US 12,338,081 B2
Conveying device and robot system
Shinichi Fujisawa, Kobe (JP); Tatsutoshi Asato, Kobe (JP); and Junji Ito, Kobe (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Appl. No. 18/016,044
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
PCT Filed Jul. 6, 2021, PCT No. PCT/JP2021/025448
§ 371(c)(1), (2) Date Jan. 13, 2023,
PCT Pub. No. WO2022/014409, PCT Pub. Date Jan. 20, 2022.
Claims priority of application No. 2020-119909 (JP), filed on Jul. 13, 2020.
Prior Publication US 2023/0339704 A1, Oct. 26, 2023
Int. Cl. B25J 9/10 (2006.01); B65G 47/90 (2006.01)
CPC B65G 47/902 (2013.01) [B25J 9/106 (2013.01); B65G 47/905 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A conveying device that holds and conveys an object, comprising:
a first link including a first connecting part, a second connecting part located at a position distant from the first connecting part, and a first holder part for the object located on the opposite side of the second connecting part with respect to the first connecting part;
a second link including a third connecting part rotatably connected with the first connecting part, the second link being operable so that the third connecting part is rotated centering on a first reference point;
a third link including a fourth connecting part rotatably connected with the second connecting part, the third link being operable so that the fourth connecting part is rotated centering on a second reference point located at a position distant from the first reference point;
at least one first drive that operates the first link to the third link, wherein the first link to the third link move the first holder part between a first point and a second point that are located on opposite sides to each other with respect to the first reference point so that the first holder part approaches the first reference point in association with operation of the second link;
a fourth link including a fifth connecting part, a sixth connecting part located at a position distant from the fifth connecting part, and a second holder part for the object located on the opposite side of the sixth connecting part with respect to the fifth connecting part;
a fifth link including a seventh connecting part rotatably connected with the fifth connecting part, the fifth link being operable so that the seventh connecting part is rotated centering on a first reference point; and
a sixth link including an eighth connecting part rotatably connected with the sixth connecting part, the sixth link being operable so that the eighth connecting part is rotated centering on a third reference point located at a position distant from the first reference point and the second reference point, wherein
the fifth link is integrally formed with the second link so as to rotate centering on the first reference point together with the second link,
the fourth link to the sixth link move the second holder part between a third point and a fourth point that are located on opposite sides to each other with respect to the first reference point so that the second holder part approaches the first reference point in association with operation of the fifth link,
the fourth link, the fifth link, and the sixth link include similar configurations to the first link, the second link, and the third link, respectively,
when the first holder part is located at the first point and the second holder part is located at the third point, the second reference point is located at a first distance from the second connecting part and the sixth connecting part, and the third reference point is located at the first distance from the second connecting part and the sixth connecting part, on the opposite side of the second reference point with respect to the first reference point, and
the third point is located on the opposite side of the first point with respect to the first reference point.