| 摘要 |
<p>PROBLEM TO BE SOLVED: To turn an article by a compact mechanism by providing a turn means for turning a turn plate provided on a lifting table at a position among at least four arms on a lower face side of the lifting table. SOLUTION: A lifting table 14 lifted and lowered by a pantagraph mechanism is provided on an upper face of a hand 12, and the lifting table 14 is raised up to a cargo lowering height at the highest position. A scalar arm 6 is shrunk to move an article onto a load-carrying platform 16. It is necessary to invert the direction of the object and shift it in the direction suitable for the load- carrying platform 16 when the article is transferred. For this reason, a turn plate 44 is used, the scalar arm 6 is retracted, and at the same time, a turn motor among four movable arms 20, 21 is driven to turn the turn plate 44 due to the turn of a gear 48 so as to adjust the direction of the object. Consequently, the article is conveyed to a cargo unloading height on the load-carrying platform 16, and the lifting table 14 is lowered down to a cargo scooping height in an intermediate position.</p> |
