JP2013022723A - Conveying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a conveying device capable of surely inserting an arm into a hole with various directions.SOLUTION: The conveying device 1 includes a device body 2, and arms 3 and 4 extending from the device body 2. The arms 3 and 4 include first links 3a and 4a extending from the device body 2, second links 3b and 4b connected rotatably to tip ends of the first links 3a and 4a, a first drive source 5 for rotating the first links 3a and 4a, and a second drive source 6 for rotating the second links 3b and 4b relative to the first links 3a and 4a. The first links 3a and 4a are connected rotatably to the device body 2. The second links 3b and 4b have engagement tips which can be inserted into holes 16a and 16b formed at a conveyed object 16 and can be engaged with at least two points on inner wall surfaces of the holes 16a and 16b. The arms 3 and 4 cause the second links 3b and 4b to be inserted into the holes 16a and 16b, and cause the first links 3a and 4a and the second links 3b and 4b to be rotated, for gripping the conveyed object 16.

Description

  The present invention relates to a transport apparatus that grips and transports a transport object.

  A conveying device described in Patent Document 1 includes a pair of support shafts provided in the apparatus main body, a pair of shaft support portions in which long holes are formed to receive the support shafts so as to be rotatable and slidable, and one end of each shaft support portion. A pair of arms extending from the portion and a drive source for bringing the other end portions of the pair of shaft support portions close to and away from each other. Each arm is inserted into each hole formed in the object to be transported, and the shaft support portion is moved close to and away from the drive source to rotate around the support shaft. As a result, each arm rotates about each support shaft and hits the inner wall surface of each hole at two points. Thus, the conveyance object is gripped by the pair of arms.

JP 2010-142915 A

  However, the direction of the hole varies depending on the type of the conveyance object or the installation state of the conveyance object, but does not have a structure corresponding to the direction of the hole. For this reason, there has been a need for a transport device that can insert an arm reliably into holes in various directions.

  In order to solve the above-mentioned problems, the present invention is characterized in that it is a transport apparatus having a configuration as described in each claim. According to one aspect, the present invention includes a device body and an arm extending from the device body. The arm includes a first link extending from the apparatus main body, a second link rotatably connected to a distal end portion of the first link, a first drive source for rotating the first link, and a second link A second drive source that rotates relative to the link. The first link is connected to the apparatus main body so as to be rotatable about the base end. The second link can be inserted into a hole formed in the conveyance object, and has a locking tip that can be locked at at least two points with respect to the inner wall surface of the hole. The arm grips the object to be conveyed by inserting the second link into the hole and rotating the first link and / or the second link.

  Therefore, the position of the base end of the second link can be determined by rotating the first link with respect to the apparatus main body, and the position of the tip of the second link can be determined by rotating the second link with respect to the first link. Can be determined. Therefore, the position and inclination of the second link can be matched with the position and inclination of the hole, and the second link can be reliably inserted into the hole. The second link can be brought into contact with the inner wall surface of the hole at two points by inclining the second link with respect to the hole by the first drive source or the second drive source with the second link inserted into the hole. As a result, the second link can grip the object to be conveyed.

  According to the present invention, the arm can be reliably inserted into the holes in various directions.

It is a schematic front view of a conveying apparatus. It is a schematic front view of a conveying apparatus when the front-end | tip part of one arm is inserted in the hole of a conveyance target object. It is a schematic front view of the conveyance apparatus when the front-end | tip part of each arm is inserted in each hole of a conveyance target object. It is a schematic front view of the conveying apparatus when the conveyance object is gripped by an arm. It is a schematic front view of the conveying apparatus when the conveyance object is gripped by an arm. It is a schematic front view of the conveying apparatus when the conveyance object is gripped by an arm. It is a schematic front view of the conveying apparatus at the time of putting a conveyance target object in an installation thing. It is a schematic front view of the conveying apparatus at the time of aligning a conveyance target object with an installation thing. It is a front view of the front-end | tip part of the arm in another form. FIG. 10 is a front view of the distal end portion of the arm when the distal end portion of the arm of FIG. 9 is brought into contact with the inner wall surface of the hole. It is sectional drawing of the front-end | tip part of the arm of FIG. It is a front view of the front-end | tip part of the arm in another form. It is a schematic front view of the conveying apparatus in another form. It is a schematic front view of the conveying apparatus in another form. It is a front view of the front-end | tip part of the arm in another form. It is a front view of the front-end | tip part of the arm in another form.

  One embodiment of the present invention will be described with reference to FIGS. As shown in FIG. 1, the transport device 1 has a device main body 2 and a pair of arms 3 and 4. The apparatus main body 2 is attached to the moving mechanism 11 and moved and moved up and down. The moving mechanism 11 has a traveling body having wheels and a lift provided on the traveling body, and the lift moves the apparatus main body 2 up and down.

  The apparatus body 2 is provided with a control device 9 and a sensor 10 as shown in FIG. The sensor 10 recognizes the conveyance object 16 and the like, and transmits the recognized information to the control device 9 as a signal. The control device 9 drives the arm 3 and the arm 4 based on a signal from the sensor 10 and grips the conveyance object 16 by the arm 3 and the arm 4.

  As shown in FIG. 1, the arm 3 has a rod-shaped first link 3a and a rod-shaped second link 3b. The base end portion of the first link 3a is rotatably connected to the apparatus main body 2 by a connecting portion 3c. The first link 3 a extends downward from the apparatus main body 2. The second link 3b is rotatably connected to the distal end portion of the first link 3a by a connecting portion 3d. The second link 3b extends downward from the first link 3a.

  As shown in FIG. 1, the first link 3 a is rotatably connected to the apparatus main body 2 with the connecting portion 3 c as a first axis. The second link 3b is rotatably connected to the apparatus main body 2 using the connecting portion 3d as a second axis. The first axis and the second axis are parallel, and the first link 3a and the second link 3b move on the same plane (on the paper surface of FIG. 1).

  The apparatus main body 2 or the first link 3a is provided with a first drive source 5 that rotates the first link 3a relative to the apparatus main body 2 as shown in FIG. The first link 3a or the second link 3b is provided with a second drive source 6 that rotates the second link 3b relative to the first link 3a. The first drive source 5 and the second drive source 6 have ultrasonic motors. The ultrasonic motor has a driving body that is driven using ultrasonic vibration. An ultrasonic motor is a kind of motor and is relatively smaller than other motors.

  The first drive source 5 and the second drive source 6 are electrically connected to the control device 9 as shown in FIG. The first drive source 5 and the second drive source 6 are controlled by the control device 9 to rotate the first link 3a and the second link 3b.

  The arm 4 is formed similarly to the arm 3 as shown in FIG. The arm 4 includes a first link 4 a, a second link 4 b, a connecting portion 4 c, a connecting portion 4 d, a first drive source 7, and a second drive source 8, similar to the arm 3. The arm 4 is connected to the apparatus main body 2 and is juxtaposed with the arm 3.

  As shown in FIG. 1, the conveyance object 16 has a plate shape or the like, and a hole 16 a and a hole 16 b are formed in the conveyance object 16. The holes 16a and 16b penetrate in the thickness direction. The diameters of the holes 16a and 16b are slightly larger than the diameters of the tips of the second link 3b and the second link 4b.

  As shown in FIGS. 1 and 2, when the transport object 16 is transported by the transport device 1, first, the apparatus main body 2 is moved above the transport object 16 by the moving mechanism 11. Based on the information signal from the sensor 10, the control device 9 recognizes the position of one hole 16 a of the conveyance object 16. The control device 9 controls the first drive source 5 to rotate the first link 3a, controls the second drive source 6 to rotate the second link 3b, and inserts the tip of the second link 3b into the hole 16a. To do.

  Next, as shown in FIGS. 2 and 3, the control device 9 recognizes the position of the other hole 16 b of the conveyance object 16 based on the information signal from the sensor 10. The control device 9 controls the first drive source 7 to rotate the first link 4a, controls the second drive source 8 to rotate the second link 4b, and inserts the tip of the second link 4b into the hole 16b. To do.

  Next, as shown in FIGS. 3 and 4, the control device 9 controls the first drive source 5 and the second drive source 6 to incline the tip of the second link 3b with respect to the hole 16a. The base end portion of the second link 3b is located outside, and the tip end portion of the second link 3b is located inside. The locking tip portion (tip portion inserted into the hole 16a) of the second link 3b contacts the inner wall surface of the hole 16a at the first point 3e and the second point 3f. The first point 3e contacts the lower right part of the inner wall surface of the hole 16a in FIG. 4, and the second point 3f contacts the upper left part (corner) of the inner wall surface of the hole 16a in FIG.

  As shown in FIGS. 3 and 4, the control device 9 controls the first drive source 7 and the second drive source 8 to incline the locking tip end portion of the second link 4b with respect to the hole 16b. The base end portion of the second link 4b is located outside, and the tip end portion of the second link 4b is located inside. The tip of the second link 4b contacts the inner wall surface of the hole 16b at the first point 4e and the second point 4f. The first point 4e is in contact with the lower left part of FIG. 4 on the inner wall surface of the hole 16b, and the second point 4f is in contact with the upper right part (corner part) of FIG. 4 of the inner wall surface of the hole 16b. As a result, the arm 3 and the arm 4 cooperate to hold the conveyance object 16.

  As shown in FIG. 5, when the control device 9 recognizes that the obstacle 17 is present near the arm 4 based on the information signal from the sensor 10, the control device 9 moves the arm 4 in the state shown in FIG. Instead, control is performed so that the state shown in FIG. That is, the control device 9 controls the first drive source 7 and the second drive source 8 to incline the locking tip of the second link 4b with respect to the hole 16b. The base end portion of the second link 4b is located inside, and the tip end portion of the second link 4b is located outside. The locking tip of the second link 4b contacts the inner wall surface of the hole 16b at the third point 4g and the fourth point 4h. The third point 4g is in contact with the lower right part of FIG. 4 of the inner wall surface of the hole 16b, and the fourth point 4h is in contact with the upper left part (corner part) of FIG. 4 of the inner wall surface of the hole 16b. As a result, the arm 3 and the arm 4 cooperate to hold the conveyance object 16.

  As shown in FIG. 6, when the control device 9 recognizes that an obstacle 18 exists near the arm 3 based on the information signal from the sensor 10, the control device 9 moves the arm 3 in the state of FIG. Control is performed so that the state shown in FIG. That is, the control device 9 controls the first drive source 5 and the second drive source 6 to incline the locking tip of the second link 3b with respect to the hole 16a. The proximal end portion of the second link 3b is located on the inner side, and the distal end portion of the second link 3b is located on the outer side. The locking tip of the second link 3b contacts the inner wall surface of the hole 16b at the third point 3g and the fourth point 3h. The third point 3g contacts the lower left part of FIG. 4 of the inner wall surface of the hole 16b, and the fourth point 3h contacts the upper right part (corner part) of FIG. 4 of the inner wall surface of the hole 16b. As a result, the arm 3 and the arm 4 cooperate to hold the conveyance object 16.

  As shown in FIGS. 4 and 7, the transfer object 16 is lifted from the floor 15 by gripping the transfer object 16 by the arms 3 and 4 and raising the apparatus main body 2 by the moving mechanism 11. The apparatus main body 2 is moved by the moving mechanism 11, the conveyance object 16 is moved onto the installation object 19 together with the apparatus main body 2, and the conveyance object 16 is installed on the installation object 19.

  As shown in FIGS. 7 and 8, the installation object 19 is formed with holes 19 a and 19 b at positions corresponding to the holes 16 a and 16 b of the conveyance target 16. When aligning the conveyance object 16 with respect to the installation object 19, the operator operates a switch provided in the conveyance device 1, and the control device 9 receives a signal from the switch.

  As shown in FIGS. 7 and 8, the control device 9 controls the first drive source 5 and the second drive source 6 to move the locking tip of the second link 3b downward. The locking tip portion of the second link 3b passes through the hole 16a of the conveyance object 16, and is inserted into the hole 19a of the installation object 19. Thereby, the hole 16a and the hole 19a are lined up and down by the second link 3b. The control device 9 controls the first drive source 7 and the second drive source 8 to move the locking tip of the second link 4b downward. The locking tip end of the second link 4 b passes through the hole 16 b of the conveyance object 16 and is inserted into the hole 19 b of the installation object 19. Thereby, the hole 16b and the hole 19b are lined up and down by the second link 4b.

  As described above, the transport apparatus 1 includes the apparatus main body 2 and the arms 3 and 4 extending from the apparatus main body 2 as shown in FIG. The arm 3 and the arm 4 include a first link 3a and a first link 4a extending from the apparatus main body 2, and a second link 3b and a second link 3b that are rotatably connected to the first link 3a and the tip of the first link 4a. Second link 4b, first link 3a, first drive source 5 for rotating first link 4a, second link 3b, second link 4b for rotating second link 4b relative to first link 3a, first link 4a And a drive source 6. The first link 3a and the first link 4a are connected to the apparatus main body 2 so as to be rotatable around the base end. The second link 3b and the second link 4b can be inserted into the holes 16a and 16b formed in the conveyance object 16, and can be locked to at least two points with respect to the inner wall surfaces of the holes 16a and 16b. It has a locking tip. The arms 3 and 4 insert the second link 3b and the second link 4b into the holes 16a and 16b, and rotate the first link 3a and the first link 4a and / or the second link 3b and the second link 4b. Thus, the conveyance object 16 is gripped.

  Therefore, by rotating the first link 3a and the first link 4a with respect to the apparatus main body 2, the base ends of the second link 3b and the second link 4b can be determined, and the second link 3b and the second link 4b are By rotating with respect to the one link 3a and the first link 4a, it is possible to determine the positions of the locking tip portions (tip portions inserted into the holes 16a and 16b) of the second link 3b and the second link 4b. Therefore, the position and inclination of the second link 3b and the second link 4b can be adjusted to the position and inclination of the hole 16a and the hole 16b, and the second link 3b and the second link 4b are securely inserted into the hole 16a and the hole 16b. obtain. With the second link 3b and the second link 4b inserted into the holes 16a and 16b, the second link 3b and the second drive source 8 are driven by the first drive source 5, the first drive source 7 or the second drive source 6 and the second drive source 8, respectively. By tilting the two links 4b with respect to the holes 16a and 16b, the second link 3b and the second link 4b can be brought into contact with the inner wall surfaces of the holes 16a and 16b at two points. Thereby, the 2nd link 3b and the 2nd link 4b can hold | grip the conveyance target object 16. FIG.

  The first drive source 5, the first drive source 7, the second drive source 6, and the second drive source 8 have ultrasonic motors. The ultrasonic motor has a drive body that drives using ultrasonic vibration, and has a higher external resistance (torque) when the drive body is stopped than the external resistance (torque) when the drive body is driven. Therefore, when the second link 3b and the second link 4b are inserted into the holes 16a and 16b, the second link 3b and the second link 4b come into contact with the inner wall surfaces of the holes 16a and 16b. The ultrasonic motors of the first drive source 5, the first drive source 7, the second drive source 6, and the second drive source 8 can receive the force and allow the second link 3 b and the second link 4 b to tilt. Thereby, it is easy to insert the second link 3b and the second link 4b into the holes 16a and 16b. On the other hand, in a state in which the second link 3b and the second link 4b are inserted into the holes 16a and 16b and tilted to stop the ultrasonic motor, the second link 3b and the second link 4b become holes 16a and 16b. On the other hand, the second link 3b and the second link 4b are not easily tilted and can be stably locked to the inner wall surfaces of the holes 16a and 16b.

  The transport apparatus 1 has two arms 3 and 4 as shown in FIG. Therefore, when one of the arms 3 comes into contact with the conveyance object 16 at two points and generates a rotational torque on the conveyance object 16, the other one arm 4 receives the rotation torque and rotates the conveyance object 16. regulate. Further, the pair of arms 3 and 4 are strongly hooked to the conveyance object 16 by using the torque, and thereby the conveyance object 16 can be securely gripped.

  As shown in FIG. 4, each of the arms 3 and 4 hits the conveyance object 16 at two points, and is thus caught on the conveyance object 16. Therefore, each of the arm 3 and the arm 4 is caught on the conveyance object 16 by utilizing the weight of the conveyance object 16. Therefore, the conveyance object 16 can be gripped with a smaller force than when the conveyance object 16 is clamped by the arm 3 and the arm 4 without being tilted from the state of FIG.

  The control device 9 detects the position of the other hole 16b based on the detection signal from the sensor 10 after inserting one arm 3 into the hole 16a as shown in FIGS. Insert the other arm 4 into Therefore, compared with the case where the positions of the two holes 16a and 16b are detected at the same time, the arms 3 and 4 can be reliably inserted into the holes 16a and 16b.

  The present invention is not limited to the above-described embodiment, and may be the following form. For example, as shown in FIGS. 9, 10, and 11, a tapered surface 3 i and a hemispherical portion 3 j may be formed at the locking tip of the arm 3. The locking tip of the arm 3 is formed in a substantially conical shape by the tapered surface 3i and has a tapered shape. A plurality of concave portions 3k are formed at predetermined intervals on the tapered surface 3i. An anti-slip member 3m is provided in the recess 3k. The non-slip member 3m is an elastic member such as rubber and has a friction coefficient larger than that of the tapered surface 3i.

  As shown in FIGS. 9, 10, and 11, the non-slip member 3m is substantially flush with the outer surface of the locking tip of the arm 3, and does not protrude from the recess 3k. Alternatively, the non-slip member 3m has a small protrusion amount from the recess 3k, and fits in the recess 3k by elastic deformation, for example. Therefore, the anti-slip member 3m is unlikely to get in the way when the end of the arm 3 is inserted into the hole 16a.

  As shown in FIGS. 9, 10, and 11, when the conveyance object 16 is gripped by the arm 3, the locking tip of the arm 3 is inclined with respect to the hole 16 a. The straight portion 3q of the taper surface 3i of the arm 3 contacts the right surface of the inner wall surface of the hole 16a. The non-slip member 3m located on the straight portion 3q elastically hits the inner wall surface of the hole 16a. One end portion 3p of the arm 3 located on the opposite side of the straight line portion 3q contacts the upper left portion (corner portion) of the inner wall surface of the hole 16a.

  As shown in FIGS. 9, 10, and 11, the anti-slip member 3m is formed of an elastic material having a larger coefficient of friction than other portions of the second link 3b. The hemispherical part 3j is formed of a material having a smaller friction coefficient than the other part of the second link 3b. The hemispherical portion 3j is rotatably connected to the locking tip end portion of the second link 3b about the axis.

  As described above, the locking tip of the second link 3b has a tapered shape as shown in FIGS. Therefore, the second link 3b is easily inserted into the hole 16a by the tapered locking tip. For example, when the positions of the locking tip portion of the second link 3b and the hole 16a are shifted, the second link 3b is easily inserted into the hole 16a by being guided by the tapered shape of the locking tip portion.

  As shown in FIGS. 9, 10, and 11, a recess 3k is formed on the surface of the locking tip of the second link 3b, and the recess 3k has a larger coefficient of friction than the surface of the locking tip and a hole 16a. An anti-slip member 3m that can abut against the inner wall surface is provided. Accordingly, since the anti-slip member 3m is provided in the recess 3k at the locking tip portion of the second link 3b, the anti-slip member 3m is unlikely to get in the way when the locking tip portion is inserted into the hole 16a. Since the friction coefficient of the non-slip member 3m is large, the second link 3b can be reliably hooked to the inner wall surface of the hole 16a.

  As shown in FIGS. 9, 10, and 11, the second link 3b has a locking region (tapered surface 3i) that locks to the inner wall surface of the hole 16a, a tip that is more than the locking region, and a locking region. Also has a tip region (hemisphere portion 3j) with a small friction coefficient. Therefore, the second link 3b can be easily inserted into the hole 16a by the tip region, and can be reliably hooked to the inner wall surface of the hole 16a by the locking region.

  As shown in FIG. 12, the arm 3 may have a plurality of taper portions 3r, taper portions 3s, and taper portions 3t arranged in parallel in the axial direction at the locking tip portion. Each of the tapered portion 3r, the tapered portion 3s, and the tapered portion 3t has a tapered shape. A flange portion 3u and a flange portion 3v are formed on the upper and outer peripheral portions of the taper portion 3s and the taper portion 3t. The upper side surfaces of the flange portion 3u and the flange portion 3v are larger in angle with respect to the extending direction of the second link 3b than the lower side surfaces of the flange portion 3u and the flange portion 3v, and are substantially vertical, for example. Thereby, the latching front-end | tip part of the 2nd link 3b is easy to be inserted with respect to the hole 16a, and is hard to come out from the hole 16a.

  As shown in FIG. 13, the arm 3 may include a first link 3a and a second link 3b, and the first link 3a may include a first proximal link 3a1 and a first distal link 3a2. The first base end link 3a1 is rotatably connected to the apparatus main body 2. A first tip link 3a2 is connected to the tip of the first base end link 3a1 so as to be rotatable about a third axis by a connecting portion 3a3, and the first tip link 3a2 can be rotated in the thickness direction of FIG. . The second link 3b is rotatably connected to the tip of the first tip link 3a2. The third axis has an angle (for example, a substantially right angle) with respect to the first axis of the connecting portion 3c and the second axis of the connecting portion 3d. Strictly speaking, the extension line of the third axis does not intersect the extension line of the first axis and the extension line of the second axis, but has an angle on the vertical projection in FIG.

  As shown in FIG. 13, a third drive source 12a is provided in either the first proximal link 3a1 or the first distal link 3a2. The third drive source 12a rotates the first distal end link 3a2 with respect to the first proximal end link 3a1. The third drive source 12 a has an ultrasonic vibration motor and can be controlled by the control device 9.

  As shown in FIG. 13, the arm 4 is also formed in the same manner as the arm 3, and has a first link 4a and a second link 4b. The first link 4a includes a first proximal link 4a1, a first distal link 4a2, a connecting portion 4a3, and a third drive source 12b. The connecting portion 4a3 connects the first distal end link 4a2 to the first proximal end link 4a1 so as to be rotatable about the third axis.

  As described above, the first link 3a and the first link 4a include the first base end link 3a1, the first base end link 4a1, and the first base end link 3a1, which are connected to the apparatus main body 2, as shown in FIG. The first base link 4a1, one end connected to the second link 3b, the other end connected to the second link 4b, the first tip link 3a2, the first tip link 4a2, the first base link 3a1, the first base It has 3rd drive sources 12a and 12b which rotate the 1st front end link 3a2 and the 1st front end link 4a2 with respect to the end link 4a1. The rotational directions of the first distal link 3a2 and the first distal link 4a2 are different from the rotational directions of the first proximal link 3a1, the first proximal link 4a1, the second link 3b, and the second link 4b.

  Therefore, the first link 3a and the first link 4a can move the second link 3b and the second link 4b three-dimensionally. Thereby, the 2nd link 3b and the 2nd link 4b can be inserted with respect to the hole of various angles.

  As shown in FIG. 14, the arm 3 may include a first link 3a and a second link 3b, and the second link 3b may include a second proximal link 3b1 and a second distal link 3b2. The second proximal link 3b1 is rotatably connected to the distal end portion of the first link 3a. A second distal end link 3b2 is coupled to the distal end portion of the second proximal end link 3b1 by a coupling portion 3b3 so as to be rotatable about the fourth axis. The second tip link 3b2 can be rotated in the thickness direction of the paper in FIG. The fourth axis has an angle (for example, a substantially right angle) with respect to the first axis of the connecting portion 3c and the second axis of the connecting portion 3d. Strictly speaking, the extension line of the fourth axis does not intersect the extension line of the first axis and the extension line of the second axis, but has an angle on the vertical projection of FIG.

  As shown in FIG. 14, a fourth drive source 13a is provided on either the second proximal link 3b1 or the second distal link 3b2. The fourth drive source 13a rotates the second distal end link 3b2 relative to the second proximal end link 3b1. The fourth drive source 13 a has an ultrasonic vibration motor and can be controlled by the control device 9.

  As shown in FIG. 14, the arm 4 is also formed in the same manner as the arm 3, and has a first link 4a and a second link 4b. The second link 4b includes a second proximal end link 4b1, a second distal end link 4b2, a connecting portion 4b3, and a fourth drive source 13b. The connecting portion 4b3 connects the second distal end link 4b2 to the second proximal end link 4b1 so as to be rotatable about the fourth axis.

  As described above, as shown in FIG. 14, the second link 3b and the second link 4b are connected to the first link 3a, the first link 4a, the second base link 3b1, the second base link 4b1, Second base link 3b1, second base link 4b1, second base link 3b2, second base link 4b2, second base link 3b1, second base link 3b1, second base link 4b2 Fourth drive sources 13a and 13b that rotate the second tip link 3b2 and the second tip link 4b2 with respect to the link 4b1 are provided. The rotation direction of the second distal link 3b2, the second distal link 4b2 is different from the rotation direction of the second proximal link 3b1, the second proximal link 4b1, and the first links 3a, 4a.

  Therefore, the second link 3b and the second link 4b can move their locking tips in a three-dimensional manner. Thereby, the 2nd link 3b and the 2nd link 4b can be inserted with respect to the hole of various angles.

  The second link 3b may have a suction structure shown in FIG. The suction structure includes a suction hole 3x and a suction device 14. The suction hole 3x is formed at the locking tip of the second link 3b. The second link 3b has a tapered shape at the locking tip, and has a shaft hole 3y at the center of the shaft. The suction hole 3x penetrates the shaft hole 3y and the surface of the second link 3b. The suction device 14 sucks air from the shaft hole 3y.

  As shown in FIG. 15, the second link 3 b is inclined, the locking tip of the second link 3 b comes into contact with the inner wall surface of the hole 16 a of the conveyance object 16, and the suction hole 3 x comes into contact with the inner wall surface. The suction device 14 creates a negative pressure inside the shaft hole 3y and the suction hole 3x, so that the second link 3b sucks the inner wall surface of the hole 16a by the negative pressure.

  As described above, the suction tip portion of the second link 3b shown in FIG. 15 is provided with a suction structure capable of sucking the inner wall surface of the hole 16a. Therefore, the 2nd link 3b can hold | grip the conveyance target 16 more strongly using a suction force.

  The second link 3b may have a suction structure shown in FIG. The suction structure has a plurality of suction cups 3z provided at the locking tip of the second link 3b. The second link 3b has a tapered shape at the locking tip, and a recess is formed on the outer surface of the second link 3b. A suction cup 3z is provided in the recess. The suction cup 3z is elastically deformed when the second link 3b is tilted and the locking tip end of the second link 3b comes into contact with the inner wall surface of the hole 16a of the conveyance object 16, and is sucked to the inner wall surface of the hole 16a. .

  The arm 4 may be configured similarly to the arm 3 shown in FIGS. 9, 10, and 11, or the arm 3 shown in FIG. 12, the arm 3 shown in FIG. 15, and the arm 3 shown in FIG. It may be configured.

  A hole 16a and a hole 16b that penetrate in the thickness direction may be formed in the transport object 16, or a hole that does not penetrate in the thickness direction may be formed, and the locking tip of the arm may be inserted into the hole. good.

  The conveying apparatus 1 may have a pair of arms 3 and 4 or may have one arm. In the case of one arm, the arm can grip the transport object 16 in a state where the rotational torque generated by the two points where the arm contacts and the rotational torque due to the weight of the transport object 16 are balanced.

  The conveying apparatus 1 may have a pair of arms 3 and 4 or may have three or more arms.

  The pair of arms 3 and 4 may be inserted into the holes 16a and 16b of the conveyance object 16, or one arm 3 is inserted into one of the holes 16a and 16b of the conveyance object 16 and the other 1 The two arms 4 may abut so as to support the conveyance object 16.

  The first link 3a and the first link 4a may be connected to the apparatus main body 2 so as to be rotatable (movable), or may be connected to the apparatus main body 2 so as to be slidable (movable).

  The drive source (5-8, 12, 13) may have an ultrasonic vibration motor, or may have another motor or a hydraulic cylinder. All of the drive sources (5-8, 12, 13) may have an ultrasonic vibration motor, or at least one of the drive sources (5-8, 12, 13) has an ultrasonic vibration motor. May be.

  The arm may have a substantially conical locking tip, which may have a tapered shape, or a tapered surface on one side of the locking tip, thereby having a tapered shape. May be. The locking tip of the arm may have a symmetrical shape or an asymmetric shape.

  The anti-slip member 3m may be made of an elastic material, or may have a structure in which irregularities are formed on the surface and the coefficient of friction is larger than the surface of the locking tip portion of the second link 3b.

  You may have two or more arms. As the number of arms increases, the conveyance object can be gripped more stably.

DESCRIPTION OF SYMBOLS 1 Transfer apparatus 2 Apparatus main body 3, 4 Arm 3a, 4a 1st link 3b, 4b 2nd link 3i Tapered surface, latching area 3j Hemisphere part, tip area 3k Recessed part 3m Anti-slip member 3x Suction hole 3z Suction cup 5,7 1st One drive source 6, 8 Second drive source 9 Control device 10 Sensor 11 Movement mechanism 12, 13 Third drive source 14 Suction device 16 Objects to be transported 16 a, 16 b, 19 a, 19 b Holes 17, 18 Obstacle 19 Installation object

Claims (9)

A transport device for gripping and transporting a transport object,
An apparatus main body, and an arm extending from the apparatus main body,
The arm includes a first link extending from the apparatus main body, a second link rotatably connected to a tip portion of the first link, a first drive source for rotating the first link, and the first link A second drive source for rotating two links relative to the first link;
The first link is connected to the apparatus main body so as to be rotatable around a base end portion,
The second link can be inserted into a hole formed in the conveyance object, and has a locking tip portion that can be locked at at least two points with respect to the inner wall surface of the hole,
The arm is a transport device that grips a transport target object by inserting the second link into the hole and rotating the first link and / or the second link. It is a conveying apparatus of Claim 1, Comprising:
A transport apparatus in which at least one of the first drive source and the second drive source has an ultrasonic motor. It is a conveying apparatus of Claim 1 or 2, Comprising:
The first link includes a first base end link connected to the apparatus main body, a first front end link connected to the first base end link and one end and the other end connected to the second link; A third drive source for rotating the first distal link relative to the proximal link,
The transporting device is different in the rotation direction of the first distal link from the rotation direction of the first proximal link and the second link. It is a conveying apparatus of Claim 1 or 2, Comprising:
The second link includes a second proximal link coupled to the first link, a second distal link linked at one end to the second proximal link and having the locking distal end at the other end, and the first link A fourth drive source for rotating the second distal link relative to the second proximal link;
The conveying device is different in rotation direction of the second distal link from rotation directions of the second proximal link and the first link. It is a conveying apparatus as described in any one of Claims 1-4,
A transfer device having two or more of the arms. It is a conveying apparatus as described in any one of Claims 1-5,
The said locking front-end | tip part is a conveying apparatus which has a tapered shape. It is a conveying apparatus as described in any one of Claims 1-6,
A recess is formed on the surface of the locking tip, and the recess is provided with a non-slip member having a friction coefficient larger than that of the surface of the locking tip and capable of contacting the inner wall surface of the hole. apparatus. It is a conveying apparatus as described in any one of Claims 1-7,
The conveying device provided with a suction structure capable of sucking the inner wall surface of the hole at the locking tip. It is a conveying apparatus as described in any one of Claims 1-8,
The transporting device includes a locking region that is locked to the inner wall surface of the hole, and a tip region that is a tip of the locking region and a friction coefficient smaller than that of the locking region.

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