Gripper device, conveyance vehicle, and conveyance method

Patent metadata

Field	Value
Publication number	US-12139176-B2
Application number	US-202117910384-A
Country	US
Kind code	B2
Filing date	Jan 27, 2021
Priority date	Mar 13, 2020
Publication date	Nov 12, 2024
Grant date	Nov 12, 2024

Abstract

A gripper device includes a pair of engaging portions attached to an elevating section capable of lifting and lowering above an article and respectively engageable with the pair of held portions, and a driver to move the pair of engaging portions from a standby position where a distance between the pair of engaging portions is shorter than an interval between the pair of held portions, to an engaging position where the pair of engaging portions is capable of engaging with the pair of held portions, such that the pair of engaging portions separate from one another.

First claim

The invention claimed is:

1. A gripper device to hold an article including a pair of held portions that are provided on a top surface of the article and that are spaced apart in a direction along the top surface, the gripper device comprising:
a pair of engaging portions that are attached to an elevating section capable of lifting and lowering above the article and that respectively engage with the pair of held portions;
a driver to move the pair of engaging portions along the direction, from a standby position where a distance between the pair of engaging portions is less than a particular interval between the pair of held portions, to an engaging position where the pair of engaging portions is capable of engaging with the pair of held portions, such that the pair of engaging portions separate from one another; and
a pair of drop preventing sections that are fixed to the elevating section to be spaced apart in the direction with a longer interval than the particular interval; wherein
a first gap exists between each of the pair of drop preventing sections and each of the pair of engaging portions at the standby position, the first gap allowing each of the pair of held portions to vertically pass therethrough; and
a second gap exists between each of the pair of drop preventing sections and each of the pair of engaging portions at the engaging position, the second gap not allowing each of the pair of held portions to vertically pass therethrough.

2. The gripper device according to claim 1 , wherein the driver includes a single link mechanism to move the pair of engaging portions.

3. A conveyance vehicle that includes the gripper device according to claim 1 and travels along a track provided on a ceiling.

4. A gripper device to hold an article including at least a pair of columns on a top surface of the article and a pair of held portions fixed to the columns and spaced apart in a direction along the top surface, the gripper device comprising:
a pair of engaging portions that are attached to an elevating section capable of lifting and lowering above the article and that respectively engage with the pair of held portions; and
a driver to move the pair of engaging portions along the direction, from a standby position where a distance between the pair of engaging portions is less than a particular interval between the pair of held portions, to an engaging position where the pair of engaging portions is capable of engaging with the pair of held portions, such that the pair of engaging portions separate from one another; wherein
each of the pair of engaging portions includes a notch that accepts the column when the pair of engaging portions are located in the engaging position.

5. A conveyance method for holding and carrying, with a gripper device, an article with a pair of held portions that are provided on a top surface of the article and spaced apart in a direction along the top surface, the gripper device including a pair of engaging portions attached to an elevating section capable of lifting and lowering above the article and that respectively engage with the pair of held portions, and a pair of drop preventing sections that are fixed to the elevating section to be spaced apart in the direction with a longer interval than a particular interval between the pair of held portions, the conveyance method comprising:
lowering the elevating section;
moving the pair of engaging portions along the direction, from a standby position where a distance between the pair of engaging portions is less than the particular interval, to an engaging position where the pair of engaging portions is capable of engaging with the pair of held portions; and
holding the article by causing the elevating section to lift and causing the pair of engaging portions in the engaging position to engage with the pair of held portions;

wherein
a first gap exists between each of the pair of drop preventing sections and each of the pair of engaging portions at the standby position, the first gap allowing each of the pair of held portions to vertically pass therethrough; and
a second gap exists between each of the pair of drop preventing sections and each of the pair of engaging portions at the engaging position, the second gap not allowing each of the pair of held portions to vertically pass therethrough.

Assignees

• Murata Machinery Ltd

Inventors

• Kobayashi Makoto

Classifications

• H10P72/3221 Primary

  Overhead conveying · CPC title

• H10P72/3218

  Conveying cassettes, containers or carriers · CPC title

• H10P72/1918

  characterised by coupling elements, kinematic members, handles or elements to be externally gripped · CPC title

• H10P72/7602 Primary

  the wafers being placed on a robot blade or gripped by a gripper for conveyance · CPC title

• B66C1/28 Primary

  Duplicate, e.g. pivoted, members engaging the loads from two sides · CPC title