JP2023086269A - Conveyance object conveying device, and conveyance object conveying method - Google Patents

Abstract

To provide a conveyance object conveying device and a conveyance object conveying method which stably hold a conveyance object, and can convey it.SOLUTION: There are provided a conveyance object conveying device 1 that has a plurality of first holding parts 11, a lifting part 20 movable in a vertical direction, and a second holding part 12 fixed to a lower part of the lifting part 20, in which at least a part of the second holding part 12 is arranged so as to overlap a figure 11s formed by connecting centroids 11c of the plurality of first holding parts 11; and a conveyance object conveying method that includes a step S1 of preparing a conveyance object conveying device 1 that has three or more holding parts, in which at least a part of at least the one holding part is arranged so as to overlap a figure 11s formed by connecting centroids 11c of the plurality of other holding parts; a step S2 of allowing at least the one holding part to hold the conveyance object; and a step S3 of allowing the plurality of other holding parts to hold the conveyance object, in which the step S2 is executed prior to the step S3.SELECTED DRAWING: Figure 5

Description

The present invention relates to a conveying object conveying apparatus and a conveying object conveying method for conveying a conveying object.

In recent years, the mechanization of transportation has been promoted regardless of the shape of the object to be transported. There are various shapes of objects to be transported, and transport devices corresponding to the shapes have been developed.

For example, Patent Document 1 discloses a device that lifts thin plate-shaped works stacked in the thickness direction from the bottom to the top by an elevator mechanism, adsorbs the works one by one, and transfers them to another place. Even when workpieces with bulges are stacked on top of each other, the upper surface of the workpiece becomes horizontal when the workpiece is adsorbed by the adsorption part by swinging the workpiece push-up plate provided with the spherical journal. A work transfer apparatus is disclosed.

Japanese Utility Model Laid-Open No. 6-53512

However, in the work transfer device described in Patent Document 1, there is a problem that the object to be conveyed is not sufficiently adsorbed, and the object to be conveyed tends to become unstable due to air resistance when the object is being conveyed. was there.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a conveying object conveying apparatus and a conveying object conveying method having a function of stably holding and conveying an object to be conveyed. It is in.

One embodiment of the conveying object conveying apparatus of the present invention, which can solve the above problems, is an apparatus for conveying conveying objects, comprising a plurality of first holding units for holding the conveying objects and an upper end in the vertical direction. It has a vertically movable lifting section having a lower end, and a second holding section that is fixed to the lower part of the lifting section and holds an object to be conveyed. , at least a portion of the second holding portion is arranged so as to overlap a figure formed by connecting the centroids of the plurality of first holding portions. When the object to be conveyed is observed from the side, if bag-like objects to be conveyed are stacked such that the central portion of the object to be conveyed is thicker than the surrounding thickness in plan view, the object to be conveyed will tilt. In some cases, the upper end portion of the stacked objects to be conveyed may be tilted. In the conveying device for conveying objects according to the embodiment of the present invention, the second holding unit is fixed to the lower part of the vertically movable lifting unit, so that the second holding unit holds the conveying object at a position where the second holding unit holds the conveying object. and timing can be easily adjusted. Therefore, even if the object to be conveyed is inclined as described above, it is possible to easily hold the object to be conveyed. Further, by arranging the first holding portion and the second holding portion as described above, the weight can be easily balanced. Even if air resistance is generated when the transport object is held, the transport object can be stably transported.

It is preferable that the conveying object conveying apparatus further includes a control unit that controls the first holding unit to hold the conveying object after the second holding unit holds the conveying object.

In the transporting object transporting device, it is preferable that the second holding part is positioned below the first holding part when the lower end of the lifting part is lowered to the lowest position.

In the conveying object conveying device, the position of the lower end of the second holding portion in the vertical direction is the same as the position of the lower end of the first holding portion in the vertical direction when the lower end of the lifting portion is raised to the maximum. preferable.

It is preferable that the conveying object conveying device further includes a support portion, and the upper portion of the lifting portion and the first holding portion are fixed to the support portion.

It is preferable that the lifting section included in the conveying object conveying apparatus is an actuator.

One embodiment of the method for transporting an object to be transported according to the present invention, which can solve the above problems, is a method for transporting an object to be transported, which has three or more holding parts for holding the object to be transported, A step of preparing a conveying object conveying device in which at least a part of at least one holding portion is arranged so as to overlap with a figure formed by connecting centroids of a plurality of other holding portions when observed from a direction. and a step of holding the object to be conveyed by at least one holding portion, and a step of holding the object to be conveyed by a plurality of other holding portions, wherein the at least one holding portion holds the object to be conveyed. The gist of the step of holding is that it is executed prior to the step of holding the object to be conveyed by a plurality of other holding units. When the object to be conveyed is observed from the side, if bag-like objects to be conveyed are stacked such that the central portion of the object to be conveyed is thicker than the surrounding thickness in plan view, the object to be conveyed will tilt. In some cases, the upper end portion of the stacked objects to be conveyed may be tilted. In the method for conveying an object to be conveyed having the above configuration, the object to be conveyed is inclined as described above because the object to be conveyed is held by a plurality of other holding units after at least one holding unit holds the object to be conveyed. It is possible to make it easier to hold the object to be conveyed. In addition, by arranging the holding portion as described above, it is possible to easily balance the weight. can be transported.

The conveying object conveying apparatus prepared in the conveying object conveying method has an upper end and a lower end in a vertical direction, and further has an elevating unit capable of moving in the vertical direction, and at least one holding unit is the elevating unit. preferably fixed to the bottom of the

In the method for transporting an object to be transported, after the step of holding the object to be transported by at least one holding portion and before the step of holding the object to be transported by a plurality of other holding portions, the elevating portion rises. It is preferable to further have a step.

It is preferable that the method for transporting an object to be transported further includes, before the step of holding the object to be transported by the at least one holding unit, a step of lowering the lifting unit.

In the conveying apparatus for conveying objects of the present invention, the second holding unit is fixed to the lower part of the vertically movable lifting unit, so that the position and timing of holding the conveying object by the second holding unit can be adjusted. Therefore, even if the object to be conveyed is inclined as described above, the object to be conveyed can be easily held. Further, by arranging the first holding portion and the second holding portion as described above, the weight can be easily balanced. Even if air resistance is generated when the transport object is held, the transport object can be stably transported.

In the method for conveying an object to be conveyed according to the present invention, after at least one holding portion holds the object to be conveyed, the plurality of other holding portions hold the object to be conveyed. It is possible to make it easier to hold the object to be conveyed. In addition, by arranging the holding portion as described above, it is possible to easily balance the weight. can be transported.

FIG. 10 is a cross-sectional view showing a state in which the lower end of the lifting section is lowered most, in the conveying object conveying apparatus according to the embodiment of the present invention; FIG. 2 shows a bottom view of the conveying object conveying device according to the embodiment of the present invention shown in FIG. 1 ; FIG. 3 is a cross-sectional view showing a state in which the lower end of the lifting section is raised most, in the object conveying apparatus according to the embodiment of the present invention shown in FIG. 1 ; Fig. 10 is a side view (partial cross-sectional view) showing a state in which the lower end of the lifting section is lowered most, as a modification of the conveying object conveying apparatus according to the embodiment of the present invention; FIG. 5 is a bottom view of the transporting object transporting apparatus according to the embodiment of the present invention shown in FIG. 4; FIG. 2 shows a modification of the lower end portion of the supporting portion provided in the object conveying apparatus according to the embodiment of the present invention shown in FIG. 1. FIG. FIG. 2 shows a modification of the lifting section provided in the object conveying apparatus according to the embodiment of the present invention shown in FIG. 1. FIG.

Hereinafter, the present invention will be described in detail with reference to the drawings, but the present invention is not limited to the illustrated examples, and can be implemented with appropriate modifications within the scope that can conform to the gist of the above and later descriptions. All of them are included in the technical scope of the present invention. In each drawing, hatching, symbols, etc. may be omitted for the sake of convenience. In such cases, the specification and other drawings shall be referred to. In addition, the dimensions of various parts in the drawings may differ from the actual dimensions, since priority is given to aid understanding of the features of the present invention.

One embodiment of the conveying object conveying apparatus of the present invention is an apparatus for conveying conveying objects, which has a plurality of first holding units for holding conveying objects, an upper end and a lower end in the vertical direction, and a vertical and a second holding part fixed to the lower part of the lifting part and holding the object to be conveyed. When observed from the lower end side of the lifting part, the second The gist is that at least a portion of the holding portion is arranged so as to overlap a figure formed by connecting the centroids of the plurality of first holding portions. In the conveying device for conveying objects according to the embodiment of the present invention, the second holding unit is fixed to the lower part of the vertically movable lifting unit, so that the second holding unit holds the conveying object at a position where the second holding unit holds the conveying object. and timing can be easily adjusted, the object to be conveyed can be easily held even if the object to be conveyed is inclined as described above. Further, by arranging the first holding portion and the second holding portion as described above, the weight can be easily balanced. Even if air resistance is generated when the transport object is held, the transport object can be stably transported.

First, with reference to FIGS. 1 to 7, the overall configuration of the conveying object conveying apparatus will be described. FIG. 1 is a cross-sectional view of a conveying object conveying apparatus according to an embodiment of the present invention, showing a state in which the lower end of an elevating section is lowered most. FIG. 2 shows a bottom view of the conveying object conveying apparatus according to the embodiment of the present invention shown in FIG. FIG. 3 is a cross-sectional view showing a state in which the lower end of the lifting section is raised most, in the object conveying apparatus according to the embodiment of the present invention shown in FIG. FIG. 4 is a side view (partial cross-sectional view) showing a state in which the lower end of the lifting section is lowered most, as a modification of the conveying object conveying apparatus according to the embodiment of the present invention. The elevation section and the second holding section are shown in cross section, and the others are side surfaces. FIG. 5 shows a bottom view of the transporting object transporting device according to the embodiment of the present invention shown in FIG. FIG. 6 shows a modified example of the lower end portion of the support portion provided in the object conveying apparatus according to the embodiment of the present invention shown in FIG. FIG. 7 shows a modification of the elevating section provided in the object conveying apparatus according to the embodiment of the present invention shown in FIG. 1, 3, 4, 6, and 7, the upper side of the paper corresponds to the upper side in the vertical direction, and the lower side of the paper corresponds to the lower side in the vertical direction. In FIGS. 2 and 5, the front side of the paper surface corresponds to the downward direction in the vertical direction, and the back side of the paper surface corresponds to the upward direction in the vertical direction. In this drawing, the horizontal direction is indicated by x, and the vertical direction by y. The horizontal direction x is a direction perpendicular to the vertical direction y, but in this drawing, only the vertical direction x in the horizontal direction of the paper is indicated by an arrow. Below, the conveying object conveying device 1 may be simply referred to as the device 1 .

In this specification, the top of each member refers to the vertically upper half of each member, and the bottom of each member refers to the vertically lower half of each member.

A device 1 is a device for transporting an object to be transported. The shape of the object to be conveyed is not particularly limited. The weight of the object to be conveyed is also not particularly limited. More specific examples of the objects to be transported include home appliance packages in which home appliances such as hand dryers and microwave ovens are packed in cardboard boxes, and medical devices such as syringes and catheters in bags. A packaged medical device package and the like can be mentioned.

The device 1 has a first holding part 11 . The first holding part 11 is a part for holding an object to be conveyed, and the apparatus 1 is provided with a plurality of the first holding parts 11 .

Although the shape of the first holding portion 11 is not particularly limited, it can have various shapes such as a polygonal columnar shape, a conical shape, a truncated cone shape, a truncated polygonal pyramid shape, and a plate shape. As shown in FIGS. 1, 2, 4 and 5, it may be cylindrical.

The material forming the first holding portion 11 is not particularly limited, but examples thereof include synthetic resin such as silicon resin, natural resin, rubber, metal, magnet, and the like.

The first holding unit 11 may have any configuration as long as it can hold the object to be conveyed. For example, the first holding portion 11 may have a hole for sucking external air, and the suction force of the hole may be used to suck the object to be conveyed and hold the object to be conveyed. When the object to be conveyed is attracted by a suction force, the first holding portion 11 is preferably made of a flexible material, such as silicon resin or rubber, from the viewpoint of improving the attraction of the object to be conveyed. etc. is preferable.

A suction cup having a function of sucking an object to be conveyed by pressing it against the object can also be used as the first holding portion 11 . In this case, it is preferable that the shape of the first holding portion 11 is a cone or a truncated cone, and that a recess is formed at the lower end thereof. By pressing the lower end portion against the object to be conveyed, the air is forced out from the inside of the depression to create a near-vacuum state, and the object to be conveyed can be adsorbed using the pressure difference.

The first holding part 11 has a hole for blowing out air at its lower end, and by blowing the air onto the object to be conveyed, an air current is generated to hold the object to be conveyed in a non-contact manner. good.

Although not shown, in order to change the direction in which the lower end of the first holding part faces, the upper part or the upper end part of the first holding part may have a bellows structure. Accordingly, the direction of the lower end portion of the first holding portion can be changed according to the shape of the object to be conveyed, so that the object to be conveyed can be easily held.

The first holding part 11 may be one that attracts and holds the object to be conveyed by magnetic force, such as an electromagnet or a permanent magnet. When using an electromagnet or a permanent magnet as the first holding portion 11, as shown in FIG. It preferably has a bearing 33 that is configured to rotate. As a result, the orientation of the lower end of the first holding portion 11 can be changed according to the shape of the object to be conveyed, so that the object to be conveyed can be easily held.

The device 1 has a second holding part 12 that is fixed to the lower part of an elevating part 20, which will be described later, and holds an object to be conveyed. The second holding portion 12 is preferably fixed to the lower end portion of the elevating portion 20 , and more preferably the second holding portion 12 is fixed to the lower end 22 of the elevating portion 20 . Only one second holding part 12 may be provided in the device 1, or a plurality of the second holding parts 12 may be provided. The description of the first holding portion 11 can be referred to for the shape of the second holding portion 12 , the material forming the second holding portion 12 , and a specific configuration example of the second holding portion 12 .

When an electromagnet or a permanent magnet is used as the second holding part 12, as shown in FIG. 7, the elevating part 20 receives a load applied to the lower part or the lower end of the elevating part 20, and rotates about a predetermined axis. It is preferred to have the bearing 23 configured as follows. As a result, the direction of the lower end of the second holding part 12 can be changed according to the shape of the object to be conveyed, making it easier to hold the object to be conveyed, and air resistance is generated when the object is being conveyed. It is possible to make it easy to stably convey the object to be conveyed.

The device 1 has an upper end 21 and a lower end 22 in the vertical direction y, and has an elevating section 20 movable in the vertical direction y. As shown in FIGS. 1 and 3, it is preferable that the position of the lower end 22 of the lifting section 20 is movable in the vertical direction y.

As described above, the second holding portion 12 is fixed to the lower portion of the lifting portion 20 . Since the second holding part 12 is fixed to the lower part of the lifting part 20 that can move in the vertical direction y, it is possible to easily adjust the position and timing at which the second holding part 12 holds the object to be conveyed. Therefore, even if the object to be conveyed is inclined as described above, it is possible to easily hold the object to be conveyed.

An actuator can be used as the lifting section 20 of the device 1 . An actuator is a device that can convert input energy into various physical motions such as linear motion and oscillating motion.

The actuator can be composed of, for example, a motor and a mechanism that moves in the vertical direction y by means of the motor. Motors include DC motors, AC motors, induction motors, hydraulic motors, pneumatic motors, synchronous motors, stepping motors, and the like.

The actuator consists of a pneumatic cylinder that moves the piston in the cylinder in the vertical direction y by air pressure, a hydraulic cylinder that moves the piston in the cylinder in the vertical direction y by hydraulic pressure, and a hydraulic cylinder that moves the piston in the cylinder in the vertical direction y by water pressure. may be

Although not shown, the lifting section may include a string-like member such as a rope or a chain. For example, a motor is provided at the upper portion or the upper end portion of the string-like member, and the magnet is fixed as the second holding portion 12 to the lower portion or the lower end portion of the string-like member. The second holding part 12 can be moved in the vertical direction y by winding up the string-like member by rotating the motor.

1, 2, 4, and 5 show examples in which only one elevating unit 20 is provided and only one second holding unit 12 is fixed to one elevating unit 20, but the elevating unit and the number of second holding portions is not limited to this. Although not shown, for example, two or more second holding portions may be fixed to one lifting portion. Further, the conveying object conveying device has two or more second holding parts and the same number of lifting parts as the second holding parts, and each second holding part is fixed to each lifting part. may

Although not shown, in the case where the second holding portion adsorbs the object to be conveyed by sucking air, and the second holding portion has holes for sucking air, the air passes through. may be formed in the elevating section.

As shown in FIGS. 1, 2, 4, and 5, when the apparatus 1 is viewed from the lower end 22 side of the elevating section 20, at least a portion of the second holding section 12 includes a plurality of first holding sections. 11 is arranged so as to overlap with a figure 11s formed by connecting the centroids 11c of 11. FIG. The figure 11s is a figure formed by line segments connecting the centroids 11c of the plurality of first holding portions 11, as shown in FIGS.

1 and 2 show an example in which two first holding portions 11 and one second holding portion 12 are provided. As shown in FIG. 2, in this example, the line segment connecting the centroids 11c of the two first holding portions 11 corresponds to the figure 11s described above, and part of the second holding portion 12 overlaps the figure 11s. are arranged as follows.

4 and 5 show an example in which three first holding portions 11 and one second holding portion 12 are provided. As shown in FIG. 5, in this example, the triangle formed by connecting the centroids 11c of the three first holding portions 11 corresponds to the figure 11s described above, and at least part of the second holding portion 12 is a figure. 11s. As shown in FIG. 5, the entire second holding portion 12 may be arranged so as to overlap with the figure 11s. Although not shown, only a part of the second holding portion may be arranged so as to overlap a figure formed by connecting the centroids of the three first holding portions.

In the above examples, two and three first holding parts are shown, but the number of first holding parts is not limited to this, and can be appropriately set according to the size and weight of the object to be conveyed. can be done. When forming a figure by connecting the centroids of a plurality of first holding portions, if a plurality of patterns of figures can be formed, all the figures that can be formed are formed by the above-mentioned plurality of first holding portions. It corresponds to a figure formed by connecting the centroids of

As described above, when viewed from the lower end 22 side of the elevating section 20, at least a portion of the second holding section 12 overlaps the figure 11s formed by connecting the centroids 11c of the plurality of first holding sections 11. By arranging the You can carry things.

The apparatus 1 preferably further includes a control section that controls the first holding section 11 to hold the object to be conveyed after the second holding section 12 holds the object to be conveyed. As described above, the first holding unit 11 holds the object to be conveyed after the second holding unit 12 holds the object to be conveyed. can be easier to hold.

In the case where the first holding portion 11 and the second holding portion 12 each have a hole for sucking air, first, only the second holding portion 12 starts sucking, and the first holding portion 11 By controlling not to start suctioning, only the second holding unit 12 can hold the object to be conveyed. After that, by controlling the second holding unit 12 to continue sucking and the first holding unit 11 to start sucking, the first holding unit 11 can hold the object to be conveyed.

In the case where the first holding portion 11 and the second holding portion 12 are electromagnets, first, control is performed so that only the second holding portion 12 generates magnetic force and the first holding portion 11 does not generate magnetic force. Therefore, the object to be conveyed can be held only by the second holding section 12 . After that, the second holding part 12 continues to generate the magnetic force, and the first holding part 11 is controlled to generate the magnetic force, whereby the first holding part 11 can hold the object to be conveyed.

The position of the lower end 112 of the first holding portion 11 in the vertical direction y can be appropriately set according to the shape of the object to be conveyed. The positions of the lower ends 112 of the first holding portions 11 of the device 1 may all be the same or different.

The position of the lower end 122 of the second holding portion 12 in the vertical direction y can be appropriately set according to the shape of the object to be conveyed. The position of the lower end 112 of the first holding portion 11 and the position of the lower end 122 of the second holding portion 12 of the device 1 may be the same or different.

As shown in FIG. 1, in the apparatus 1, the second holding part 12 is preferably positioned below the first holding part 11 when the lower end 22 of the lifting part 20 is at its lowest position. In the device 1, the lower end 122 of the second holding portion 12 may be located below the lower end 112 of the first holding portion 11 when the lower end 22 of the lifting portion 20 is lowered to the lowest position. More preferably, the entire holding portion 12 is positioned below the lower end 112 of the first holding portion 11 . With the configuration as described above, it is possible to easily adjust the position and timing at which the second holding unit 12 holds the object to be conveyed. Therefore, even if the object to be conveyed is inclined as described above, it is possible to easily hold the object to be conveyed.

When the object to be conveyed is observed from the side and there is no difference in thickness between the central portion of the object to be conveyed and the peripheral portion thereof in a plan view, the apparatus 1 has the lifting section 20 as shown in FIG. It is preferable that the position of the lower end 122 of the second holding portion 12 in the vertical direction y is the same as the position of the lower end 112 of the first holding portion 11 in the vertical direction y in the state where the lower end 22 is raised most. With the configuration as described above, the object to be conveyed can be easily held, and the object to be conveyed can be stably and easily conveyed even if air resistance is generated while the object is being conveyed.

Although not shown, when the object to be conveyed is observed from the side, if the central portion of the object to be conveyed in plan view is thicker than the surrounding thickness, the lower end 22 of the elevating section 20 rises the most. In this state, the position of the lower end 122 of the second holding portion 12 in the vertical direction y may be positioned above the position of the lower end 112 of the first holding portion 11 in the vertical direction y. As a result, the object to be conveyed can be easily held, and the object to be conveyed can be stably and easily conveyed even if air resistance is generated while the object is being conveyed.

The device 1 preferably further comprises a support 30 . The support portion 30 is a portion to which a member provided in the device 1 is fixed.

Although the shape of the support portion 30 is not particularly limited, for example, as shown in FIGS. can.

Although not shown, the first holding part and the second holding part suck the object to be conveyed by sucking air, and each of the first holding part and the second holding part has a hole for sucking the air. In such a case, a flow path for passing the air may be formed in the support portion.

The material forming the support portion 30 is not particularly limited, but examples thereof include synthetic resin, natural resin, rubber, metal, magnet, and the like.

It is preferable that the upper part of the lifting part 20 is fixed to the supporting part 30, more preferably the upper end part of the lifting part 20 is fixed to the supporting part 30, and the upper end 21 of the lifting part 20 is fixed to the supporting part 30. It is more preferable that

The first holding portion 11 is preferably fixed to the support portion 30, more preferably the upper end portion of the first holding portion 11 is fixed to the support portion 30, and the upper end 111 of the first holding portion 11 is supported. More preferably, it is fixed to the portion 30 . Note that the second holding portion 12 is not fixed to the support portion 30 .

Although not shown, the upper part or the upper end of the supporting part is preferably connected to a transport robot for transporting the object to be transported.

So far, the conveying object conveying apparatus according to the embodiment of the present invention has been described. Next, a method for conveying an object to be conveyed according to the present invention will be described with reference to FIGS. 1 to 7. FIG.

One embodiment of the method for transporting an object to be transported of the present invention is a method for transporting an object to be transported, and has three or more holding units 10 that hold the object to be transported, and is observed from the vertical direction y. A step S1 of preparing the conveying object conveying device 1 in which at least a part of at least one holding portion overlaps a figure 11s formed by connecting the centroids 11c of a plurality of other holding portions. and step S2 in which at least one holding unit holds the object to be conveyed, and step S3 in which a plurality of other holding units hold the object to be conveyed, and at least one holding unit holds the object to be conveyed. The gist of step S2 of holding is that it is executed prior to step S3 of holding the conveying object by a plurality of other holding units.

In step S1, for example, an apparatus 1 as shown in FIGS. 1, 2, 4, and 5 is prepared. In the case of the device 1 shown in FIGS. 1, 2, 4 and 5, the second holding part 12 corresponds to at least one holding part 10 and the first holding part 11 corresponds to the other holding parts. Equivalent to 10.

At step S2, at least one holding unit 10 holds the object to be conveyed. In the case of the device 1 shown in FIGS. 1, 2, 4 and 5, the second holding part 12 holds the object to be conveyed.

In step S3, a plurality of holding units 10 other than the holding unit 10 holding the object to be conveyed in step 2 hold the object to be conveyed. In the case of the device 1 shown in FIGS. 1, 2, 4 and 5, the first holding part 11 holds the object to be conveyed.

In the conveying object conveying method including steps S1 to S3, after at least one holding unit 10 holds the conveying object, the plurality of other holding units 10 hold the conveying object. Even if there is such an inclination, the object to be conveyed can be easily held. In addition, by arranging the holding portion 10 as described above, it is possible to easily balance the weight of the object to be conveyed. You can carry things.

The conveying object conveying apparatus 1 prepared in the conveying object conveying method has an upper end 21 and a lower end 22 in the vertical direction y, and further has an elevating section 20 movable in the vertical direction y. The holding part 10 is preferably fixed to the lower part of the elevating part 20, more preferably fixed to the lower end part of the elevating part 20, and further preferably fixed to the lower end 21 of the elevating part 20. . 1, 2, 4, and 5, the second holding portion 12 corresponds to at least one holding portion 10 fixed to the lower portion of the lifting portion 20. As shown in FIG. By fixing at least one holding unit 10 to the lower part of the lifting unit 20 that can move in the vertical direction y, it is possible to easily adjust the position and timing at which the at least one holding unit 10 holds the object to be conveyed. can. Therefore, even if the object to be conveyed is inclined as described above, it is possible to easily hold the object to be conveyed.

In the method for conveying an object to be conveyed, after step S2 in which at least one holding unit 10 holds the object to be conveyed and before step S3 in which a plurality of other holding units 10 hold the object to be conveyed, the lifting and lowering is performed. Preferably, it further comprises step S4 in which the part 20 is raised.

When the object to be conveyed is observed from the side, if the central portion of the object to be conveyed in a plan view is thicker than the surrounding thickness, in step S4, the lifting unit is lifted so that at least one holding unit It is preferable that the lower end of each is located above the lower ends of the other plurality of holding portions. By locating the lower end of at least one holding portion above the lower ends of the plurality of other holding portions, it is possible to make it easier for the lower end of the first holding portion to abut along the outer diameter of the object to be conveyed. Therefore, it is possible to easily hold the object to be conveyed.

When the object to be conveyed is observed from the side, if there is no difference in thickness between the central portion of the object to be conveyed and the surrounding portion in plan view, in step S4, as shown in FIG. It is preferable that the lower end of at least one holding portion 10 is positioned at the same position as the lower ends of the plurality of other holding portions 10 by the rise of . For example, as shown in FIG. 1, the second holding portion 12 corresponding to at least one holding portion 10 holds the object to be conveyed in a state in which the lower end 22 of the lifting portion 20 is lowered most, and then the lifting portion As the carriage 20 rises, the lower ends 111 of the first holding portions 11 corresponding to the plurality of other holding portions 10 easily come into contact with the object to be conveyed. This makes it easier for the plurality of other holding units 10 to hold the object to be conveyed.

In the method for conveying an object to be conveyed, after step S1 of preparing the conveying object conveying device 1 and before step S2 of holding the object by at least one holding unit 10, the lifting unit 20 descends. It is preferable to further have step S5.

When the object to be conveyed is observed from the side, if the central portion of the object to be conveyed in plan view is thicker than its surroundings, in step S5, as shown in FIGS. As a result, the lower end 122 of the second holding portion 12 corresponding to at least one holding portion 10 can be positioned below the lower ends 112 of the first holding portions 11 corresponding to the plurality of other holding portions 10. preferable. By locating the lower end of at least one holding portion 10 below the lower ends of the plurality of other holding portions 10, only at least one holding portion 10 can easily hold the object to be conveyed. For this reason, it is possible to easily hold the object to be conveyed that is inclined as described above.

Even if there is no difference in thickness between the central portion of the object to be conveyed and the surrounding portion thereof in plan view when the object to be conveyed is observed from the side, at least An object to be conveyed can be easily held by only one holding portion 10 .

1: Conveying object conveying device 10: Holding part 11: First holding part 11c: Centroid 11s: Figure 111 formed by connecting centroids: Upper end 112 of first holding part: Lower end 12 of first holding part: Second holding part 121: Upper end 122 of second holding part: Lower end 20 of second holding part: Lifting part 21: Upper end of lifting part 22: Lower end of lifting part 23: Bearing 30: Support part 33: Bearing

Claims (10)

A device for transporting an object to be transported,
a plurality of first holding units that hold the objects to be conveyed;
an elevating unit having an upper end and a lower end in the vertical direction and capable of moving in the vertical direction;
a second holding part that is fixed to the lower part of the lifting part and holds the object to be conveyed,
An object conveying device, wherein at least a portion of the second holding portion overlaps a figure formed by connecting centroids of a plurality of the first holding portions when viewed from the lower end side. . 2. The conveying object transport according to claim 1, further comprising a control unit for controlling the first holding unit to hold the conveying object after the second holding unit holds the conveying object. Device. 3. The object conveying apparatus according to claim 1, wherein the second holding portion is positioned below the first holding portion when the lower end of the lifting portion is at its lowest position. 4. A position of the lower end of the second holding portion in the vertical direction and a position of the lower end of the first holding portion in the vertical direction are the same in a state in which the lower end of the elevating portion is raised to the maximum. The conveying object conveying device according to any one of 1. Furthermore, it has a support part,
5. The conveying device for conveying objects according to claim 1, wherein the upper portion of the lifting section and the first holding section are fixed to the support section. 6. The conveying object conveying apparatus according to claim 1, wherein the lifting section is an actuator. A method for conveying an object to be conveyed,
It has three or more holding parts for holding the conveyed object, and at least a part of at least one holding part is formed by connecting centroids of a plurality of other holding parts when observed from a vertical direction. a step of preparing a conveying object conveying device arranged so as to overlap with the figure to be conveyed;
the at least one holding unit holding the object to be conveyed;
a step of holding the conveying object by the other plurality of holding units,
The conveying object conveying method, wherein the step of holding the conveying object by the at least one holding unit is performed prior to the step of holding the conveying object by the plurality of other holding units. The conveying object conveying device has an upper end and a lower end in the vertical direction, and further has an elevating unit capable of moving in the vertical direction,
8. The method for conveying an object to be conveyed according to claim 7, wherein said at least one holding portion is fixed to a lower portion of said lifting portion. After the step of holding the object to be conveyed by the at least one holding portion and before the step of holding the object to be conveyed by the plurality of other holding portions, the step of raising the lifting portion is further performed. The method for conveying an object to be conveyed according to claim 8. 10. The method for conveying an object to be conveyed according to claim 8, further comprising the step of lowering the lifting unit before the step of holding the object by the at least one holding unit.

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