JP7033304B2 - Handling equipment and transport equipment - Google Patents

Description

The present invention relates to a handling device for handling an object and a transport device provided with the handling device.

Conventionally, various handling devices have been used for hand rigging (processing) such as gripping and processing when transporting an object (for example, a work material).

For example, Patent Document 1 discloses an article gripping device that can be used for accommodating various articles in various containers such as bags and boxes, delivering them to other devices, and moving them. Hereinafter, in the paragraph, the reference numerals of Patent Document 1 are shown in parentheses. The article gripping device is configured such that the article gripping device grips an article with a pair of gripping pieces (1a, 1b). The article gripping device includes a pair of substrates (2a, 2b), an interval adjusting mechanism (3) for adjusting the interval between the two substrates, and a drive source (M) for driving the interval adjusting mechanism (3). Of the pair of gripping pieces (1a, 1b), one gripping piece (1a) is provided on one substrate (2a), and the other gripping piece (1b) is provided on the other substrate (2b). When the interval adjusting mechanism (3) is driven by, both or one of the pair of substrates (2a, 2b) moves toward the other substrate or away from the other substrate, and is provided on both substrates. The spacing between the grip pieces (1a, 1b) is adjusted. The space adjustment mechanism (3) is a screw shaft (22) erected between two downward pieces (19a, 19b) of the fixed body (19) and a screw shaft (22) screwed to the screw shaft (22). A nut (23) that moves in the axial direction of (22), a screw shaft side pulley (24) attached to the screw shaft (22), and a transmission belt (25) that is circulated around the screw shaft side pulley (24). I have. When the drive motor (M) is operated, the rotational force of the drive motor (M) is changed to the motor side pulley (27) -transmission belt (25) -screw shaft side pulley (24) -screw shaft (22) -nut (23). ), The movable body (18) in which the nut (23) is embedded moves toward the fixed body (19) or away from the fixed body (19), and is attached to the movable body (18). The flat plate type grip piece (1b) on the side of the substrate (2b) moves toward the other grip piece (1a) or away from the other grip piece (1a), and both grip pieces (1a, 1b). The interval is adjusted.

Japanese Unexamined Patent Publication No. 2017-30834

However, the handling device of Patent Document 1 has a mechanism for moving a pair of gripping pieces along the screw shaft by rotating the screw shaft. In the mechanism, in addition to the transmission belt that transmits the driving force, it is essential to arrange the screw shaft in the direction orthogonal to the transmission belt. Therefore, the problem is that the structure becomes complicated and it is difficult to design the device compactly. Further, due to the structural complexity peculiar to the device, it is conceivable that the operation efficiency is relatively lowered by converting the rotation of the screw shaft by the driving force of the motor into the movement in the screw shaft direction. Therefore, the present invention has been made with the object of making the handling device a simpler mechanism.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a handling device having a simpler configuration and a transport device provided with the handling device.

The handling device of one embodiment of the present invention comprises a pair of movable bodies for handling an object by being close to and / or separated from each other.
It has a first surface extending along the longitudinal direction and a second surface opposite to the first surface, and includes an endless belt that is rotationally driven in both directions.
The pair of movable bodies includes a first movable body connected to the first surface of the endless belt and a second movable body connected to the second surface of the endless belt.
When the endless belt is rotationally driven in one direction by a predetermined rotation amount, the first movable body and the second movable body move close to each other along the longitudinal direction, and the endless belt moves in a predetermined rotation amount in the other direction. When rotationally driven, the first movable body and the second movable body are separated from each other in the longitudinal direction.

According to the handling device of one embodiment of the present invention, the first movable body is connected to the first surface of the endless belt, and the second movable body is connected to the second surface opposite to the first surface of the endless belt. Therefore, as the endless belt rotates, the first movable body and the second movable body move in opposite directions in the longitudinal direction. That is, the present invention utilizes the movement of the first surface and the second surface of the endless belt in the opposite direction in the longitudinal direction to move the first movable body and the second movable body facing each other in the longitudinal direction in the opposite direction in the longitudinal direction. By driving to, the first movable body and the second movable body are accurately moved to a predetermined position, and the object is effectively handled (processed) according to the proximity or separation movement of the handling portion of each movable body. It makes it possible. Therefore, the present invention provides a handling device having a simpler structure than the conventional one.

According to a handling device of a further aspect of the present invention, in the handling device, a first rail which is arranged to face the first surface of the endless belt and extends along the longitudinal direction from the base end to the tip, and
A second rail, which is arranged to face the second surface of the endless belt and extends along the longitudinal direction from the base end to the tip, and
The first main body portion arranged between the first rail and the endless belt, the first traveling portion capable of traveling on the first rail, and the first on the outer surface of the endless belt facing the first rail. A first traveling body including a first connecting portion for connecting the main body portion, and a first traveling body.
The second main body portion arranged between the second rail and the endless belt, the second traveling portion capable of traveling on the second rail, and the second on the outer surface of the endless belt facing the second rail. Further equipped with a second traveling body including a second connecting portion for connecting the main body portion,
The first movable body may be supported by the first traveling body, and the second movable body may be supported by the second traveling body.

In the handling device, an endless belt is arranged between the first rail and the second rail arranged so as to be separated from each other, and the first traveling body is connected to the first surface of the endless belt facing the first rail. The second traveling body is connected to the second surface of the endless belt facing the second rail. Then, according to the rotation of the endless belt, the first traveling body and the second traveling body travel in the opposite directions in the longitudinal direction along the first rail and the second rail, respectively, and as a result, the first movable body and the second movable body. Moves in the opposite direction of the longitudinal direction. That is, the first and second rails guide the linear movement of the first and second traveling bodies along the longitudinal direction, so that the first and second movable bodies can be driven more precisely. As a result, it has become possible to handle (process) the object more accurately.

According to the handling device of a further aspect of the present invention, in the handling device, the first movable body and the second movable body are attached to the first traveling body and the second traveling body, respectively, via a shaft extending in the longitudinal direction. By being connected, the object may be handled at a position separated in the longitudinal direction from the tips of the first and second rails. That is, it is possible to perform handling by using the space located on the tip side of the first and second rails.

According to the handling device of a further aspect of the present invention, in the handling device, the first rail and the second rail are formed with openings extending in the longitudinal direction, respectively, and the first movable body and the first movable body are formed. The two movable bodies may be characterized in that they are connected to the first traveling body and the second traveling body, respectively, through the respective openings. That is, since the first and second movable bodies are connected to the first and second traveling bodies through the openings formed in the first and second rails, the first and second rails (longitudinal direction). It is possible to perform handling by using the surrounding space on the side (which is orthogonal to).

According to the handling device of a further aspect of the present invention, in the handling device, the first connecting portion and the second connecting portion are in pressure contact with the outer surface of the endless belt, whereby the first traveling body and the second traveling portion are contacted with each other. The body may be characterized in that each is connected to the endless belt. That is, in this embodiment, the first connecting portion and the second connecting portion can be connected to the outer surface of the endless belt with a simple structure.

According to a handling device of a further aspect of the present invention, in the handling device, the first and second rails are provided with a traveling surface on which a plurality of irregularities continuous in the longitudinal direction are formed, and the first and second traveling are provided. The portion may be characterized in that it is composed of a wheel in which a plurality of irregularities continuous in the circumferential direction are formed so as to mesh with the plurality of irregularities on the traveling surface. Due to the meshing of the unevenness on the traveling surface and the traveling portion, the traveling body can be moved so as not to be displaced in the longitudinal direction, and the traveling body can be moved at a more precise distance.

According to a handling device of a further aspect of the present invention, in the handling device, in the initial form, the first movable body and the second movable body are separated from each other by a distance at which an object can be placed between them, and the endless body is described. By controlling the amount of rotation of the belt, the moving distances of the first movable body and the second movable body may be determined according to the size of the object. By controlling the amount of rotation of the endless belt according to the object to be handled and the handling application thereof, the pair of movable bodies can be reliably driven by a desired amount of movement.

According to the handling device of a further aspect of the present invention, in the handling device, the first movable body and the second movable body each include a pair of gripping pieces facing each other in the longitudinal direction so as to be able to grip the object. When the endless belt is rotationally driven in one direction, the first movable body and the second movable body move close to each other along the longitudinal direction, and the pair of gripping pieces can grip the object, and the endless belt can be gripped. When the first movable body and the second movable body are rotationally driven in the other direction, the first movable body and the second movable body can be separated and moved along the longitudinal direction to release the object gripped between the pair of gripping pieces. May be a feature. That is, the handling device of this form makes it possible to grip an object with a simple mechanism.

According to a handling device of a further aspect of the present invention, in the handling device, when a cutting blade is provided on at least one of the first movable body and the second movable body and the endless belt is rotationally driven in one direction, the endless belt is rotationally driven. The first movable body and the second movable body move close to each other along the longitudinal direction, and the first movable body and the second movable body can cut an object, and the endless belt is moved in the other direction. When the first movable body and the second movable body are rotationally driven, the first movable body and the second movable body may be separated from each other in the longitudinal direction and returned to the initial position. That is, the handling device of this form makes it possible to cut an object with a simple mechanism.

According to a handling device of a further aspect of the present invention, the handling device may be further provided with a transport body for traveling on a transport rail laid along a predetermined transport path. That is, the handling device of this form can move the handling device to a desired transport position along the transport rail.

A transport device according to an embodiment of the present invention includes a transport rail laid along a predetermined transport path, and one or a plurality of handling devices according to claim 10, which are supported so as to be able to travel on the transport rail. It may be characterized by that. That is, according to the present invention, the handling device can be transported along the transport rail, and the action and effect of the handling device can be exhibited as the transport device.

According to a further embodiment of the transfer device of the present invention, in the transfer device, the transfer rail is arranged in the air, and the one or a plurality of handling devices are suspended and supported by the transfer rail. May be good.

The handling device of the present invention efficiently moves a pair of movable bodies by the rotation of an endless belt, and makes it possible to handle an object with a simpler mechanism than before.

The schematic perspective view of the transfer apparatus of one Embodiment of this invention. The schematic perspective view of the handling apparatus (the outer wall of a housing part is omitted) of one Embodiment of this invention. (A) front view and (b) rear view of the handling device of FIG. (A) plan view and (b) bottom view of the handling device of FIG. 2 is a side view of the handling device of FIG. 2 (the outer wall of the housing portion is omitted). FIG. 5 is a partially enlarged view of the handling device of FIG. (A) perspective view, (b) side view, (c) front view and (d) plan view of the traveling body of the handling device of FIG. FIG. 2 is a schematic perspective view of a mode in which an object is released in the handling device of FIG. 2 (the outer wall of the housing portion is omitted). FIG. 8 is a side view of the handling device of FIG. FIG. 2 is a perspective view of a carrier of the handling device of FIG. (A) side view, (b) plan view and (c) bottom view of the carrier of FIG. 11 (a) AA cross-sectional view and (b) BB cross-sectional view of the carrier of FIG. The schematic perspective view which shows a part of the transport rail of the transport device of FIG. 13 (a) plan view and (b) front view of the transport rail of FIG. FIG. 14 is a sectional view taken along the line CC of the transport rail of FIG. In the transfer device of FIG. 1, (a) a state in which the handling device is movably pressed against the conveyor portion of the transfer rail, and (b) a state in which the handling device is not inaccessibly pressed against the conveyor portion of the transfer rail. Schematic cross-sectional view showing. The schematic perspective view of the handling apparatus (the outer wall of a housing part is omitted) of another embodiment of this invention. FIG. 18 is a schematic perspective view of a mode in which an object is released in the handling device (the outer wall of the housing portion is omitted). The schematic perspective view of the handling apparatus (the outer wall of a housing part is omitted) of another embodiment of this invention. FIG. 19 is a schematic perspective view of the handling device (the outer wall of the housing portion is omitted) in the form of returning to the initial position.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. It should be noted that the shape of each figure referred to in the following description is a conceptual diagram or a schematic diagram for explaining a suitable shape, and the dimensional ratio and the like do not always match the actual dimensional ratio. That is, the present invention is not limited to the dimensional ratio in the drawings. Further, the vertical and horizontal directions may be interpreted interchangeably with each other.

The transport device 10 of the present embodiment is configured to transport the work material W, which is an object, to a predetermined position together with the handling device 11 according to a predetermined transport path. FIG. 1 is an overall perspective view of the transport device 10 of the present embodiment. As shown in FIG. 1, the transport device 10 has one or a plurality of handling devices 11 for handling the work material W (with the proximity and / or separation operation of the pair of movable bodies 112, 113) and one or more. A plurality of handling devices 11 are supported so as to be travelable, and a transport rail 13 laid along a predetermined transport path is provided. In the present embodiment, the transfer rail 13 is arranged in the air, and one or more handling devices 11 are suspended and supported by the transfer rail 13. Then, in the transfer device 10 of the present embodiment, in order to perform a plurality of processes on the work material W, from one process implementation place for performing the first step to another process implementation place for performing the second step. It is used for transporting the work material W along the transport path. However, the transporting device and the handling device of the present invention are not limited to the above-mentioned applications, and can be applied to any application within the technical scope thereof. Hereinafter, the handling device 11 and the transfer rail 13, which are the components of the transfer device 10, will be described in detail.

First, the basic configuration of the handling device 11 of the present embodiment will be described. FIG. 2 is a perspective view of the handling device 11 (the housing portion 111 is shown by a virtual line). FIG. 3 is a front view and a rear view of the handling device 11. FIG. 4 is a plan view and a bottom view of the handling device 11. FIG. 5 is a side view of the handling device 11 (the housing portion 111 is shown by a virtual line). FIG. 6 is a partially enlarged view of FIG. Note that FIGS. 1 to 6 show a handling device 11 in which the work material W is gripped.

The handling device 11 includes a housing portion 111 extending in a rectangular shape with the vertical direction as the longitudinal direction, a pair of opposed movable bodies 112 and 113 for handling the work material W, and the pair of movable bodies 112 and 113. An endless belt 114 extending in the longitudinal direction for vertically moving the belt, a first rail 115 extending in the longitudinal direction facing one side of the endless belt 114, and a longitudinal belt facing the other side of the endless belt 114. A second rail 116 extending along the line, a first traveling body 117 driven by the unauthorized belt 114 to travel on the first rail 115, and a second traveling body 118 driven by the unauthorized belt 114 to travel on the second rail 116. , A drive motor 119 for rotationally driving the endless belt 114, a transport body 120 for traveling on the transport rail 13, and a control unit for driving and controlling the handling device 11 (or the entire transport device 10) (shown in the figure). It is equipped with. In the present embodiment, the work material W is represented as a plate by way of example, but it goes without saying that it can actually take any shape.

The housing portion 111 has two side plates facing each other, and contains an endless belt 114, a first rail 115, a second rail 116, a first traveling body 117, and a second traveling body 118. Further, the housing portion 111 supports a pair of movable bodies 112, 113, a drive motor 119, and a transport body 120 to the outside thereof.

An endless belt 114 extending in the longitudinal (vertical) direction is arranged substantially in the center in the width direction in the side view of the housing portion 111. As shown in FIG. 5, the endless belt 114 includes a plurality of pulleys 114a axially supported on the side plate of the housing portion 111, and an endless conveyor belt 114b attached over the plurality of pulleys 114a. The endless belt 114 has a first surface extending along the longitudinal direction on the outer surface of the conveyor belt 114b, and a second surface opposite to the first surface. Then, by connecting one of the pulleys 114a to the output shaft of the drive motor 119, the endless belt 114 can be rotationally driven in both directions. The rotation direction and the amount of rotation of the endless belt 114 (or the drive motor 119) are manually or automatically controlled by the control unit. In the present embodiment, the handling device 11 is electronically controlled via a control unit according to an instruction input from a user or a predetermined program.

Further, the first rail 115 and the second rail 116 are arranged at substantially equal intervals at both ends in the width direction in the side view of the housing portion 111 with the endless belt 114 interposed therebetween. As shown in FIG. 5, the first rail 115 and the second rail 116 extend from the base end (upper end) to the tip end (lower end) along the longitudinal direction in parallel with the endless belt 114. The first rail 115 is arranged to face the first surface of the endless belt 114, and the second rail 116 is arranged to face the second surface of the endless belt 114. In other words, the first rail 115 and the second rail 116 face each other with the endless belt 114 in between. Each of the rails 115 and 116 is composed of a pair of elongated rail bodies having a rectangular cross-sectional view supported on both side plates of the housing portion 111. Traveling surfaces 115a and 116a for traveling the traveling bodies 117 and 118 are formed on the surfaces of the pair of rail bodies facing the endless belts 114. Further, openings 115b and 116b opened in the front surface or the back surface extending in the longitudinal direction are formed between the pair of rail bodies. As shown in FIG. 6, it is preferable that a plurality of teeth (unevenness) continuous in the longitudinal direction are formed on the traveling surfaces 115a and 116a. The plurality of teeth of the traveling surfaces 115a and 116a are configured to mesh with grooves (unevenness) formed on the outer periphery of the traveling portions (wheels) 117b and 118b of the traveling bodies 117 and 118 described later. That is, by driving the traveling surfaces 115a, 116a and the traveling portions 117b, 118b by meshing such as a rack and pinion, the traveling bodies 117, 118 are maintained so as not to shift in the vertical direction (longitudinal direction). It is possible to move the traveling bodies 117 and 118 at a more precise distance. In addition, more simply, the traveling surface and the traveling portion may be flat surfaces that can be slidably contacted with each other. Further, at both ends of the first rail 115 and the second rail 116 in the longitudinal direction, the traveling bodies 117 and 118 are locked to the housing portion 111 or the rails 115 and 116 themselves, and the traveling bodies 117 and 118 are locked from both ends of the rails 115 and 116. A regulatory unit (not shown) may be formed to regulate the removal of the rail. The regulating portion may be an abutting body that abuts on the traveling bodies 117 and 118.

Then, at each predetermined position in the longitudinal direction, the first traveling body 117 is arranged between the endless belt 114 and the first rail 115, and the second traveling body 118 is arranged between the endless belt 114 and the second rail 116. ing. The first traveling body 117 includes a first main body portion 117a arranged between the first rail 115 and the endless belt 114, a first traveling portion 117b capable of traveling on the first rail 115, and a first surface of the endless belt 114. Is provided with a first connecting portion 117c for connecting the first main body portion 117a. Further, the second traveling body 118 includes a second main body portion 118a arranged between the second rail 116 and the endless belt 114, a second traveling portion 118b capable of traveling on the second rail 116, and a second endless belt 114. A second connecting portion 118c for connecting the second main body portion 118a is provided on two surfaces. That is, the first traveling body 117 moves along the longitudinal direction on the first rail 115 with the rotation of the endless belt 114, while the second traveling body 118 moves with the rotation of the endless belt 114. It moves along the longitudinal direction on the rail 116. Further, in the present embodiment, since a part of the main body portions 117a and 117b of the traveling bodies 117 and 118 is arranged so as to be sandwiched between the openings 115b and 116b of the rails 115 and 116, the traveling bodies 117 and 118 Straight running is stably guided. Then, when the first surface moves to one side (for example, upward) in the longitudinal direction during the rotational drive of the unauthorized belt 114, the second surface moves to the other side (for example, downward) in the longitudinal direction. 2 The traveling bodies 118 move in different directions from each other. In other words, according to the rotational drive of the endless belt 114, the first traveling body 117 and the second traveling body 118 travel in a direction close to or separated from each other. The traveling bodies 117 and 118 can generally travel over the entire longitudinal direction of the rails 115 and 116 or the endless belt 114, but the fixed positions with respect to the endless belt 114 are the first and second movable bodies 112. , 113 are determined by the position (height) relationship with the handling portions 112a and 113a, respectively.

The first traveling body 117 and the second traveling body 118 have a common structure as shown in FIG. 7. The main body portions 117a and 118a are rectangular housings, and elastic members 117d and 118d are housed therein. The traveling portions 117b and 118b are composed of four wheels, and each wheel is configured to be able to travel on the traveling surfaces 115a and 116a of the rails 115 and 116. Further, on the outer peripheral surface of each wheel, a plurality of grooves (unevenness) continuous in the circumferential direction are formed so as to mesh with the plurality of teeth of the traveling surfaces 115a and 116a. Each of the connecting portions 117c and 118c includes a shaft portion extending from the main body portions 117a and 118a and a pressure contact plate extending in the longitudinal direction at the tip of the shaft portion. The pressure contact plates of the connecting portions 117c and 118c are urged toward the tip end side of the shaft portion by the elastic members 117d and 118d. In particular, in a state where the first traveling body 117 and the second traveling body 118 are arranged at predetermined positions in the housing portion 111, the elastic members 117d and 118d are elastically compressed and deformed, so that the connecting portions 117c and 118c are pressure-welded. The plate is in pressure contact with the outer surface of the conveyor belt 114b. Due to the frictional force associated with this pressure contact, the connecting portions 117c and 118c connect the main body portions 117a and 118a to the endless belt 114. Then, the pressure welding can be released by operating the handles 117e and 118e to push down the pressure welding plates of the connecting portions 117c and 118c toward the main body portions 117a and 118a.

The first movable body 112 is connected and supported by the first traveling body 117, and the second movable body 113 is connected and supported by the second traveling body 118. In other words, the first movable body 112 and the second movable body 113 are (indirectly) connected to the first surface and the second surface of the endless belt 114 via the first traveling body 117 and the second traveling body 118, respectively. ing. That is, when the control unit rotationally drives the endless belt 114 in one direction or the other direction, the first movable body 112 and the second movable body 113 move in the longitudinal direction due to the relative movement of the first and second traveling bodies 117 and 118. Moves relatively close or far along.

The first movable body 112 includes a lower grip piece (handling portion) 112a for gripping the work material W, and a long first shaft 112b that connects the first traveling body 117 and the lower grip piece 112a. On the other hand, the second movable body 113 connects the upper grip piece (handling portion) 113a for gripping the work material W in cooperation with the lower grip piece 112b, and the second traveling body 118 and the upper grip piece 113a. A long second shaft 113b is provided. The first shaft 112b and the second shaft 113b are integrally connected to the connecting portions 117c and 118c of the traveling bodies 117 and 118, respectively, and extend vertically downward from the housing portion 111 along the longitudinal direction. The first shaft 112b and the second shaft 113b may abut on the outer surface of the endless belt 114 in the same manner as the connecting portions 117c and 118c. Then, the lower grip piece 112a and the upper grip piece 113a are arranged outside the housing portion 111 (the space on the tip side of the first and second rails 115 and 116) by the first shaft 112b and the second shaft 113b. Is supported by. That is, the first movable body 112 and the second movable body 113 are connected to the first traveling body 117 and the second traveling body 118, respectively, via the shafts 112b and 113b extending in the longitudinal direction, whereby the first and second movable bodies 112 are connected to each other. The work material W can be handled at a position separated in the longitudinal direction from the tips of the rails 115 and 116.

Both the lower grip piece 112a and the upper grip piece 113a have a U-shape in a plan view. The lower grip piece 112a supports the work material W from below, the upper grip piece 113a holds the work material W from above, and both grip pieces 112a and 113a sandwich or grip the work material W. ing. Further, the sensor may be provided on one or both of the lower grip piece 112a and the upper grip piece 113a. That is, the sensor may detect that the lower grip piece 112a and the upper grip piece 113a grip the work material W, and control the endless belt 114 to stop the rotation. As the sensor, a pressure-sensitive sensor, an optical sensor, or the like can be arbitrarily selected.

8 and 9 show a handling device 11 in a state where the work material W is released. At the initial position, the first movable body 112 (grasping piece 112a) and the second movable body 113 (113a) are separated from each other by a distance at which an object can be arranged. From the gripping mode of FIG. 5, the endless belt 114 rotates clockwise by a predetermined rotation amount in the side view of FIGS. 5 and 9, and the first movable body 112 moves downward together with the first traveling body 117, and the second When the second movable body 113 moves upward together with the traveling body 118, the lower grip piece 112a and the upper grip piece 113a are separated from each other to release the work material W. On the other hand, in order to shift from the open form of FIG. 9 to the gripping form of FIG. 5, the endless belt 114 rotates counterclockwise at a predetermined rotation amount in the side view of FIGS. 5 and 9, together with the first traveling body 117. The first movable body 112 moves upward, and the second movable body 113 moves downward together with the second traveling body 118, so that the lower grip piece 112a and the upper grip piece 113a grip the work material W in close proximity to each other. Can be done. Then, the moving distances of the first movable body 112 and the second movable body 113 are determined according to the size of the work material W and the like, and the rotation amount of the endless belt 114 is controlled. The moving distance may be determined by inputting the size of the work material W to the control unit, or by detecting the size of the work material W by a sensor (during handling or pre-transportation). You may.

The transport body 120 is configured to support the housing portion 111 and each component described above and travel on the transport rail 13 (see FIG. 13). The carrier 120 of the handling device 11 will be described with reference to FIGS. 10 to 12. FIG. 10 is a perspective view of the carrier 120. 11 (a) to 11 (c) are a side view, a plan view, and a bottom view of the carrier 120. FIG. 12 is a vertical cross-sectional view taken along the line AA and a cross-sectional view taken along the line BB of the carrier 120 in a pressure-welded form.

As shown in FIGS. 10 to 12, the transport body 120 includes a block-shaped transport body main body 121, a support portion 122 fixed to the lower surface of the transport body main body 121 to support the housing portion 111, and a transport body main body. A traveling portion 123 for the 121 to travel on the rail portion 131 of the transport rail 13, a pressure welding body 125 supported by the transport body main body 121 and configured to be pressure-contacted with the conveyor portion 135 of the transport rail 13, and the pressure-welded body 125. The release operation unit 126 for releasing the pressure contact to the conveyor unit 135 is provided.

As shown in FIG. 12, the transport body main body 121 is formed by stacking and connecting a plurality of rectangular blocks. The transport body main body 121 has a long side in the longitudinal direction (transport direction) of the transport rail 13 in a plan view. The transport body main body 121 is provided with a plurality of (two in this embodiment) through holes 121a that penetrate the transport body main body 121 in the height direction. Each through hole 121a is configured to have a predetermined diameter larger than the diameter of the shaft portion 125a so that the shaft portion 125a of the pressure contact body 125 can move in the axial direction. Further, a support portion 122 is fixed to the upper surface of the transport body main body 121. The support portion 122 includes a support shaft 122a and a support block 122b formed at the tip thereof. Then, both side plates of the housing portion 111 are fixed to both side surfaces of the support block 112b with screws, so that the support portion 122 supports the housing portion 111 and the like. The traveling unit 123 is composed of a plurality of wheels rotatably supported on the side portion of the transport body main body 121.

The pressure-welded body 125 of the transport body 120 is supported by the transport body main body 121, press-contacts with the conveyor portion 135 of the transport rail 13, and functions to connect the transport body main body 121 to the conveyor portion 135. As shown in FIG. 12, the pressure contact body 125 has a plurality of (two in this embodiment) shaft portions 125a extending in the height direction of the transport body main body 121, and a plate shape fixed to the upper end of each shaft portion 125a. The pressure welding plate (pressure welding portion) 125b of the above is provided. Each shaft portion 125a is inserted (freely inserted) into each through hole 121a of the transport body main body 121 so as to be vertically movable. A coil spring-shaped elastic body 124 is extrapolated to each shaft portion 125a. The lower end of the elastic body 124 is in contact with the small diameter portion of the through hole 121a of the carrier body 121, and the upper end of the elastic body 124 is in contact with the lower surface of the pressure contact plate 125b. The elastic body 124 is arranged in a compressed state between the transport body main body 121 and the pressure contact body 125b, and urges the transport body main body 121 and the pressure contact body 125b in a direction to separate them from each other. That is, the pressure contact body 124 is urged against the conveyor portion 135 by the elastic return force of the elastic body 124. Further, the pressure contact plate 125b extends in the longitudinal direction (along the conveyor rail 13), and its upper surface is configured to be in pressure contact with the conveyor portion 135. The release operation unit 126 of the transport body 120 functions to release the pressure contact of the pressure contact body 125 with the conveyor unit 135. That is, the release operation unit 126 functions to displace the pressure contact body 125 in the height direction of the carrier body 121. The release operation unit 126 is connected to the lower end of the shaft portion 125a of the pressure contact body 125, and is configured to allow the user to pull the pressure contact body 125 downward via the handle 126a. The handle 126a is rotatable in the longitudinal direction of the transport rail 13 and is in contact with the lower surface of the transport body main body 121 via the bearing at the upper end. That is, the handle 126a can be smoothly tilted with respect to the carrier body 121.

Next, the transfer rail 13 of the transfer device 10 will be described with reference to FIGS. 13 to 15. FIG. 13 is a perspective view of the transport rail 13. 14 (a) and 14 (b) are a plan view and a front view of the transport rail 13. FIG. 15 is a vertical sectional view taken along the line CC of the transport rail 13.

As shown in FIGS. 13 to 15, the transport rail 13 is erected upward from the bottom wall portion 132 extending longitudinally along the transport direction and both end edges of the bottom wall portion 132 in the width (short) direction. It includes a pair of side wall portions 133 and an opening 134 opened between the pair of side wall portions 133. A rail portion 131 projecting inward is formed at the open end of each side wall portion 133. The distance between the pair of rail portions 131 extending in the longitudinal direction (transport direction) is larger than the width of the transport body main body 121 and corresponds to the position of the wheels of the traveling portion 123. Then, the transport rail 13 is suspended and held in the air by a plurality of hanging rods 137.

On the other hand, a conveyor portion 135 is provided on the opposite side of the opening 134 of the transport rail 13. The conveyor portion 135 is attached to the rail portion 131, and drives the transport body 120 so as to travel on the rail portion 131. The conveyor portion 135 includes a plurality of pulleys 135a rotatably supported between the wall portions 133 on both sides, and a conveyor belt 135b suspended on the plurality of pulleys 135a. The conveyor unit 135 is rotationally driven by the conveyor motor 136 via the drive shaft 135c. The rotation direction and rotation amount of the conveyor unit 135 may be manually or automatically controlled by the control unit.

FIG. 16A is a cross-sectional view of the transport device 10 in a state where the handling device 11 is transported and driven to the conveyor unit 135 via the transport body 120. As shown in FIG. 16A, the pressure contact body 125 of the transport body 120 is urged toward the conveyor portion 135 by the elastic body 124, so that the upper surface of the pressure contact plate 125b is in pressure contact with the lower surface of the conveyor belt 135b. Due to this pressure welding, a strong frictional force is generated between the upper surface of the pressure welding plate 125b and the lower surface of the conveyor belt 135b, and the transport body 120 is integrally connected to the conveyor portion 135 of the conveyor belt 13 without shifting in the transport direction. There is. In the connected state by this pressure welding, the conveyor belt 135b rotates in the forward direction, so that the handling device 11 moves along the transport path together with the conveyor belt 135b. At this time, the traveling portion 123 abuts on the upper surface of the rail portion 131 and rotates, so that the transport body 120 smoothly travels along the transport rail 13. In this form, the transport body 120 can transport the handling device 11 together with the work material W from, for example, one process implementation location to another process implementation location. Then, when the operator pulls the handle 126a downward, as shown in FIG. 16B, the engagement between the pressure contact body 125 and the conveyor portion 135 is released, and the transport body 120 and the conveyor portion 135 are interlocked with each other. Is disconnected.

FIG. 16B shows a transfer device in a state in which the connection (pressure contact) between the pressure contact body 125 of the transfer body 120 and the conveyor unit 135 is released so that the transfer body 120 can be stopped regardless of the rotation of the conveyor unit 135. 10 is a cross-sectional view of 10. As shown in FIG. 16B, as a result of the handle portion 126c of the release operation portion 126 being pulled down against the urging force of the elastic body 124, the pressure contact plate 125b and the conveyor belt 135b are separated from each other. In this state, only the traveling portion 123 of the transport body 120 is in contact with the transport rail 13. That is, the transport body 120 can be stopped at a predetermined position of the rail portion 131 regardless of the conveyor portion 135. Alternatively, the conveyor 120 can be manually slid back and forth along the rail 131 without stopping the conveyor 135. For example, the operator can stop the handling device 11 at an arbitrary process implementation location by operating the release operation unit 126 with respect to the handling device 11 flowing by the conveyor unit 135. When the operator releases the handle 126c from the state of FIG. 16B, the pressure contact body 125 is reattached to the conveyor portion 135 by the elastic return force of the elastic body 124 as shown in FIG. 16A. Engage and the carrier 120 starts along the carrier path.

Hereinafter, the operation and effect of the handling device 11 (and the transport device 10) according to the embodiment of the present invention will be described.

According to the handling device 11 (and the transport device 10) of the present embodiment, the first movable body 112 is connected to the first surface of the endless belt 114, and the second movable body 113 is connected to the second surface of the endless belt 114. Therefore, as the endless belt 114 rotates, the first movable body 112 and the second movable body 113 move in the opposite directions in the longitudinal direction. That is, the handling device 11 of the present embodiment utilizes the movement of the first surface and the second surface of the endless belt 114 in the opposite directions in the longitudinal direction to the first movable body 112 and the second movable body 112 having handling portions facing each other. By driving the movable body 113 in the opposite direction in the longitudinal direction, the object is effectively handled. Further, in the handling device 11, the endless belt 114 is arranged between the first rail 115 and the second rail 116 arranged so as to be separated from each other, and is placed on the first surface of the endless belt 114 facing the first rail 115. The first traveling body 117 is connected, and the second traveling body 118 is connected to the second surface of the endless belt 114 facing the second rail 116. Then, according to the rotation of the endless belt 114, the first traveling body 117 and the second traveling body 118 travel along the first rail 114 and the second rail 115 in opposite directions in the longitudinal direction, and as a result, the first movable body The 112 and the second movable body 113 move in the opposite directions in the longitudinal direction. That is, the first and second rails 115 and 116 guide the linear movement of the first and second traveling bodies 117 and 118 along the longitudinal direction, thereby making the first and second movable bodies 112 and 113 more precise. It is possible to drive in the proximity direction and the separation direction with a large amount of movement. Therefore, the handling device 11 of the present embodiment has a simpler structure than the conventional one, and enables accurate handling (processing) of an object.

The present invention is not limited to the above embodiments, and various embodiments and modifications can be taken within the technical scope of the present invention. In each embodiment and modification, the components having the last two digits in common among the components shown by the three digits have the same or similar characteristics unless otherwise specified, and the description thereof is partially omitted. do.

(1) The above embodiment is configured such that the handling portions (112a, 113a) of the first and second movable bodies 112, 113 extend from the bottom surface of the housing portion 111, but the present invention is not limited thereto. .. The handling device 21 of FIGS. 17 and 18 is configured such that the first movable body 212 and the second movable body 213 extend toward the front side of the housing portion 211. The handling device 11 of the above embodiment and the handling device 21 of the present embodiment are common except for the configurations of the movable bodies 112 and 113. However, for convenience of explanation, the description of the drive motor is omitted. That is, in the handling device 21 of the present embodiment, the first rail 215 and the second rail 216 are formed with openings 215b and 216b extending in the longitudinal direction, respectively, and the first movable body 212 and the second movable body 213 are formed. Are connected to the first traveling body 217 and the second traveling body 218, respectively, via shafts arranged through the openings 215b and 216b. Specifically, the first movable body 212 is connected to the first traveling body 217 and extends from the opening 215b of the first rail 215 to the back surface side of the housing portion 211, and a first shaft (not shown). A frame body 212c connected to the first shaft and surrounding the outer periphery of the housing 211, an upper gripping piece 212a extending from the outer surface of the frame body 212c to the front surface of the housing portion 211, and a work material W were gripped. It is provided with a sensor 212d for detecting. On the other hand, the second movable body 213 is connected to the second traveling body 218 and extends from the opening 216b of the second rail 216 to the front side of the housing portion 211, and the second shaft (not shown). It is provided with a lower grip piece 213a which is connected to the shaft and extends to the front of the housing portion 211. The shaft may be omitted, and the first movable body 212 and the second movable body 213 may be directly connected to the main body portions 217a and 218a of the traveling bodies 217 and 218. As shown in FIGS. 17 and 18, similarly to the handling device 11 of the above embodiment, the work material W can be handled by the control unit controlling the operation of the handling device 21.

(2) In the above embodiment, it has been described that the handling device grips and releases the object, but the "handling" of the present invention is a concept including various steps of processing the object, and is a concept of the above embodiment. It is not limited to "grasping". For example, the handling device 31 of FIGS. 19 and 20 is configured to cut an object. The handling device 11 of the above embodiment and the handling device 31 of the present embodiment are common except for the configuration of the handling portion of the movable bodies 112 and 113. That is, the cutting pedestal 312a is provided at the tip of the first shaft 312b of the first movable body 312, and the cutting blade 313a is provided at the tip of the second shaft 313b of the second movable body 313. Then, when the control unit rotationally drives the endless belt 314 in one direction, the first movable body 312 and the second movable body 313 move close to each other along the longitudinal direction, and the cutting pedestal 312a and the cutting blade 313a move the object in close proximity. It can be sandwiched and cut (the form shown in FIG. 19). On the other hand, when the control unit rotationally drives the endless belt 314 in the other direction, the cutting pedestal 312a and the cutting blade 313a move apart along the longitudinal direction and return to the initial position (form of FIG. 20).

(3) In the present invention, the handling device may be configured to carry out various steps such as crimping treatment, heat treatment, engraving treatment, and sticking treatment. Further, the handling device of the present invention can also be applied to applications such as irradiating a laser close to an accurate distance. Further, the handling device of the present invention may be configured to simultaneously process the upper surface and the lower surface of the object by the first and second movable bodies. Further, the first and second movable bodies may be configured to perform a handling process such as dividing the object into two when they are separated from each other. In either case, it is possible to cope with various uses by appropriately changing the handling portions of the first and second movable bodies.

(4) In the handling device of the present invention, the first and second rails and the first and second traveling bodies may be omitted. In this case, the first and second movable bodies are directly coupled to the first and second surfaces of the endless belt.

(5) In the handling device of the present invention, the carrier may be omitted. That is, the handling device can be used as a robot arm fixedly placed at a predetermined position or device.

(6) In the handling device of the present invention, instead of controlling the rotation of the endless belt by a drive motor, the endless belt is manually (manually) rotationally driven by providing a handle or the like for rotational drive on the endless belt. The rotation direction and the rotation amount may be controlled manually.

(7) The transport device of the present invention may be configured to transport only the handling device along a predetermined transport path without transporting the object (work material). That is, in the transfer device, the handling device performs processing (handling) with the first work material arranged at one process implementation site in order to perform a predetermined process on a plurality of work materials, and then the second step. A plurality of workpieces may be continuously handled so as to perform the same treatment on the second workpiece that has been transported to the implementation site and arranged at the implementation site of the second process.

The present invention is not limited to the above-described embodiments and modifications, and can be carried out in various embodiments as long as it belongs to the technical scope of the present invention.

10 Transport device 11 Handling device 111 Housing unit 112 First movable body 112a Lower grip piece (handling part)
112b 1st shaft 113 2nd movable body 113a Upper gripping piece (handling part)
113b 2nd shaft 114 Endless belt 114a Pulley 114b Conveyor belt 115 1st rail 115a Running surface 115b Opening 116 2nd rail 116a Running surface 116b Opening 117 1st running body 117a 1st main body 117b 1st running part 117c 1st Connecting part 117d Elastic member 118 2nd running body 118a 2nd main body 118b 2nd running part 118c 2nd connecting part 118d Elastic member 119 Drive motor 120 Conveyor body 121 Conveyor body 121a Through hole 122 Support part 122a Connecting shaft 122b Connecting block 123 Traveling part 124 Elastic body 125 Pressure contact body 125a Shaft part 125b Pressure contact plate 126 Release operation part 126a Handle 13 Conveyor rail 131 Rail part 132 Bottom wall part 133 Side wall part 134 Opening part 135 Conveyor part 135a Pulley 135b Conveyor belt 135c Drive shaft 136 Conveyor Motor 137 Suspension rod W Work material (object)

Claims (12)

A pair of movable bodies for handling objects by being close to or separated from each other,
An endless belt having a first surface extending along the longitudinal direction and a second surface opposite to the first surface and being rotationally driven in both directions.
A first rail arranged to face the first surface of the endless belt and extending along the longitudinal direction from the base end to the tip,
A second rail, which is arranged to face the second surface of the endless belt and extends along the longitudinal direction from the base end to the tip, and
On the first main body portion arranged between the first rail and the endless belt, the first traveling portion capable of traveling on the first rail, and the first surface of the endless belt facing the first rail. A first traveling body including a first connecting portion for connecting the first main body portion, and a first traveling body.
On the second main body portion arranged between the second rail and the endless belt, the second traveling portion capable of traveling on the second rail, and the second surface of the endless belt facing the second rail. A second traveling body including a second connecting portion for connecting the second main body portion, and a second traveling body .
The pair of movable bodies includes a first movable body connected to the first surface of the endless belt and a second movable body connected to the second surface of the endless belt.
When the endless belt is rotationally driven in one direction by a predetermined rotation amount, the first movable body and the second movable body move close to each other along the longitudinal direction, and the endless belt moves in a predetermined rotation amount in the other direction. When rotationally driven, the first movable body and the second movable body move apart along the longitudinal direction, and the first movable body and the second movable body move apart along the longitudinal direction .
A handling device characterized in that the first movable body is supported by the first traveling body and the second movable body is supported by the second traveling body . The first movable body and the second movable body are lengthened from the tips of the first and second rails by being connected to the first traveling body and the second traveling body, respectively, via a shaft extending in the longitudinal direction. The handling device according to claim 1 , wherein the object can be handled at positions separated from each other in the direction. An opening extending in the longitudinal direction is formed in each of the first rail and the second rail, and the first movable body and the second movable body are the first traveling body through the respective openings. The handling device according to claim 1 , wherein each of the second traveling body is connected to the second traveling body. The claim is characterized in that the first traveling body and the second traveling body are respectively connected to the endless belt by pressure-contacting the first connecting portion and the second connecting portion with the outer surface of the endless belt. The handling device according to any one of 1 to 3 . The first and second rails include a traveling surface on which a plurality of irregularities continuous in the longitudinal direction are formed, and the first and second traveling portions are circumferentially oriented so as to mesh with the plurality of irregularities on the traveling surface. The handling device according to any one of claims 1 to 4 , wherein the wheel comprises a wheel on which a plurality of continuous irregularities are formed. At the initial position, the first movable body and the second movable body are separated from each other by a distance capable of arranging the object between them, and by controlling the rotation amount of the endless belt, the size of the object can be increased. The handling device according to any one of claims 1 to 5 , wherein the moving distances of the first movable body and the second movable body are determined accordingly. The first movable body and the second movable body each include a pair of gripping pieces facing each other in the longitudinal direction so as to be able to grip the object, and when the endless belt is rotationally driven in one direction, the first movable body and the first movable body The second movable body can move close to each other along the longitudinal direction to grip the object with the pair of gripping pieces, and when the endless belt is rotationally driven in the other direction, the first movable body and the first movable body can be gripped. 2. The object according to any one of claims 1 to 6 , wherein the movable body can move apart along the longitudinal direction to release the object gripped between the pair of gripping pieces. Handling device. When a cutting blade is provided on at least one of the first movable body and the second movable body and the endless belt is rotationally driven in one direction, the first movable body and the second movable body are rotated along the longitudinal direction. The first movable body and the second movable body can cut the object by moving in close proximity to each other, and when the endless belt is rotationally driven in the other direction, the first movable body and the second movable body become compatible with each other. The handling device according to any one of claims 1 to 6 , wherein the handling device moves apart along the longitudinal direction and returns to the initial position. A pair of movable bodies for handling objects by being close to or separated from each other,
A first surface extending along the longitudinal direction and an endless belt having a second surface opposite to the first surface and being rotationally driven in both directions.
The pair of movable bodies includes a first movable body connected to the first surface of the endless belt and a second movable body connected to the second surface of the endless belt.
When the endless belt is rotationally driven in one direction by a predetermined rotation amount, the first movable body and the second movable body move close to each other along the longitudinal direction, and the endless belt moves in a predetermined rotation amount in the other direction. When rotationally driven, the first movable body and the second movable body move apart along the longitudinal direction, and the first movable body and the second movable body move apart along the longitudinal direction.
When a cutting blade is provided on at least one of the first movable body and the second movable body and the endless belt is rotationally driven in one direction, the first movable body and the second movable body are rotated along the longitudinal direction. The first movable body and the second movable body can cut the object by moving in close proximity to each other, and when the endless belt is rotationally driven in the other direction, the first movable body and the second movable body become compatible with each other. A handling device characterized by moving apart along the longitudinal direction and returning to the initial position. The handling device according to any one of claims 1 to 9, further comprising a transport body for traveling on a transport rail laid along a predetermined transport path. A transport rail laid along a predetermined transport path,
The transport device according to claim 10, further comprising one or a plurality of handling devices that are supported so as to be able to travel on the transport rail. 11. The transport device according to claim 11, wherein the transport rail is disposed in the air, and the one or a plurality of handling devices are suspended and supported by the transport rail.

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