rotary shaft, as a center; a boom member 146 connecting between tips of the pair of second arms 142; and a holding sections 147 which are provided in the boom member so as to hold a conveyance object.

Description

  The present invention relates to a crane and a method for transporting a conveyed product, and more particularly to a method for transporting a crane and a photovoltaic power generation panel unit.

  In recent years, solar power generation is a renewable energy that can cope with energy shortage and CO2 greenhouse gas emission reduction, and is therefore widely used and expanded for home use installed on the roof of houses. Among them, when a fixed-price purchase system that requires electric utilities to purchase electricity generated from renewable energy sources for a certain period and price determined by the government, the output of 1000 kilowatts (1 megawatt) by companies, etc. ) The construction and operation of the above-mentioned large-scale solar power plants (mega solar power plants) are in succession.

  In the installation of conventional solar power generation panels, workers manually install one solar power generation panel about 2m long by about 1m wide on the solar power panel mounting frame, or multiple solar power generation panels. The connected photovoltaic power generation panel unit was installed using a crane with a hanging jig (Patent Document 1).

JP-A-11-81680

  In the mega solar power plant, since a large number of photovoltaic power generation panel units are installed in the entire system, improvement in workability and reduction in installation costs have been problems. That is, it has been desired to provide an installation method of a photovoltaic power generation panel unit that improves workability in installation work and reduces installation costs, and a crane used in the installation method.

  Then, an object of this invention is to provide the crane and the conveyance method of a conveyed product which can improve workability | operativity in installation construction and can reduce installation expense.

In order to achieve the above object, a crane according to the first aspect of the present invention includes:
A pair of two-joint arm members, each of which is attached to be rotatable about a first rotation axis that is horizontal or substantially horizontal with respect to a predetermined base, and a tip portion of the first arm A pair of two articulated arm members having a second arm rotatably mounted about a second rotation axis parallel to the first rotation axis;
A boom member that connects the tip portions of the pair of second arms;
A gripping portion provided on the boom member, the gripping portion gripping a conveyed product;
It is provided with.

  Both or one of the first arm and the second arm may be extendable along the long axis direction.

  The grip portion may be movable relative to the boom member along any direction included in a horizontal plane.

  The grip portion may be rotatable relative to the boom member around a vertical axis.

  You may further provide the link mechanism for keeping the attitude | position of the said holding part constant irrespective of the rotation angle of the said 1st arm and the said 2nd arm.

  The boom member may be movable along a major axis direction of the boom member.

Moreover, the conveyance method of the conveyed product which concerns on the 2nd viewpoint of this invention is the following.
A pair of two-joint arm members, each of which is attached to be rotatable about a first rotation axis that is horizontal or substantially horizontal with respect to a predetermined base, and a tip portion of the first arm A pair of two articulated arm members having a second arm rotatably mounted about a second rotation axis parallel to the first rotation axis;
A boom member that connects the tip portions of the pair of second arms;
A gripping portion provided on the boom member, the gripping portion gripping a conveyed product;
A transport method for transporting the transported object from a first position to a second position using a crane comprising:
By adjusting the rotation angle of the pair of first arms and the rotation angle of the second arm, the gripping part comes close to the transported object at the first position, and the gripping part grips the transported object. A gripping process to
By further adjusting the rotation angle of the pair of first arms and the rotation angle of the second arm, the transported object is moved to the second position while the gripping part grips the transported object. Moving process;
In the second position, the grasping part releases the grasping of the transported object, and the grasping release step,
It is characterized by having.

Both or one of the first arm and the second arm can extend and contract along its long axis direction,
In the gripping step, both or one of the first arm and the second arm may expand and contract along the long axis direction.

Both or one of the first arm and the second arm can extend and contract along its long axis direction,
In order to correspond to a plurality of the second positions, in the moving step, both or one of the first arm and the second arm may expand and contract along the major axis direction.

The grip portion is relatively movable with respect to the boom member along any direction included in a horizontal plane,
In the gripping step, the gripping portion moves relative to the boom member along any direction included in the horizontal plane, whereby the transported object at the first position is moved. The relative position of the gripping part is adjusted, or at the end of the moving step, the gripping part moves relative to the boom member along any direction included in the horizontal plane. In the second position, the relative position of the conveyed product with respect to a predetermined member may be adjusted.

The grip portion is rotatable relative to the boom member about an axis perpendicular to the boom member,
In the gripping step, the gripping portion rotates relative to the boom member around a vertical axis, so that the transporting object in the first position is the first position. The relative rotation angle of the gripping part is adjusted, or
At the end of the moving step, the gripper rotates relative to the boom member around a vertical axis, so that the transported object is relative to the predetermined member at the second position. The rotation angle may be adjusted.

  ADVANTAGE OF THE INVENTION According to this invention, the workability | operativity in installation construction can be improved and the crane and the conveyance method of a conveyed product which make it possible to reduce installation expense can be provided.

It is a front view which shows the schematic structure of the crane by embodiment of this invention, the attachment state of a crane, etc. FIG. It is a side view which shows the operating state etc. of the crane by embodiment of this invention. It is the top view (a) of the photovoltaic power generation panel unit by embodiment of this invention, a side view (b), and a bottom view (c). It is a perspective view which shows schematic structure of the container by embodiment of this invention. It is the perspective view (a) and sectional drawing (b) for demonstrating the state in which the photovoltaic power generation panel unit by embodiment of this invention was installed only in the one side of a support | pillar. It is the perspective view (a) and sectional drawing (b) for demonstrating the state in which the photovoltaic power generation panel unit by embodiment of this invention was installed in the both sides of the support | pillar. It is the perspective view (a) and sectional drawing (b) for demonstrating the state by which the photovoltaic power generation panel unit by embodiment of this invention was installed in the both sides of the support | pillar, and the angle was adjusted. Schematic (a) which shows that the holding part by embodiment of this invention can move to the major axis direction of a boom member, It is movable to the direction included in a horizontal surface perpendicular | vertical with respect to the major axis direction of a boom member. It is the schematic (b) which shows that it exists, and the schematic (c) which shows that it can rotate centering | focusing on a perpendicular | vertical axis | shaft with respect to a boom member. It is the schematic (a) which shows the link mechanism of the form of one parallelogram according to embodiment of this invention, and the schematic (b) which shows the link mechanism of the form which connected two parallelograms. The top view which shows the state which has arrange | positioned the vacuum gripper of the holding part by embodiment of this invention in a grid | lattice form (a), the top view which shows the state arrange | positioned in 2 rows, and the top view which shows the state arrange | positioned in zigzag form (C).

  Below, the form for implementing this invention is demonstrated concretely. In the present embodiment, a solar power generation panel unit will be described as an example of a transported object transported by a crane, but the present invention is not limited to this.

  As shown in FIGS. 1 and 2, a crane 131 according to an embodiment of the present invention includes a pair of two joint arm members 143, a boom member 146 that connects the tip portions of the pair of two joint arm members 143, and a boom A grip portion 147 provided on the member for gripping the conveyed product.

  Each of the pair of two-joint arm members 143 includes a first arm 141 rotatably attached to a predetermined base (special heavy machine 133) about a first rotation shaft 144 that is horizontal or substantially horizontal. And a second arm 142 rotatably attached to a distal end portion of one arm around a second rotation shaft 145 parallel to the first rotation shaft 144. The boom member 146 connects the tip portions of the pair of second arms 142 to each other.

  As the peripheral device of the crane 131, a container 132 (see FIG. 4) loaded with a photovoltaic panel unit, a special heavy machine 133 that transports the container 132, and a tow truck 134 that pulls them are used.

  As will be described in detail later, as shown in FIG. 2, by using the crane 131 according to the present invention, the photovoltaic power generation panel unit 100 is installed from the first position 151 in the container 132 to the second position. 152 can be conveyed. At the second position 152, the support column 20 having the panel holding plate 40 is provided. In a state where two photovoltaic power generation panel units 100 are arranged in the X-axis direction in FIG. 2, one can be placed on each side of a predetermined number of columns 20.

  The crane 131 according to the present invention can adjust the rotation angle of the pair of first arms 141 and the rotation angle of the second arm 142, respectively, and the rotation angles of one first arm and the other first arm Even if they change, the rotation angles of one second arm and the other second arm are always the same even if they change over time. Therefore, the level of the boom member 146 is maintained, and therefore the level of the photovoltaic power generation panel unit 100 is also maintained.

  The crane 131 can be adjusted by adjusting only the rotation angle of the first arm 141 and the second arm 142, the first position 151 that is the transfer source position, and the two transfer destination positions that are the two transfer destination positions such as both sides of the column 20. The grip portion 147 can be moved to each of the second positions 152. Further, both or one of the first arm 141 and the second arm 142 can be expanded and contracted along the major axis direction as indicated by the white arrow in FIG. Thereby, when the grip part 147 is moved to each of the first position 151 and the two second positions 152, the rotation angle adjustment of the two arms can be simplified. That is, by adjusting the length of one or both of the first arm 141 and the second arm 142, the rotation angle of the two arms when the grip portion 147 is moved to one second position 152, and the other arm The rotation angles of the two arms when the grip portion 147 is moved to the second position 152 can be made substantially the same.

  When the grip portion 147 is close to the photovoltaic power generation panel unit 100 at the first position 151 and the grip portion 147 grips the solar power generation panel unit 100, as described above, the first arm 141 is used. The rotation angle of the second arm 142 may be adjusted. For the adjustment, the expansion and contraction of only the first arm 141, the expansion and contraction of only the second arm 142, the expansion and contraction of the first arm 141, and the expansion and contraction of the second arm 142 may be used. Any one of them may be combined. Examples of the arm expansion / contraction mechanism include a mechanism using a hydraulic cylinder and a combination of a ball screw and a servo motor.

  The gripping part 147 includes a vacuum gripper 150 having a vacuum generator for attracting the photovoltaic power generation panel unit 100.

  Next, a method for attaching the grip portion 147 to the boom member 146 will be described. As a method of attaching the grip portion 147 to the boom member 146, a method of attaching the grip portion 147 so as to be directly movable to the boom member 146, and a grip portion as shown in FIGS. 8 (a) to 8 (c). For example, a method of attaching 147 to the grip portion base 148 and movably attaching the grip portion base 148 to the boom may be used. The grip portion 147 is returned to its original position by an elastic body such as a spring, for example. When the grip portion 147 is moved or rotated to adjust the relative position of the grip portion 147 at the time of gripping or placing, It may be moved by human power or motor power.

  Next, the operation of the grip portion 147 will be described.

  The grip portion 147 is, with respect to the boom member 146, along both or one of the axial direction of the boom member 146 and the direction perpendicular to the axial direction and included in the horizontal plane, that is, along any direction of the horizontal plane. And relatively movable. Thereby, the relative position of the grip part 147 with respect to the photovoltaic power generation panel unit 100 at the first position 151 at the time of gripping can be adjusted. Moreover, even if the positional relationship between the support column 20 serving as a gantry of the photovoltaic power generation panel unit 100 and the special heavy machine 133 is shifted, the relative position of the photovoltaic power generation panel unit 100 with respect to the support column 20 at the second position 152 at the time of placement. Can be adjusted.

  For example, when the positional relationship between the photovoltaic panel unit 100 and the column 20 is shifted in the Y-axis direction in FIG. 1, the grip portion 147 is moved with respect to the boom member 146 as shown in FIG. The boom member 146 may be moved relatively in the axial direction. In addition, when the positional relationship between the photovoltaic power generation panel unit 100 and the column 20 is shifted in the X-axis direction in FIG. 2, the grip portion 147 is moved with respect to the boom member 146 as shown in FIG. Thus, it may be moved relatively in a direction perpendicular to the axial direction of the boom member 146 and included in the horizontal plane. Further, when the positional relationship between the photovoltaic power generation panel unit 100 and the support column 20 is shifted in both the X-axis direction and the Y-axis direction, the axial direction of the boom member 146 and the axial direction of the boom member 146 However, it may be moved relative to both directions perpendicular to the horizontal plane.

  In addition, the grip portion 147 may be configured to be relatively rotatable with respect to the boom member 146 around a vertical axis. For example, the grip portion base 148 to which the grip portion 147 is attached may be movably attached to the boom, and the grip portion base 148 may be configured to be rotatable about the vertical axis with respect to the boom member 146. Thereby, the relative rotation angle of the grip part 147 with respect to the photovoltaic power generation panel unit 100 in the first position 151 at the time of gripping can be adjusted. Moreover, the relative rotation angle of the photovoltaic power generation panel unit 100 with respect to the support | pillar 20 in the 2nd position 152 at the time of mounting can be adjusted. If the grip portion 147 can be rotated relatively, for example, even if the positional relationship between the photovoltaic power generation panel unit 100 and the support column 20 is rotated about the Z-axis direction in FIG. As shown in c), the grip portion 147 may be rotated relative to the boom member 146 around the vertical axis. When the grip portion 147 is rotated relative to the boom member 146 about a vertical axis, the grip portion 147 is rotated about the center of the grip portion base 148.

  A method for transporting a photovoltaic power generation panel unit according to an embodiment of the present invention using the crane 131 configured as described above will be described with reference to the drawings.

  As shown in FIG. 3, the photovoltaic power generation panel unit 100 has a length of about 2 m × width of about 11 m, in which 11 photovoltaic power generation panels 110 having a length of about 2 m × width of about 1 m are connected horizontally through a panel support frame 120. It is horizontally long. In this way, the horizontally long photovoltaic power generation panel unit 100 is loaded on the ISO 40 foot container 132 shown in FIG. 4 and transported to the construction site of the mega solar power plant.

  As shown in FIG. 4, the inside of the container 132 is modified so that a photovoltaic power generation panel unit can be stacked. The beam 135 portion on which the photovoltaic panel unit 100 is loaded has a cantilever structure, and all the beams 135 are interlocked with each other in a chain shape inside the column 136, and the number of the photovoltaic panel units 100 loaded is It moves up and down by the light weight of the whole load according to the. The container 132 has a ceiling as an opening and a lid that can be opened and closed in a hinge-like manner, and the photovoltaic power generation panel unit 100 placed on the uppermost beam 135 can be taken out from above.

  By adjusting the balance between the spring force of the elastic body attached to the chain and the above-mentioned overall load, the photovoltaic power generation panel unit 100 placed on the uppermost beam 135 always has an upper part of the container. It is possible to maintain the same height, whereby the photovoltaic power generation panel unit 100 placed on the uppermost beam 135 can be easily taken out from the upper part of the container using the crane 131, and the work efficiency Can be improved. That is, the position where the grip portion 147 of the crane 131 starts gripping the photovoltaic power generation panel unit 100 can be made almost constant. The beam 135 that reaches the uppermost portion rotates 90 degrees and descends in conjunction with the other beams 135 so as not to interfere with the work of taking out the next photovoltaic power generation panel unit 100. The beam 135 may be detachable so as to correspond to different thicknesses of the photovoltaic power generation panel unit 100.

  In order to install the photovoltaic power generation panel unit 100 up to the mega solar power plant from the transport truck to the gantry, the special heavy machine 133 having the crane 131 according to the embodiment of the present invention is installed. Transship. When the container 132 is transferred from the transport truck to the special heavy machine 133, the height of the loading platform is different from each other. Therefore, the loading platform is low in order to smoothly reload the container 132 without using a heavy machine such as a crane. The truck, which is the side, is raised by a slope and placed on the bottom platform, and laid on a special heavy machine 133 and a container moving platform that matches the height of the platform. Thereafter, the wheel embedded in the bottom of the container 132 is aligned with the rail installed on the container moving frame, and then the container 132 is slid in the lateral direction of the truck, and the container is placed at a predetermined position of the special heavy machine 133. Accordingly, the number of workers is small and the containers 132 can be transshipped in a short time. The special heavy machine 133 may be self-propelled or towed, and from the viewpoint of cost, a towed type in which the special heavy machine 133 is pulled by the tow vehicle 134 is preferable.

  After the container 132 on which the photovoltaic panel unit 100 is loaded is loaded onto the special heavy machine 133, the special heavy machine 133 is moved to the vicinity of the support column 20 serving as a frame for the photovoltaic panel unit installed by the towing vehicle 134. The ceiling part of the container 132 is opened, and a photovoltaic power generation panel unit appears at the top of the container.

  In the crane 131 according to the embodiment of the present invention, a pair of two articulated arm members 143 having a first arm 141 and a second arm 142 are bent into a state of “<” or reverse “<”. After the grip portion 147 provided on the boom member 146 is brought close to the solar power generation panel unit 100, the vacuum generator of the vacuum gripper 150 of the grip portion 147 is operated to suck and grip the solar power generation panel unit 100. If the positional relationship of the grip portion 147 with respect to the photovoltaic power generation panel unit 100 is shifted in the X-axis direction and / or the Y-axis direction in FIG. 2, the grip portion 147 is moved away from the boom member 146. The relative position is adjusted by relatively moving along both or one of the axial direction and the direction perpendicular to the axial direction and included in the horizontal plane, that is, along any direction included in the horizontal plane. Further, when the positional relationship of the grip portion 147 with respect to the photovoltaic power generation panel unit 100 is rotated and shifted about the Z-axis direction, the grip portion 147 is relative to the boom member 146 about the vertical axis. To adjust the relative rotation angle.

  Referring to FIG. 2, after gripping the photovoltaic panel unit 100, the two-joint arm member 143 is extended to extend photovoltaic power until both the first arm 141 and the second arm 142 are substantially vertical. The panel unit 100 is pulled up from the container 132. In this state, the two-joint arm member 143 including the first arm 141 and the second arm 142 is substantially in a straight line. While maintaining this state, the first arm 141 is rotated around the first rotation shaft 144 to make the two-joint arm member 143 including the first arm 141 and the second arm 142 substantially horizontal. Simultaneously with the rotation or after the rotation, the length of one or both of the first arm 141 and the second arm 142 is adjusted, as shown in FIG. The position of the hole 122 of the panel support frame 120 on the attachment side and the position of the hole 41 of the panel holding plate 40 on the support column 20 are substantially matched.

  The positional relationship between the support column 20 and the special heavy machine 133 serving as a support of the photovoltaic power generation panel unit 100 is shifted in the X-axis direction and / or the Y-axis direction in FIG. 2 and / or rotated around the Z-axis direction. If they are shifted, the positions of the holes 122 of the panel support frame 120 in the photovoltaic power generation panel unit 100 and the holes 41 of the panel holding plate 40 in the support column 20 do not match and cannot be engaged. When such a deviation occurs, the grip portion 147 is moved along either or one of the axial direction of the boom member 146 and the direction perpendicular to the axial direction and included in the horizontal plane, that is, either within the horizontal plane. The photovoltaic power generation panel unit may be adjusted by moving the grip portion 147 relative to the boom member 146 relative to the boom member 146 or both or one of them. The relative position and / or the relative rotation angle of 100 are adjusted, and thereby the positions of the holes 122 of the panel support frame 120 and the holes 41 of the panel holding plate 40 are aligned. In this way, the bolts can be passed through the holes 41 and 122, and the photovoltaic power generation panel unit 100 is fixed to the column 20 by tightening with the nuts. After the photovoltaic power generation panel unit 100 is fixed to the support column 20, the gripping of the photovoltaic power generation panel unit 100 by the gripping portion 147 is released.

  In addition, when the positional relationship shift at the second position 152 is large in the X-axis direction and / or the Y-axis direction in FIG. 2 at the time of placement, first, adjustment using power, that is, the first Adjustment of the angle or length of one or both of the arm 141 and the second arm 142 and adjustment of the boom member 146 along the longitudinal direction thereof are performed to reduce the positional displacement, and then the above-described gripping portion 147 is moved. The relative position may be adjusted by relatively moving the boom member 146 along any direction in the horizontal plane.

  As shown in FIG. 6A and FIG. 6B, the photovoltaic power generation panel unit 100 fixed to the support column 20 in a horizontal state is close to an irradiation angle of 90 ° at which the amount of sunlight is increased. Further, the angle adjusting member 30 including the rotating member 38 attached to the upper portion of the support column 20 is rotated as shown in FIG. 7 to adjust the installation angle.

  As described above, according to the crane 131 of this embodiment, the photovoltaic power generation panel unit 100 can be efficiently conveyed. Further, if the photovoltaic power generation panel unit 100 is placed at the first position by transportation, the photovoltaic power generation panel unit 100 can be transported to the second position later by a simple operation of an operator, and the photovoltaic power generation panel. Since the unit 100 can be attached to the support column in its second position, the present invention is very effective in improving the overall work efficiency including transportation, transport and installation. Moreover, when installing many photovoltaic power generation panel units 100, workability | operativity in installation construction can be improved significantly and installation cost can be reduced.

  As mentioned above, although preferable embodiment of this invention was described, this invention is not limited to the specific embodiment which concerns, This invention includes the invention described in the claim, and its equivalent range It is.

  For example, the boom member 146 of the crane 131 according to the embodiment of the present invention may be movable along the long axis direction of the boom member. That is, the boom member 146 is disposed so as to connect the tip portions of the pair of second arms 142 as described above. For example, the boom member 146 is attached to the tip portion of the second arm 142. The structure includes a moving mechanism for moving the boom member and a support mechanism for supporting the boom member during the movement so that the boom member 146 can move along the long axis direction of the boom member. As a result, the displacement of the positional relationship at the second position 152 at the time of placement is large in the Y-axis direction in FIG. 1, and the displacement is only caused by the relative movement of the grip portion 147 in the major axis direction of the boom member 146. Even if it cannot be resolved, the positional deviation can be adjusted without moving the special heavy machine 133 by the towing vehicle 134. Examples of the moving mechanism of the boom include a mechanism using a hydraulic cylinder and a combination of a ball screw and a servo motor.

  The crane 131 may further include a link mechanism for keeping the posture of the boom member 146 constant regardless of the rotation angle of the first arm 141 and the second arm 142. By providing the link function, the rotation angle of the boom member 146 (the rotation angle around the Y axis) is constant regardless of the position of the tip of the second arm 142, thereby rotating along the rotation axis of the boom member 146. Therefore, the posture of the grip portion 147 attached to this and the posture of the photovoltaic power generation panel unit gripped by the grip portion 147 can be kept constant. The boom member 146 is free to rotate about the Y axis with respect to the second arm 142. Then, by attaching one side of the link to the boom member 146 and attaching the opposite side to the special heavy machine 133, the rotation angle of the boom member 146 around the Y axis with respect to the special heavy machine 133 is made constant. For example, in the case of using one parallelogram-shaped link mechanism 149 as shown in FIG. 9A, the base 149a is fixed near the first rotating shaft 144, and the upper side 149b is fixed to the boom member 146. It may be fixed. In addition, when using a link mechanism 149 having a configuration in which two parallelograms are connected as shown in FIG. 9B, the bottom side 149a of the lower parallelogram is fixed near the first rotation shaft 144. The upper side 149a of the lower parallelogram and the base 149b of the upper parallelogram are fixed to the vicinity of the second rotation shaft 145, and the upper side 149b of the upper parallelogram is fixed to the boom member 146. You may do it. In any form of link mechanism 149, all the sides can be expanded and contracted so as to cope with the expansion and contraction of the arm and the change in the position of the boom member 146.

  Note that the side that is fixed to the boom member 146 in the above description may be directly fixed to the grip portion 147.

  Further, the grip portion 147 may be provided with a plurality of vacuum grippers 150 (FIG. 10), and these may be attached to the boom member 146, or when the grip portion base 148 is used, the grip portion base 148 is used. You may make it attach to 148. By simultaneously adsorbing a plurality of locations of the photovoltaic power generation panel unit 100 that is a transported object by the plurality of vacuum grippers 150, a part of the photovoltaic power generation panel unit is damaged due to a large stress when the transportation is suspended. Can be prevented. As a form in which the plurality of vacuum grippers 150 are arranged, a lattice form as shown in FIG. 10A, a two-row form as shown in FIG. 10B, and a form shown in FIG. Such a zigzag shape is exemplified.

20 Strut 40 Panel holding plate 41 Hole 100 Photovoltaic power generation panel unit 110 Photovoltaic power generation panel 120 Panel support frame 122 Hole 131 Crane 132 Container 133 Special heavy machine 134 Towing vehicle 141 First arm 142 Second arm 143 Two joint arm member 144 First 1 rotation shaft 145 2nd rotation shaft 146 boom member 147 gripping portion 148 gripping portion base 149 link mechanism 149a link mechanism bottom 149b link mechanism upper side 150 vacuum gripper 151 first position 152 second position

Claims (11)

A pair of two-joint arm members, each of which is attached to be rotatable about a first rotation axis that is horizontal or substantially horizontal with respect to a predetermined base, and a tip portion of the first arm A pair of two articulated arm members having a second arm rotatably mounted about a second rotation axis parallel to the first rotation axis;
A boom member that connects the tip portions of the pair of second arms;
A gripping portion provided on the boom member, the gripping portion gripping a conveyed product;
A crane comprising:   2. The crane according to claim 1, wherein both or one of the first arm and the second arm can extend and contract along a major axis direction thereof.   The crane according to claim 1 or 2, wherein the grip part is relatively movable with respect to the boom member along any direction included in a horizontal plane.   The crane according to any one of claims 1 to 3, wherein the grip portion is rotatable relative to the boom member around a vertical axis.   5. The link mechanism according to claim 1, further comprising a link mechanism for maintaining a constant posture of the grip portion regardless of a rotation angle of the first arm and the second arm. crane.   The crane according to any one of claims 1 to 5, wherein the boom member is movable along a major axis direction of the boom member. A pair of two-joint arm members, each of which is attached to be rotatable about a first rotation axis that is horizontal or substantially horizontal with respect to a predetermined base, and a tip portion of the first arm A pair of two articulated arm members having a second arm rotatably mounted about a second rotation axis parallel to the first rotation axis;
A boom member that connects the tip portions of the pair of second arms;
A gripping portion provided on the boom member, the gripping portion gripping a conveyed product;
A transport method for transporting the transported object from a first position to a second position using a crane comprising:
By adjusting the rotation angle of the pair of first arms and the rotation angle of the second arm, the gripping part comes close to the transported object at the first position, and the gripping part grips the transported object. A gripping process to
By further adjusting the rotation angle of the pair of first arms and the rotation angle of the second arm, the transported object is moved to the second position while the gripping part grips the transported object. Moving process;
In the second position, the grasping part releases the grasping of the transported object, and the grasping release step,
A method for conveying a conveyed product, comprising: Both or one of the first arm and the second arm can extend and contract along its long axis direction,
In the said holding process, both or one of the said 1st arm and the said 2nd arm is expanded-contracted along the major axis direction, The conveyance method of the conveyed product of Claim 7 characterized by the above-mentioned. Both or one of the first arm and the second arm can extend and contract along its long axis direction,
8. In order to correspond to a plurality of the second positions, in the moving step, both or one of the first arm and the second arm expands and contracts along a major axis direction thereof. The conveyance method of the conveyed product of description. The grip portion is relatively movable with respect to the boom member along any direction included in a horizontal plane,
In the gripping step, the gripping portion moves relative to the boom member along any direction included in the horizontal plane, whereby the transported object at the first position is moved. The relative position of the gripping part is adjusted, or at the end of the moving step, the gripping part moves relative to the boom member along any direction included in the horizontal plane. The method for transporting a transported object according to any one of claims 7 to 9, wherein a relative position of the transported object with respect to a predetermined member is adjusted at the second position. The grip portion is rotatable relative to the boom member about an axis perpendicular to the boom member,
In the gripping step, the gripping portion rotates relative to the boom member around a vertical axis, so that the transporting object in the first position is the first position. The relative rotation angle of the gripping part is adjusted, or
At the end of the moving step, the gripper rotates relative to the boom member around a vertical axis, so that the transported object is relative to the predetermined member at the second position. The method for conveying a conveyed product according to any one of claims 7 to 10, wherein a rotation angle is adjusted.

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