The purpose of the present invention is to hold a conveyance object even when the relative position or orientation of the conveyance object with respect to a conveyance device changes. This gripping structure (H1) is provided with a plurality of sections to be gripped (71), a plurality of gripping sections (40), and a displacement permitting section (90). A plurality of gripped sections (71) are provided to a conveyance object (A1). The plurality of gripping sections (40) are provided on the main body (10) of the conveyance device (X1) so as to correspond to the plurality of sections (71) to be gripped, respectively. Each of the plurality of gripping sections (40) is capable of holding a corresponding gripping section (71) among the plurality of gripping sections (71). The displacement permitting section (90) permits the relative displacement of the conveyance object (A1) with respect to the main body (10) in a first direction (DR11) intersecting the movement surface (B1) in the gripping state, and permits the relative rotation of the conveyance object (A1) with respect to the main body (10) about first rotation axes (Ax, Ay) along the movement surface (B1).

    本发明的目的在于,即使在搬运对象相对于搬运装置的相对位置或姿态发生了变化的情况下也能够保持搬运对象。本发明的把持结构(H1)具备多个被把持部(71)、多个把持部(40)以及位移允许部(90)。多个被把持部(71)设置于搬运对象(A1)。多个把持部(40)以与多个被把持部(71)分别对应的方式设置于搬运装置(X1)的主体(10)。多个把持部(40)分别能够保持多个被把持部(71)中的对应的被把持部(71)。位移允许部(90)在把持状态下,允许搬运对象(A1)在与移动面(B1)交叉的第一方向(DR11)上相对于主体(10)的相对位移,且允许搬运对象(A1)绕着沿着移动面(B1)的第一旋转轴(Ax、Ay)而相对于主体(10)的相对旋转。


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    Title :

    Gripping structure, conveyance method, conveyance device, and manufacturing system


    Additional title:

    把持结构、搬运方法、搬运装置以及制造系统


    Contributors:

    Publication date :

    2022-12-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62B Von Hand bewegte Fahrzeuge, z.B. Handkarren oder Kinderwagen , HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS



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