JP2018024494A - Carrying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To hang work-pieces different in width without causing tilt or swing.SOLUTION: To a first clamping arm 3 held to vertical direction guide means 2, a beam member 4 is connected. Horizontal direction guide means 5 provided for the beam member 4 holds a moving member 6. A second clamping arm 7 is swingably fitted to the moving member 6 via a shaft 8. An arm 9 extending from an upper end side of the second clamping arm 7 is provided with a hanging part 10. Moreover, there are provided an actuator 11 moving the moving member 6, position holding means 12 fixing the position of the moving member 6, and a position hold cancellation actuator 13 cancelling position fixation of the moving member 6 by the position holding means 12 to form a carrying device 1. By moving the second clamping arm 7 together with the moving member 6, a gap to the first clamping arm 3 is adjusted, a work-piece W is clamped and hung. In so doing, movements other than operation of the respective clamping arms 3, 7 in a vertical direction are suppressed by the vertical direction guide means 2.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a transfer device that holds and moves a workpiece.

  As one of the transfer devices for transferring a workpiece, a lifting clamp type lifting tool is known that holds the workpiece by using the lifting load of the workpiece and the principle of the lever and lifts and moves the workpiece together with the workpiece. ing. This lifting clamp type lifting tool can increase the workpiece clamping force in response to an increase in workpiece lifting load, and has the advantage that an actuator for generating the workpiece clamping force is not required.

  Moreover, about the lifting clamp type lifting tool, a type in which the clamping width can be changed in accordance with the width of the workpiece to be conveyed has been proposed (for example, see Patent Document 1).

  Further, when changing the holding width in accordance with the width of the workpiece, this lifting tool moves the suspension ring from the plurality of suspension ring engagement holes provided to the suspension ring engagement hole arranged on the approximate center of gravity of the workpiece. The usage method is proposed.

JP-A-9-86863

  However, in the lifting tool disclosed in Patent Document 1, since the suspension ring is attached to one of the plurality of suspension ring locking holes, the attachment position of the suspension ring deviates from the position directly above the center of gravity of the workpiece. In some cases, when such a deviation occurs, the lifted work is inclined. In addition, the lifted work may be swayed or rotated around the suspension ring.

  Therefore, when the workpiece is transported using the lifting tool disclosed in Patent Document 1, the operator can monitor the state of the lifted workpiece and adjust the tilted, swaying, and rotating of the lifted workpiece. The reality is that it is needed.

  Therefore, for example, when automating conveyance for workpieces with different width dimensions in factories or warehouses, when the workpiece is lifted and conveyed, it is required to suppress tilting, shaking or rotation of the workpiece However, the one disclosed in Patent Document 1 cannot meet such a requirement.

  Therefore, the present invention intends to provide a transport apparatus that can lift a workpiece having various widths in a state in which tilting, shaking, and rotation are suppressed.

  In order to solve the above-mentioned problems, the present invention provides a vertical guide means, a first holding arm slidably held by the vertical guide means, and one end side of the first clamping arm arranged in the lateral direction. A beam member connected to the holding arm, a lateral guide means provided in the lateral direction along the beam member, a moving member slidably held by the lateral guide means, and an axis on the moving member via an axis A second holding arm which is attached to the first holding arm and can swing in a direction approaching and separating from the first holding arm, an arm attached to an upper end side of the second holding arm, and an arm. A suspended portion, an actuator for moving the moving member along the lateral guide means, a position holding means for holding the position of the moving member along the lateral guide means, and releasing the position holding means. Position hold release An actuator, a conveying device comprising a.

  The vertical guide means is supported by a support column extending in the vertical direction, a rope is connected to the suspension portion, and a suspension means for raising and lowering the rope is provided on the upper end side of the pillar. It is good.

  The vertical guide means may be supported by a support member disposed on a foundation, and may include a moving means between a lower end side of the support member and the foundation.

  Furthermore, a support, a first guide provided along the support, a beam member engaged with the first guide and extending in a direction intersecting the first guide, and the beam member together with the beam member A first gripper that moves along the first guide, a second guide provided on the beam member, a movable member that is movable along the second guide, and is attached to the movable member An actuator, a holding portion that comes into contact with a contacted portion provided in the beam member or the second guide, position holding means attached to the moving member, and a shaft provided in the moving member; A sandwiching arm that is inserted through the shaft and can swing around the shaft, an arm that is attached to one side of the sandwiching arm with the shaft interposed therebetween, a suspension provided on the arm, and the sandwiching The holding arm is provided on the other side of the arm with the shaft interposed therebetween. Proximity to the strut by swinging, to a second gripping portion capable separated, and configurations with.

  According to the transfer device of the present invention, workpieces having various widths can be lifted in a state in which inclination, shaking, and rotation are suppressed.

It is a schematic side view which shows 1st Embodiment of a conveying apparatus. It is an AA direction arrow line view of FIG. It is a figure which expands and shows the principal part of a conveying apparatus. It is a BB direction arrow line view of FIG. It is a figure for demonstrating the usage method of the conveying apparatus of FIG. It is a schematic side view which shows 2nd Embodiment of a conveying apparatus. It is a schematic perspective view which shows the application example of the conveying apparatus of 2nd Embodiment.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

[First Embodiment]
FIG. 1 is a schematic side view showing a first embodiment of a transport apparatus. FIG. 2 is a view taken in the direction of arrows AA in FIG. FIG. 3 is an enlarged cutaway side view showing a mounting portion of the moving member in the beam member. 4 is a view taken in the direction of arrows BB in FIG. 5A and 5B are diagrams for explaining the procedure for using the transport device of the present embodiment. FIG. 5A is a diagram showing a state before the transport target is sandwiched, and FIG. It is a figure which shows the state which pulled up the member.

  1 and 2, the conveyance device of the present embodiment is indicated by reference numeral 1, and is vertically supported by a vertical guide means 2 extending in the vertical direction as a first guide and slidably held by the vertical guide means 2. A first clamping arm 3, a beam member 4 arranged in the lateral direction and having one end connected to the first clamping arm 3, and a lateral guide means as a second guide provided along the beam member 4 5, a moving member 6 slidably held by the lateral guide means 5, and is held by the moving member 6 via a shaft 8 and swings in a direction approaching and separating from the first clamping arm 3. A possible second clamping arm 7, an arm 9 that bends and extends from the upper end side on one side across the shaft 8 of the second clamping arm 7 toward the side closer to the first clamping arm 3, 9, a suspension part 10 provided on the actuator 9, an actuator 11 that moves the moving member 6, A position retaining means 12 for releasably retaining the position of the 6, there is a position holding release actuator 13 that is attached to the position holding means 12, a configuration with.

  For convenience of description, in the following description, the direction in which the beam member 4 and the lateral guide means 5 extend is referred to as the x-axis direction, and the horizontal direction orthogonal to the x-axis direction is referred to as the y-axis direction. Regarding the x-axis direction, the side on which the first clamping arm 3 is disposed with respect to the beam member 4 is referred to as one end side in the x-axis direction, and the opposite side is referred to as the other end side in the x-axis direction. In FIG. 1, the right side in the figure is one end side in the x-axis direction, and the left side in the figure is the other end side in the x-axis direction. The positional relationship in the x-axis direction is the same as in FIG. 1 and 3, the direction perpendicular to the paper surface is the y-axis direction.

  In this embodiment, as shown in FIGS. 1 and 2, the vertical guide means 2 is attached to a support member 15 disposed on the foundation 14.

  The support member 15 is configured to include, for example, a base plate 16 disposed along the base 14 and a support column 17 extending in the vertical direction and having a lower end side fixed to the base plate 16. The support column 17 is reinforced by a rib 18 that connects the portion near the lower end and the base plate 16.

  The vertical guide means 2 includes a guide rail 19 that is attached to a side surface of the column 17 on the other end side in the x-axis direction so as to extend in the vertical direction, and a guide block 20 that is slidably attached to the guide rail 19 in the vertical direction. It is set as the structure provided with. In the present embodiment, two rows of guide rails 19 arranged in parallel with a gap in the y-axis direction are attached to the column 17. Each guide rail 19 is attached with two guide blocks 20 arranged vertically so as to be movable.

  The first clamping arm 3 is a columnar member extending in the vertical direction. The first clamping arm 3 has a configuration in which a rectangular plate portion 21 having an enlarged width in the y-axis direction is integrally provided on one end side in the x-axis direction, and the four corner portions of the plate portion 21 are Attached to each guide block 20.

  Further, the first holding arm 3 is provided with a first grip portion 22 that presses against the workpiece W at a position near the lower end on the other end side in the x-axis direction. A location near the upper end on the other end side in the x-axis direction of the first clamping arm 3 is a connection location on one end side of the beam member 4.

  The beam member 4 has, for example, a rectangular cross section, extends in the x-axis direction, and one end side in the x-axis direction is connected to the first clamping arm 3. Thereby, the beam member 4 is indirectly engaged with the vertical guide means 2 through the first clamping arm 3 at one end side. Further, the beam member 4 is movable along the vertical guide means 2 together with the first clamping arm 3 and the first grip portion 22. In addition, the 1st clamping arm 3 and the beam member 4 may be manufactured as an integrated object other than the structure connected after manufacturing separately.

  As shown in FIGS. 3 and 4, the lateral guide means 5 is attached to the lower surface of the beam member 4 in a posture extending in the x-axis direction, and attached to the guide rail 23 so as to be slidable in the x-axis direction. The guide block 24 is provided. In the present embodiment, two rows of guide rails 23 arranged in parallel with a gap in the y-axis direction are attached to the beam member 4. One guide block 24 is attached to each guide rail 23.

  As shown in FIG. 4, the moving member 6 includes a pair of support columns 26 arranged with a gap 25 set in the y-axis direction, and a rectangular parallelepiped block unit attached to the lower end side of each support column 26. 27. The upper end side of each column part 26 is attached to each guide block 24. Accordingly, the moving member 6 can slide in the x-axis direction along the guide rails 23 via the guide blocks 24.

  As shown in FIGS. 3 and 4, the second clamping arm 7 is a pair of columnar members extending in the vertical direction from both side positions in the y-axis direction of the block portion 27 of the moving member 6 to a position below the moving member 6. 28. Each columnar member 28 is pivotally attached to the block portion 27 via a y-axis direction shaft 8 at a position near the upper end.

  Further, a second grip portion 29 that presses against the workpiece W is attached between the portions near the lower ends of the columnar members 28 via a shaft 30 extending in the y-axis direction so as to be swingable. The second grip portion 29 is disposed at a position substantially opposite to the first grip portion 22 provided in the first sandwiching arm 3.

  As a result, the second holding arm 7 is arranged in the x-axis direction, which is the direction in which the lower end side to which the second gripping portion 29 is attached approaches and separates from the first holding arm 3 around the shaft 8. Can swing.

  The second holding part 29 of the second holding arm 7 limits the swing range by a stopper (not shown) provided on the second holding arm 7 and capable of contacting the second holding part 29. Alternatively, by balancing the weight of the second gripping part 29 itself using a balancing weight (not shown), the first embodiment can be used even when the transport device 1 of the present embodiment does not hold the workpiece W. The gripper 22 is kept in a substantially opposite posture. That is, even when the second gripping portion 29 is not in contact with the workpiece W, the orientation of the second gripping portion 29 is not significantly deviated from the direction facing the first gripping portion 22. . Thus, as will be described later, when the workpiece W is clamped between the first clamping arm 3 and the second clamping arm 7, the second gripping portion 29 swings following the contact portion of the workpiece W. Thus, the second grip portion 29 can be set in a posture facing the first grip portion 22.

  The arm 9 is bent from the upper end side of each columnar member 28 of the second holding arm 7 to one end side in the x-axis direction, and protrudes upward from the beam member 4 through both sides of the beam member 4 in the y-axis direction. Thus, it is set as the structure provided with a pair of rod-shaped member 31 extended diagonally upward.

  A suspended portion 10 is attached between the upper ends of the rod-shaped members 31 of the arm 9.

  Accordingly, when the arm 9 is tilted upward about the shaft 8 by pulling up the suspension portion 10, the second gripping portion 29 is moved together with the lower end side of the second clamping arm 7 to the first clamping arm 3. It can be moved in the direction close to the first grip 22.

  The moving member 6 is provided with a stopper (not shown) that can come into contact with the arm 9, and the stopper restricts the upward tilting of the arm 9 from being excessive.

  On the other hand, when the hanging portion 10 is lowered and the arm 9 is tilted downward about the shaft 8, the second holding portion 29 is moved together with the mounting side of the second holding portion 29 of the second holding arm 7. The first holding arm 3 can be moved away from the first grip portion 22.

  In the present embodiment, the actuator 11 is, for example, a ball screw type linear motion mechanism disposed along the x-axis direction. The actuator 11 includes a screw shaft 32 disposed along the x-axis direction below the beam member 4, a rotary drive device 33 such as a servo motor connected to one end of the screw shaft 32, and a screw shaft 32. And an attached nut member 34. The nut member 34 is attached to the block portion 27 of the moving member 6. Reference numeral 35 denotes a mounting member for attaching the rotary drive device 33 to the lower surface side of the beam member 4, and 36 denotes a bearing for holding the free end side of the screw shaft 32.

  Thus, in the actuator 11, the moving member 6 is moved toward and away from the first holding arm 3 together with the nut member 34 as the screw shaft 32 is rotated by the rotation driving device 33. It can be moved along the x-axis direction. Therefore, in the transport device 1 according to the present embodiment, the second holding arm 7 held by the moving member 6 is moved closer to and away from the first holding arm 3 by controlling the actuator 11. Can be moved.

  In this embodiment, the position holding means 12 is, for example, a type provided with a ratchet mechanism. As shown in FIGS. 3 and 4, the position holding means 12 by this ratchet mechanism includes a toothed plate 37 serving as a contacted portion on the beam member 4 side, and a swing lever 38 having a pawl 39 serving as a holding portion. Is provided on the moving member 6 side.

  As shown in FIG. 3, the toothed plate 37 includes a tooth 37 a having a vertical surface as a locking surface of the pawl 39 on one end side in the x-axis direction and an inclined surface on the other end side in the x-axis direction. A configuration is provided in which a plurality are arranged at the same interval in the x-axis direction. As shown in FIG. 4, the toothed plate 37 is attached to a position between the guide rails 23 provided on the beam member 4 so as to extend along the x-axis direction.

  The swing lever 38 is disposed through the gap 25 between the support columns 26 in the moving member 6, and an intermediate portion in the longitudinal direction is supported by the support columns 26 via the y-axis direction shaft 40 so as to be swingable. ing.

  The rocking lever 38 has a pawl 39 having a shape that can be engaged with the teeth 37 a of the toothed plate 37 at the tip end located on the other end side in the x-axis direction.

  Between the position of the swing lever 38 closer to the tip than the shaft 40 and the block portion 27 of the moving member 6, the tip end side of the swing lever 38 faces upward, that is, in a direction approaching the toothed plate 37. An urging member 41 for urging is provided. The biasing member 41 is suitable, for example, because a configuration using a compression spring can be easily realized, but any other arbitrary force can be used as long as the tip end side of the swing lever 38 can be biased toward the toothed plate 37 side. Of course, a biasing member having a shape or a method may be adopted.

  According to the position holding means 12 having the above configuration, when the moving member 6 is moved to one end side in the x-axis direction by driving the actuator 11, the pawl 39 on the tip side of the swing lever 38 is attached to the toothed plate 37. Guided along the inclined surface of each tooth 37a, it can cross each tooth 37a. At this time, the swing lever 38 sequentially swings against the biasing force of the biasing member 41.

  On the other hand, when the moving member 6 is about to be displaced to the other end side in the x-axis direction, the pawl 39 of the swing lever 38 is moved to the tooth 37a positioned closest to the other end side in the x-axis direction on the toothed plate 37. After that, the displacement of the moving member 6 to the other end side in the x-axis direction is prevented. At this time, the displacement of the moving member 6 in a direction other than the direction along the x-axis direction is restrained by the lateral guide means 5. Further, when the moving member 6 is displaced while the actuator 11 is not driven, the screw shaft 32 is passively rotated along with the displacement of the nut member 34, so that the stress in the x-axis direction is excessively applied to the screw shaft 32. It doesn't work.

  In this state, the force acting on the moving member 6 toward the other end in the x-axis direction is transmitted to the beam member 4 via the shaft 40 of the position holding means 12, the swing lever 38 and the toothed plate 37. It can be received by the beam member 4.

  The position holding release actuator 13 has a function of pushing a portion closer to the base end than the shaft 40 of the swing lever 38 upward against the urging force of the urging member 41, that is, in the direction of the toothed plate 37. Is.

  In the present embodiment, in order to avoid interference with the screw shaft 32 of the actuator 11, the base end side of the swing lever 38 protrudes to one side in the y-axis direction from the screw shaft 32 as shown in FIG. 4. A protruding piece 42 is provided, and a position holding release actuator 13 such as a cylinder is disposed upward at a position below the protruding piece 42 and is attached to the block portion 27 via an attachment member 43. .

  Accordingly, when the position holding release actuator 13 is driven and the base end side of the swing lever 38 is pushed upward together with the protruding piece 42, the swing lever 38 swings around the shaft 40, The position of the pawl 39 is lowered. Therefore, as shown by a two-dot chain line in FIG. 3, the tip of the swing lever 38 is lowered to a position where it does not touch each tooth 37 a of the toothed plate 37, thereby engaging the toothed plate 37 with the swing lever 38. The stop can be released. Therefore, in this state, the actuator 11 is driven to move the second holding arm 7 together with the moving member 6 to the other end side in the x-axis direction.

  The gripping portions 22 and 29 of the sandwiching arms 3 and 7 may be provided with an uneven shape on the surface in contact with the workpiece W. For example, as shown in FIG. 1, when there is a step or unevenness at the part where the gripping portions 22 and 29 of the work W are in contact, the center of each gripping portion 22 or 29 is fitted to the step or unevenness of the work W. The possible recess 44 may be provided as a groove extending in the y-axis direction. According to this configuration, the workpiece W can be held in a more stable state between the gripping portions 22 and 29 of the holding arms 3 and 7.

  A cord 45 connected to a suspension means (not shown) such as a crane or a hoist is connected to the suspension portion 10. Thereby, in the conveyance apparatus 1 of this embodiment, the 1st clamping arm 3, the beam member 4, the horizontal direction guide means 5, the moving member 6, the 2nd clamping arm 7, the arm 9, the suspension part 10, the actuator 11, and The position holding release actuator 13 serves as an elevating part that moves in the vertical direction as the rope 45 is raised and lowered. Further, the vertical movement of the elevating part is performed along the vertical guide means 2.

  When the transport apparatus 1 according to the present embodiment having the above-described configuration is used, the actuator 11 is operated in advance in a state in which the position holding release actuator 13 is driven to release the position holding of the moving member 6 by the position holding means 12. When the moving member 6 is moved by driving, the distance between the first gripping portion 22 of the first clamping arm 3 and the second gripping portion 29 of the second clamping arm 7 is the x axis of the workpiece W to be transported. Adjust so that it is larger than the dimension in the direction. After the adjustment, the drive of the position holding release actuator 13 and the actuator 11 is stopped.

  In this state, the hoisting means (not shown) is operated to lower the elevating part together with the cord 45 from above the work W to be transported, and as shown in FIG. The first holding part 22 of the first holding arm 3 and the second holding part 29 of the second holding arm 7 are arranged on both sides in the direction. At this time, for example, the first sandwiching arm 3 is placed on the support base 46 on which the workpiece W is placed so that the weight of the elevating part is supported by the support base 46, whereby the cord 45 The load for hanging the elevating part from the hanging part 10 and the arm 9 can be removed. Alternatively, an interposed member (not shown) is provided below the beam member 4, and the beam member 4 is placed on the upper side of the workpiece W via the interposed member, so that the weight of the elevating unit is reduced. It may be made to support on the support stand 46 via.

  Next, the actuator 11 is driven to move the second clamping arm 7 together with the moving member 6 to one end side in the x-axis direction as shown in FIG. One gripping portion 22 and the second gripping portion 29 of the second holding arm 7 are brought into contact with the workpiece W.

  Next, the cord-like object 45 is pulled up by the hanging means. The moving member 6 is prevented from being displaced to the other end side in the x-axis direction by the position holding means 12, and in this state, the arm 9 tends to tilt upward about the shaft 8 with respect to the moving member 6. Due to the lever principle with the shaft 8 as a fulcrum, a force in a direction approaching the first clamping arm 3 acts on the lower end side of the second clamping arm 7. With this force, the workpiece W is clamped between the first gripping part 22 of the first clamping arm 3 and the second gripping part 29 of the second clamping arm 7.

  Thereafter, when the rope 45 is further pulled up by the suspending means, the lifting portion including the arm 9 is lifted in a state where the upward tilting of the arm 9 around the shaft 8 is stopped. Therefore, as shown in FIG. 1, the workpiece W sandwiched between the sandwiching arms 3 and 7 is lifted together with the lifting unit.

  When the suspended work W is lowered, the work may be performed according to a procedure reverse to the procedure for lifting the work W described above.

  Thus, according to the transfer device 1 of the present embodiment, the workpiece W can be lifted in a state of being sandwiched between the first sandwiching arm 3 and the second sandwiching arm 7. Further, since the distance between the first clamping arm 3 and the second clamping arm 7 can be changed, the workpiece W having various widths in the x-axis direction can be lifted.

  At this time, since the force for clamping the workpiece W can use the lifting load of the workpiece W, it is not necessary to generate the force for clamping the workpiece W with an actuator or the like. Therefore, the conveyance apparatus 1 of this embodiment can eliminate the need for an actuator that generates a force for clamping the workpiece W.

  Moreover, in the conveying apparatus 1 of this embodiment, since the workpiece | work W is lifted with the said raising / lowering part, and the movement of the up-down direction of the said raising / lowering part is performed along the up-down direction guide means 2, it lifts. It is possible to prevent the workpiece W from being tilted, shaken or rotated.

  Therefore, if the conveyance apparatus 1 of this embodiment is used, for example in a factory or a warehouse, when automating conveyance for workpieces W having different width dimensions in the x-axis direction, the workpiece W is inclined or shaken. And can be lifted with rotation suppressed.

  Further, the transport device 1 of the present embodiment holds the first clamping arm 3 on the non-tilting side of the pair of clamping arms 3 and 7 so that the vertical guiding means 2 is slidable in the vertical direction and tilts. The second holding arm 7 is configured to be movable with respect to the beam member 4 in the x-axis direction. For this reason, the conveying device 1 of the present embodiment has a lifting device of a type that can change the clamping width as shown in Patent Document 1, as compared with a configuration in which the lifting device is simply attached to the slider of the guide means in the vertical direction. The number of members can be reduced.

  Moreover, since the conveying apparatus 1 of this embodiment can transmit the force which acts on the other end side of the x-axis direction which acts on the moving member 6 to the beam member 4 via the position holding means 12, it moves the force. It is not necessary to receive it by the actuator 11 for moving the member 6. Therefore, since the actuator 11 can be dedicated for moving the moving member 6, the actuator 11 can be downsized.

[Second Embodiment]
FIG. 6 is a schematic side view showing a second embodiment of the transport apparatus.

  In FIG. 6, the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  The conveyance device of this embodiment is denoted by reference numeral 1A in FIG. 6, and in the same configuration as in the first embodiment, a rope connected to the suspension portion 10 is a chain 45a, and the chain 45a is lifted and lowered. The means 47 is provided on the upper end side of the column 17.

  In the present embodiment, the suspension means 47 includes a rotation drive device 48 such as a motor and a sprocket 49 attached to the output side thereof.

  One end side of the chain 45 a is connected to the hanging portion 10, and an intermediate portion is hung around the upper side of the sprocket 49. Furthermore, the other end side of the chain 45a is connected to a counterweight 50 attached to the support column 17 so as to be movable up and down.

  Thereby, in the suspension means 47, when the sprocket 49 is rotationally driven by the rotational drive device 48 in the pulling direction of the chain 45a (clockwise direction in FIG. 6), the suspension portion 10 can be pulled up via the chain 45a. On the other hand, when the sprocket 49 is rotationally driven in the pulling-down direction of the chain 45a (counterclockwise direction in FIG. 6) by the rotation driving device 48, the hanging portion 10 can be lowered via the chain 45a.

  The transport apparatus 1A of the present embodiment having the above configuration can be used in the same manner as the transport apparatus 1 of the first embodiment to obtain the same effect.

  Furthermore, since the conveying apparatus 1A of the present embodiment includes the suspending means 47 that raises and lowers the chain 45a connected to the suspending portion 10, a suspending means such as a crane or a hoist is not required separately.

  Therefore, 1 A of conveying apparatuses of this embodiment can be used independently and can lift the workpiece | work W. FIG.

[Application examples of the first embodiment and the second embodiment]
As shown in FIG. 7, if the structure further includes a linear guide 51 in the y-axis direction as a moving means between the base plate 16 and the foundation 14, the workpiece W is lifted and conveyed in the y-axis direction. Can do.

  The moving means provided on the base plate 16 and the foundation 14 may be changed in direction according to the direction in which the workpiece W is desired to be transported, and further may be configured to include a combination of biaxial moving means. Of course.

  In addition, this invention is not limited only to the said each embodiment and application example, The length, external shape, cross-sectional shape, etc. of each structural member are examples, and may be changed suitably.

  The shape of the portion of each gripping part 22, 29 that is in contact with the workpiece W may be appropriately changed according to the shape of the clamping target portion of the workpiece W to be transported or the surface state. Further, the material of the portion of each gripping part 22, 29 that contacts the workpiece W may be appropriately selected according to the material and hardness of the clamping target portion of the workpiece W to be transported.

  The number of guide rails 19 and the number of guide blocks 20 may be appropriately increased or decreased as long as the vertical guide means 2 can hold the beam member 4 and the first holding arm 3 in a state where tilting is prevented. .

  The vertical guide means 2 is not limited to being provided along the support column 17, and may be provided, for example, on a wall surface of a building or other members extending in the vertical direction. At this time, a table or the like having a linear guide in the y-axis direction may be interposed between the vertical guide means 2 and the wall surface of the building.

  In each of the above embodiments, the first holding arm 3 is slidably held by the vertical guide means 2 and one end side of the beam member 4 is connected to the first holding arm 3. One end side of the beam member 4 may be slidably engaged with and held by the vertical guide means 2 so that the beam member 4 extends in a direction intersecting the vertical guide means 2. At that time, the first clamping arm 3 may be attached to the one end side of the beam member 4.

  As long as the lateral guide means 5 can guide the moving direction of the moving member 6 in the x-axis direction, the number of guide rails 23 and the number of guide blocks 24 may be changed as appropriate.

  If the movable member 6 can move along the guide rail 23 and can hold the second holding arm 7 and the arm 9 in a swingable manner via the shaft 8, the shape and the arrangement of the shafts are not shown. It is good also as a shape and arrangement | positioning.

  The actuator 11 is shown as a ball screw type linear motion mechanism. However, if the moving member 6 supported by the lateral guide means 5 can be moved in the x-axis direction, for example, an air cylinder A cylinder type linear motion mechanism such as a rack and pinion type linear motion mechanism, or any other type of linear motion mechanism may be employed.

  As long as the position holding means 12 can be released in a state in which the position holding for preventing the movement of the moving member 6 at least toward the other end side in the x-axis direction can be released, the position holding means 12 having any configuration other than the illustrated one can be used. It may be adopted. For example, it is good also as a structure provided with the plate member provided with the hole arranged in the space | interval set to the x-axis direction, and the pin inserted in the hole of a plate member. In this case, the position holding release actuator 13 may have a function of moving the pin to a position where the pin is inserted into the hole of the plate member and a position where the pin is pulled out from the hole.

  In each embodiment, the case where the ratchet mechanism is provided as the position holding means 12 has been illustrated and described, but instead of this, for example, a brake of a type that is directly held with the guide rail 23 interposed therebetween is used as the position holding means. May be used as In this case, the brake may be configured such that the brake is attached to the moving member 6 along with the guide block 24 and the brake is engaged with the guide rail 23. The actuator for driving the brake is preferably a pneumatic type, but it is needless to say that other driving methods may be used. In this configuration, the guide rail 23 itself becomes a contacted portion, and the brake is provided on the moving member 6 and becomes a holding portion that contacts the contacted portion. According to this configuration, the position of the moving member 6 that moves along the guide rail 23 can be maintained by applying a brake. If the brake is released, the moving member 6 can move. Therefore, in this case, the actuator that drives the brake also functions as a position holding release actuator.

  As long as the position holding release actuator 13 can release the position holding of the moving member 6 by the position holding means 12, the position holding of the configuration other than the one shown in the figure corresponds to the configuration of the position holding means 12. The release actuator 13 may be employed.

  In the conveying apparatus 1A of the second embodiment, a rope-like object connected to the hanging portion 10 is used as a chain 45a, and a hanging means 47 for raising and lowering the chain 45a is rotationally driven like a motor provided on the upper end side of the column 17. The example provided with the structure provided with the apparatus 48 and the sprocket 49 attached to the output side was shown. On the other hand, the suspension means 47 may have a configuration in which a winch is provided on the upper end side of the support column 17 and a cord-like object fed out from the winch is connected to the suspension portion 10. Also with this configuration, it is possible to obtain an effect that the workpiece W can be lifted by using the transfer device 1A alone.

  In each embodiment, the second gripping portion 29 is provided on the lower end side of the second holding arm 7 attached to the moving member 6 via the shaft 8, and the second holding arm 7 is arranged in the x-axis direction from the upper end side of the second holding arm 7. The arm 9 attached so as to extend to the one end side of the head is provided with a hanging portion 10, and by applying an upward force to the hanging portion 10, the second gripping portion 29 is displaced in a direction in contact with the workpiece W to be sandwiched. In this way, the case is shown. However, the present invention is not limited to this. For example, the second holding portion 29 is provided on the upper side of the shaft 8 of the second holding arm 7 that can swing around the shaft 8, and the shaft of the second holding arm 7 is provided. The arm 9 attached to the upper side of 8 may be attached so as to extend to the other end side in the x-axis direction opposite to the one end side in the illustrated x-axis direction. Even if it does in this way, if the upward force is given to the suspension part 10, the 2nd holding part 29 above the axis | shaft 8 of the 2nd clamping arm 7 can be displaced to the direction contact | abutted to the workpiece | work W. it can.

  Of course, various modifications can be made without departing from the scope of the present invention.

2 vertical guide means (first guide), 3 first clamping arm, 4 beam member, 5 lateral guide means (second guide), 6 moving member, 7 second clamping arm (clamping arm), 8 axes, 9 arms, 10 suspension parts, 11 actuators, 12 position holding means, 13 position holding release actuators, 15 support members, 17 struts, 22 first holding parts, 29 second holding parts, 37 toothed plates (Contacted part), 39 pawl (holding part), 45 cord-like object, 45a chain (cord-like object), 47 suspension means, 51 linear guide (moving means)

Claims (4)

Vertical guide means;
A first clamping arm slidably held by the vertical guide means;
A beam member arranged in a lateral direction and having one end connected to the first clamping arm;
Lateral guide means provided laterally along the beam member;
A moving member slidably held by the lateral guide means;
A second clamping arm attached to the moving member via a shaft and swingable in a direction approaching and separating from the first clamping arm;
An arm attached to an upper end side of the second holding arm;
A suspension provided on the arm;
An actuator for moving the moving member along the lateral guide means;
Position holding means for holding the position of the moving member along the lateral guide means;
And a position holding release actuator for releasing the position holding means. The vertical direction guide means is supported by a support column extending in the vertical direction,
A cord-like object is connected to the hanging portion,
The transport apparatus according to claim 1, further comprising a suspension unit that raises and lowers the cord-like object on an upper end side of the support column. The vertical guide means is supported by a support member disposed on a foundation,
The transport apparatus according to claim 1, further comprising a moving unit between a lower end side of the support member and the foundation. Struts,
A first guide provided along the column;
A beam member engaged with the first guide and extending in a direction crossing the first guide;
A first gripper that moves along the first guide with the beam member;
A second guide provided on the beam member;
A moving member movable along the second guide;
An actuator attached to the moving member;
A position holding means attached to the moving member, comprising a holding part that comes into contact with a contacted part provided in the beam member or the second guide;
A shaft provided on the moving member;
A clamping arm that is inserted through the shaft and swingable about the shaft;
An arm attached to one side across the shaft of the clamping arm;
A suspension provided on the arm;
And a second gripping portion provided on the other side of the holding arm with the shaft interposed therebetween and capable of moving closer to and away from the support column by swinging the holding arm.

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