Handling equipment and storage equipment

Abstract

[Topic] To reduce the vertical thickness of the transfer mechanism. [Technical Content] The handling device (1) comprises: a traveling trolley (5), a column (6) erected on the traveling trolley (5), and a transfer mechanism (4) disposed on the column (6) for transferring articles (OB). The transfer mechanism (4) comprises: a base (20) that moves up and down along the column (6), a first arm (21) rotatably supported on the base (20), a second arm (22) rotatably supported on the first arm (21), and an article (OB) held and supported on the second arm (22). The item holding part (23), the first drive part (31) for rotating the first arm (21), and the second drive part (32) for rotating the second arm (22) are arranged on the side of the first end (21a) of the first arm (21) in the first arm (21). The second drive part (32) is provided on the upper surface (21c) of the first arm (21) and on the side of the second end (21b) of the first arm (21) and is located off from the rotation track (R2) of the second arm (22).

Description

Technical Field

[0001] This invention relates to a handling device and a storage device. Prior Technology

[0002] A storage device for storing goods in a shed arranged in multiple vertical and horizontal directions is known. This storage device includes a transport mechanism for transferring goods. This transport mechanism, for example using a tower crane, includes: a traveling trolley that travels along the shed, a column erected on the traveling trolley, and a transfer mechanism disposed on the column for transferring goods. The transfer mechanism includes: a base that rises and falls along the column, a first arm rotatably supported on the base, a second arm rotatably supported on the first arm, and a goods holding part rotatably supported on the second arm (see, for example, Patent Document 1). In this tower crane, in the transfer mechanism, the first drive unit for rotating the first arm and the second drive unit for rotating the second arm are each respectively configured to protrude downwards from the base. [Previous Technical Documents] [Patent Literature]

[0003] [Patent Document 1] Japanese Patent No. 6024720 Summary of the Invention

[0004] [The problem the invention aims to solve]

[0005] In the configuration where the first and second drive units protrude from below the base, the vertical movement of the transfer mechanism becomes larger, making it difficult to position the lowest section of the shelf at a lower location, thus reducing the efficiency of item storage. Furthermore, while it's considered to position the second drive unit on the first arm, if it hangs down from the lower surface of the first arm, it interferes with the base during the rotation of the first arm, limiting the rotation range of the first arm, which is undesirable. Similarly, if the second drive unit protrudes from the upper surface of the first arm, it also interferes with the second arm, which is also undesirable. Thus, when the second drive unit is positioned on the first arm, in order to avoid interference between the second drive unit and the base, or between the second drive unit and the first arm, it is necessary to expand the gap between the base and the first arm, and the gap between the first arm and the second arm, in the vertical direction. As a result, the vertical direction of the transfer mechanism becomes larger, which becomes a factor in the decrease of the storage efficiency of the items.

[0006] The purpose of this invention is to provide a handling device and a storage device that can make the transfer mechanism thinner in the vertical direction. [Technical means used to solve the problem]

[0007] The conveying device of the present invention comprises: a traveling trolley, a column erected on the traveling trolley, and a transfer mechanism disposed on the column and for transferring articles. The transfer mechanism comprises: a base that moves up and down along the column, a first arm rotatably supported on the base, a second arm rotatably supported on the first arm, an article holding part that holds the article and is supported on the second arm, a first drive part that rotates the first arm, and a second drive part that rotates the second arm. The rotation center of the second arm is located on one end side of the upper surface of the first arm and viewed from the rotation center of the first arm. The second drive part is located on the other end side of the first arm and is offset from the rotation track of the second arm.

[0008] The storage device for the state of the present invention comprises: a shelf for storing articles, and a conveying device for transferring the aforementioned state of articles between the shelf and the shelf. [The effects of the invention]

[0009] Based on the aforementioned conveying and storage device, since the second drive unit is located on the end side of the first arm, viewed from the rotation center of the first arm, and offset from the rotation track of the second arm, interference between the second arm and the second drive unit during rotation can be avoided. Therefore, a transfer mechanism with a thinner vertical profile can be achieved without expanding the vertical spacing between the first and second arms. Furthermore, since the second drive unit is located on the first arm, a larger base can be avoided compared to the case where the second drive unit is located on the base.

[0010] Furthermore, in the aforementioned type of conveying device, the upper surface of the second drive unit may be higher than the lower surface of the second arm. With this configuration, since the height positions of the second drive unit and the second arm are at least partially identical, a thinner transfer mechanism can be achieved. Also, in the aforementioned type of conveying device, the article holding part has a mounting surface for placing articles, and the upper surface of the second drive unit may be lower than the mounting surface of the article holding part. With this configuration, interference between the article held on the mounting surface and the second drive unit can be avoided. Furthermore, in the aforementioned type of conveying device, the second drive unit is stored inside the outer cover of the first arm, and the upper surface of the outer cover may be lower than the mounting surface. With this configuration, interference between the outer cover storing the second drive unit and the article held on the mounting surface can be avoided.

[0011] Furthermore, in the aforementioned type of transport device, a second speed reducer for reducing rotational speed by transmitting data from the second drive unit to the second arm may be provided near the second drive unit. With this configuration, the second speed reducer can be prevented from becoming an obstacle to the rotation of the second arm. Also, in the aforementioned type of transport device, a first drive unit and a first speed reducer for reducing rotational speed by transmitting data from the first drive unit to the first arm may be provided below the first arm. With this configuration, interference between the first drive unit, the first speed reducer, and the first arm can be prevented during the rotation of the first arm. Furthermore, in the aforementioned type of transport device, the first drive unit and the first speed reducer may be located in a position on the base separate from the column. With this configuration, since the first drive unit and the first speed reducer, which are heat sources, are far from the column, the thermal impact on the column can be reduced.

[0012] Furthermore, in the aforementioned type of conveying device, the base may have ribs running vertically between the first drive unit and the column. This configuration easily improves the rigidity of the base. Also, in the aforementioned type of conveying device, the transfer mechanism can transfer items to the left and right sides relative to the direction of travel of the trolley. This configuration expands the range of items that can be transferred compared to a configuration that can only transfer to one side. Furthermore, in the aforementioned type of conveying device, the item holding part can rotate synchronously with the second arm. This configuration allows the item holding part to be oriented in the appropriate direction when the second arm is rotated. Simple Explanation of the Diagram

[0013] [Figure 1] shows a front view of an example of the conveying and storage device according to the embodiment. [Figure 2] shows a side view of an example of the conveying device and storage device according to the embodiment. [Figure 3] shows a front view of an example of a transfer mechanism. [Figure 4] shows a top view of the state in which the item is positioned above the base in the transfer mechanism. [Figure 5] shows a top view of the receiving state of the item in the transfer mechanism. [Figure 6] shows the relationship between the base and the first arm in the transfer mechanism. (A) is the front view and (B) is the top view. [Figure 7] shows a top view of the relationship between the first arm and the second arm in the transfer mechanism. [Figure 8] shows a front view of the state in which the item is held by the item holding part in the transfer mechanism. [Figure 9] Schematic diagram of the transmission path of driving force between the first arm, the second arm, and the item holding part. [Figure 10] A partially enlarged view of Figure 9. [Figure 11] shows a top view of another example of an item being positioned above a base in a transfer mechanism. [Figure 12] shows a top view of another example of receiving items in a transfer mechanism. [Figure 13] View of the base from the rear side. Implementation

[0014] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention is not limited to the content described below. Furthermore, in the drawings, for the purpose of illustrating embodiments, portions may be enlarged or emphasized, and dimensions or shapes may differ from the actual product. In the following figures, the XYZ coordinate system is used to illustrate the directions. In this XYZ coordinate system, the vertical direction is designated as the Z direction, one horizontal direction is designated as the X direction, and the direction orthogonal to the X direction is designated as the Y direction. For each of the X, Y, and Z directions, the direction indicated by the arrow in the figure is the + direction, and the direction opposite to the direction indicated by the arrow is the - direction.

[0015] Figure 1 is a front view showing an example of the conveying device 1 and storage device 2 according to the embodiment. Figure 2 is a side view showing an example of the conveying device 1 and storage device 2 according to this embodiment. In this embodiment, the traveling direction of the conveying device 1 is set to the X direction, and the conveying device 1 and storage device 2 are set to the front side when viewed from the Y direction, which is orthogonal to this X direction. Furthermore, the conveying device 1 and storage device 2 are set to the side side when viewed from the Y direction. As shown in Figures 1 and 2, the storage device 2 includes: a conveying device 1 for conveying article OB, and a plurality of shelves 3 for placing and storing article OB.

[0016] Article OB is a container such as a clasp (FOUP, front-opening universal container) that holds glass substrates, semiconductor wafers, etc. Furthermore, when Article OB is a clasp, its weight can be 25 kg or more depending on the size of the glass substrates it holds and the number of substrates it holds. Also, besides clasps, Article OB can be other containers such as grating boxes. This embodiment is also applicable to cases where Article OB weighs tens of kg.

[0017] The transport device 1 is used to transport items OB and to receive and transfer items OB between any of the plurality of shelves 3. The transport device 1 includes: a transfer mechanism 4, a traveling trolley 5, and a column 6. Details of the transfer mechanism 4 will be described later. The traveling trolley 5 includes: a base frame 7 and drive wheels 8. The base frame 7 has a (not shown) travel drive unit, such as an electric motor, for rotating the drive wheels 8. The drive wheels 8 are rotatably mounted on the base frame 7 and are rotated by the (not shown) travel drive unit. The drive wheels 8 rotate on a track 9 provided on the floor F. In this embodiment, although there is only one drive wheel 8, multiple drive wheels 8 may be provided, and driven wheels may be provided in addition to the drive wheels 8. The track 9 is laid along the X direction in the floor F. The traveling trolley 5 moves in the X direction by rotating the drive wheels 8 using the (not shown) travel drive unit. That is, the conveying device 1 travels along the track 9 in the +X or -X direction. Furthermore, the traveling trolley 5 may have a pair of rollers 8a on the lower surface of the base frame 7 to hold the sides of the track 9 in place. The pair of rollers 8a prevents the drive wheel 8 from detaching from the track 9.

[0018] Column 6 is erected on the traveling trolley 5. Column 6 extends upward (in the +Z direction) from the upper surface of the base frame 7. The height of column 6 is set such that, for example, the transfer mechanism 4 can transfer item OB to the uppermost shelf 3. An upper frame 10 is provided at the upper end of column 6. The upper frame 10 has a pair of rollers 11 on its upper surface. The pair of rollers 11 are arranged to hold the side of the ceiling track 12 provided in the ceiling C. The ceiling track 12 is provided in the ceiling C along the X direction. The rollers 11 are driven to rotate synchronously with the drive wheel 8 by a drive device (not shown), causing the upper end of column 6, i.e., the upper frame 10, to move in the forward direction of the traveling trolley 5. The drive of the drive wheel 8 and the drive of the rollers 11 are controlled by a control device (not shown). Furthermore, the rollers 11 are not limited to drive rollers driven by the drive device; driven rollers may also be used.

[0019] The multiple shelves 3 are arranged side-by-side along the X-direction and vertical direction (Z-direction) of the track 9. Each shelf 3 individually stores an item OB. Each shelf 3 forms a space on its upper surface capable of holding the item OB. Each shelf 3 has a notch 3a and a pin 3b. The vertical size of the notch 3a is such that the item holding part 23 of the transfer mechanism 4 (described later) can pass through. For example, three pins 3b are provided on the upper surface of the shelf 3, and are used to position the item OB placed in the shelf 3 by entering grooves provided on the bottom surface of the item OB. Alternatively, a positioning guide that guides the side of the item OB can be provided instead of the pins 3b. Furthermore, the shelf panels 3 are separated left and right, and each left and right shelf panel 3 has one pin 3b, with two pins 3b used to position the item OB. In this case, a notch 3a is formed between the left and right shelves 3, allowing the vertical movement of the article holding part 23 to pass through this notch 3a. Furthermore, each shelf 3 may also have a gas supply device for supplying inert gas within the article OB it is holding. In this embodiment, as shown in FIG2, although the plurality of shelves 3 are shown as being located on both sides of the transport device 1 in the Y direction, this configuration is not limited to this configuration. For example, the plurality of shelves 3 may also be located only on the +Y side or -Y side of the transport device 1.

[0020] Furthermore, the conveying device 1 of this embodiment is shown in a configuration where a transfer mechanism 4 is provided on the -X side of one column 6. That is, the transfer mechanism 4 is supported by one column 6. However, the conveying device 1 is not limited to the above configuration. For example, it is also possible to provide the transfer mechanism 4 between two columns 6 separated in the X direction, and to have the transfer mechanism 4 supported by the two columns 6. In addition, in this embodiment, because the transfer mechanism 4 is provided on one column 6, the total length of the conveying device 1 in the X direction can be shortened. As a result, when the conveying device 1 is operated on the shelf 3 at the -X side end or the shelf 3 at the +X side end among the plurality of shelves 3, it is not necessary to lengthen the track 9 in the X direction, and the installation area of ​​the storage device 2 can be avoided from becoming wider.

[0021] Figure 3 is a front view showing an example of the transfer mechanism 4. Figure 3 shows the front view of the transfer mechanism 4 viewed from a direction orthogonal to the traveling direction (X direction) of the transport device 1 (Y direction). As shown in Figure 3, the transfer mechanism 4 includes: a base 20, a first arm 21, a second arm 22, an article holding part 23, a first drive part 31, and a second drive part 32.

[0022] The base 20 is L-shaped, having a horizontal portion 20a and a vertical portion 20b extending upward from one end of the horizontal portion 20a. A guided portion 20c, with a concave cross-section and oriented vertically, is provided in the +X plane of the vertical portion 20b. The guided portion 20c is located in the -X plane of the column 6 and engages with a linear guide rail 26, which has a convex cross-section and is oriented vertically. The vertical portion 20b is guided vertically along the linear guide rail 26. In other words, the base 20 is movable up and down along the column 6. The conveying device 1 is a lifting device (not shown) that raises and lowers the base 20. The base 20 (transfer mechanism 4) is raised and lowered along the column 6 by driving this lifting device.

[0023] The lifting device includes, for example, a drive unit such as an electric motor, a sprocket driven by the drive unit, and a chain mounted on the outer periphery of the sprocket. This chain extends from the upper part of the column 6 across its lower part and moves (or circumvents) as the sprocket rotates. The base 20 is connected to the chain and rises or falls along the linear guide 26 as the chain moves. Furthermore, the lifting device is not limited to the above configuration; a ring-shaped belt can be used instead of a chain. Moreover, the lifting of the base 20 is not limited to using a chain and belt; for example, a rack provided along the column 6 and a pinion mounted on the base 20 can be used, rotating which raises or lowers the base 20. The lifting action and height position of the base 20 are controlled by a control device not shown.

[0024] The first arm 21 is rotatably supported on the upper surface 20d side of the base 20. The first arm 21 is a rod-shaped body extending in a straight direction. A first rotation axis 27 extending downwards is provided at the middle portion (e.g., the central portion) along the length of the first arm 21. The first arm 21 is connected to the base 20 via the first rotation axis 27. The first arm 21 is rotatable about the base 20 around the first rotation axis 27. The vertical direction through the center of the first rotation axis 27 is the rotation center P1 of the first arm 21. The first arm 21 has a first end 21a and a second end 21b. The end of the first arm 21 viewed from the rotation center P1 is the first end 21a, and the end viewed from the rotation center P1 is the second end 21b.

[0025] The second arm 22 is rotatably supported on the upper surface 21c side of the first arm 21. The second arm 22 is supported at the first end 21a of the first arm 21. The second arm 22 is a rod-shaped body extending in a straight direction. The length of the second arm 22 is shorter than that of the first arm 21. One end of the second arm 22 in the length direction is the base end 22a, and the other end is the front end 22b. A second rotating shaft 28 extending downwards is provided at the base end 22a of the second arm 22. The second arm 22 is connected to the first arm 21 through the second rotating shaft 28. The second arm 22 is rotatable about the second rotating shaft 28 relative to the first arm 21. The vertical direction through the center of the second rotating shaft 28 is the rotation center P2 of the second arm 22. The rotation center P2 of the second arm 22 is located on the upper surface 21c of the first arm 21 and viewed from the rotation center P1 of the first arm 21 on the side of the first end 21a.

[0026] The first arm 21 and the second arm 22 can be rotated at any position within a predetermined range by adjusting their respective rotation angles. This predetermined range is determined by the lengths of the first arm 21 and the second arm 22 and their rotation angles. Furthermore, the direction of movement of the front end 22b of the second arm 22 can be controlled by synchronously driving the drive units described later.

[0027] The article holding part 23 is rotatably supported on the upper surface 22c side of the second arm 22. It is supported on the front end 22b of the second arm 22. The article holding part 23 is a plate-like body that can hold an article OB. The article holding part 23 has a mounting surface 23a on its upper surface side. The lower surface of the article OB is supported by the mounting surface 23a of the article holding part 23. For example, three pins 23b are provided in the mounting surface 23a of the article holding part 23. The pins 23b are used to position the article OB by entering grooves provided on the bottom surface of the article OB. A third rotating shaft 29 extending downwards is provided in the article holding part 23. The article holding part 23 is connected to the second arm 22 via the third rotating shaft 29. The article holding part 23 is rotatable about the second arm 22 around the third rotating shaft 29. The vertical direction through the center of the third rotating shaft 29 is the rotation center P3 of the article holding part 23. The rotation center P3 of the article holding part 23 is located on the upper surface 22c of the second arm 22 and on the front end 22b side of the second arm 22.

[0028] As shown in Figure 3, the transfer mechanism 4 includes a first drive unit 31 and a second drive unit 32. The first drive unit 31 and the second drive unit 32 use, for example, electric motors. The first drive unit 31 drives the first arm 21 to rotate. The first drive unit 31 is located below the first arm 21, that is, on the horizontal portion 20a of the base 20. The first drive unit 31 is located on the front end side of the horizontal portion 20a of the base 20, viewed from the rotation center P1 of the first arm 21, that is, opposite to the vertical portion 20b. Furthermore, the first drive unit 31 may also include the first reducer 33, which will be described later.

[0029] The second drive unit 32 drives the second arm 22 to rotate. The second drive unit 32 is provided on the first arm 21. The second drive unit 32 is located on the second end 21b side of the first arm 21 as viewed from the rotation center P1. The second drive unit 32 is configured such that a portion protrudes upward from the upper surface 21c of the first arm 21. The second arm 22 has an outer cover 25 that covers the protruding portion of the second drive unit 32. Therefore, the outer cover 25 is configured to protrude upward from the upper surface 21c of the first arm 21. Furthermore, whether or not the outer cover 25 is provided is arbitrary. Therefore, the second arm 22 may be in a form without the outer cover 25. Also, the second drive unit 32 may include the second reducer 34, which will be described later.

[0030] Next, the operation of the transfer mechanism 4 will be explained. Figure 4 is a top view showing the state in which the item OB is positioned above the base 20 in the transfer mechanism 4. As shown in Figure 4, by positioning the first arm 21 and the second arm 22 at predetermined angle positions (standby position or item holding position), the item holding part 23 can be positioned above the base 20. At this time, the item holding part 23 is away from the shelf 3. When the item OB is placed on the placement surface 23a in this state, the item OB is positioned above the base 20. In the state shown in Figure 4, the transport device 1 can move in the X direction by means of the traveling trolley 5, and the transfer mechanism 4 can be raised and lowered.

[0031] Figure 5 is a top view showing the receiving state of item OB in the transfer mechanism 4. As shown in Figure 5, by driving the first drive unit 31 and the second drive unit 32, the first arm 21 and the second arm 22 are respectively positioned at a predetermined angle (receiving position), allowing the item holding part 23 to be inserted above or below the shelf 3. The shelf 3 has a notch 3a through which the item holding part 23 can pass vertically. When transferring item OB to the shelf 3, the item holding part 23 is positioned higher than the shelf 3. By lowering the item holding part 23 (transfer mechanism 4) in this state, item OB can be transferred from the item holding part 23 to the shelf 3. After item OB is placed in the shelf 3, the transfer of item OB to the shelf 3 is completed by returning the item holding part 23 to the position shown in Figure 4 (standby position).

[0032] When retrieving item OB from shelf 3, the item holding part 23 is positioned lower than shelf 3 on which item OB is placed. By raising the item holding part 23 (transfer mechanism 4) in this state, item OB can be transferred from shelf 3 to the item holding part 23. After item OB is placed in the item holding part 23, by returning the item holding part 23 to the position shown in Figure 4 (item holding position), the retrieval operation of item OB performed by the transfer mechanism 4 is completed.

[0033] This section explains the operation of the first arm 21 and the second arm 22 when the article OB is received and transferred using the transfer mechanism 4 as described above. Figure 6 shows the relationship between the base 20 and the first arm 21 in the transfer mechanism 4; (A) is a front view, and (B) is a top view. In Figure 6, for ease of explanation, some components are omitted. As shown in Figure 6(A), the second drive unit 32 is stored inside the outer cover 25 of the first arm 21. The outer cover 25 is disposed on the upper surface 21c of the first arm 21 and protrudes upward from the first arm 21. On the other hand, the second drive unit 32 is disposed without protruding from the lower side of the first arm 21, and the outer cover 25 is not provided on the lower surface side of the first arm 21. That is, there is no part protruding towards the lower surface side of the first arm 21.

[0034] Therefore, as shown in Figure 6(B), even if the first arm 21 rotates clockwise or counterclockwise around the rotation center P1 towards the paper, the second drive unit 32 will not interfere with the base 20. As a result, the rotation range of the first arm 21 is not limited, and the first arm 21 can be rotated to any angle position.

[0035] Figure 7 is a top view showing the relationship between the first arm 21 and the second arm 22 in the transfer mechanism 4. For ease of explanation, some components are omitted in Figure 7. As shown in Figure 7, the rotation center P2 of the second arm 22 is located on the side of the first end 21a of the first arm 21 as viewed from the rotation center P1 of the first arm 21. The second drive unit 32 is located on the side of the second end 21b of the first arm 21 as viewed from the rotation center P1 of the first arm 21. Furthermore, the length of the second arm 22 from its base end 22a to its front end 22b is the length that does not reach the outer cover 25 (or the second drive unit 32 if there is no outer cover 25). That is, the outer cover 25 is positioned at a distance L1 from the front end 22b of the second arm 22.

[0036] Therefore, as shown in Figure 7, even if the second arm 22 rotates clockwise or counterclockwise around the plane of the paper with the rotation center P2 as the center, the second arm 22 will not interfere with the second drive unit 32. As a result, the rotation range of the second arm 22 is not limited, and the second arm 22 can be rotated to any angle position. Furthermore, the distance L1 can be arbitrarily set as long as the front end 22b of the second arm 22 does not reach the outer cover 25 (or the second drive unit 32 if there is no outer cover 25).

[0037] Figure 8 is a front view showing the state in which the article OB is held by the article holding part 23 in the transfer mechanism 4. As shown in Figure 8, the upper surface 25a of the outer cover 25 (or the upper surface 32c of the second drive part 32 when the outer cover 25 is not present) is set at a position higher than the lower surface 22d of the second arm 22. That is, the height positions of the outer cover 25 (second drive part 32) and the second arm 22 are at least partially repeated. Therefore, it is possible to make the transfer mechanism 4 thinner.

[0038] Furthermore, the upper surface 25a of the outer cover 25 is positioned lower than the mounting surface 23a of the article holding part 23. Specifically, the upper surface 25a of the outer cover 25 is positioned such that a distance L2 separates it from the mounting surface 23a of the article holding part 23 and the lower surface. Therefore, even when the first arm 21 and the second arm 22 are rotated while the article OB is mounted on the article holding part 23, interference between the article OB and the outer cover 25 can be avoided. Therefore, the rotation angle of the first arm 21 and the second arm 22 can be arbitrarily set while the article OB is mounted on the article holding part 23. Moreover, even without the outer cover 25, the upper surface 32c of the second drive part 32 can be positioned at a distance L2 or lower than the mounting surface 23a. Therefore, similarly, since interference between the article OB and the second drive part 32 can be avoided, the rotation angle of the first arm 21 and the second arm 22 can be arbitrarily set while the article OB is mounted on the article holding part 23.

[0039] Next, the drive system (drive force transmission path) for rotating the first arm 21, the second arm 22, and the article holding part 23 will be explained. Figure 9 is a schematic diagram of the drive force transmission path between the first arm 21, the second arm 22, and the article holding part 23. Figure 10 is an enlarged view of a portion of Figure 9. In Figures 9 and 10, for ease of explanation, some components are omitted from the diagram.

[0040] First, the drive system of the first arm 21 will be explained. The first drive unit 31 includes, for example, an electric motor and an encoder for detecting the rotation of the electric motor. The electric motor is one that generates the torque necessary to rotate the first arm 21. The first drive unit 31 drives the rotation of the first arm 21 relative to the base 20 by means of a first reducer 33. The first drive unit 31 is rotated by a control device (not shown). This control device uses the detection result of the encoder to servo control the electric motor. Furthermore, the control device may be the same as the control device that controls the travel drive unit of the traveling carriage 5, or it may be a different control device.

[0041] The output of the first drive unit 31 is transmitted to the first rotating shaft 27. The output shaft 31a of the first drive unit 31 is configured to protrude downward from the first drive unit 31. A pulley 31b is provided in the output shaft 31a. A pulley 27a is provided in the first rotating shaft 27. The first rotating shaft 27 is rotatably supported on the first arm 21. A ring-shaped transmission belt 35 is strung between the pulley 31b and the pulley 27a, and the rotation of the pulley 31b is transmitted to the pulley 27a through the transmission belt 35. A first reducer 33 is provided on the first rotating shaft 27. The first reducer 33 transmits the rotation of the pulley 27a to the first arm 21 in a reduced speed. The first reducer 33 is located on the first rotating shaft 27. Compared with the structure in which the first drive unit 31 and the first reducer 33 are overlapped in the vertical direction, the space in the vertical direction of the first reducer 33 can be saved. As a result, the vertical direction of the base 20 can be thinned.

[0042] The first drive unit 31 and the first reducer 33 are positioned below the first arm 21. This configuration prevents interference between the first drive unit 31 and the first reducer 33 and the first arm 21 during rotation. Furthermore, the first drive unit 31 and the first reducer 33 are located within the base 20, separated from the column 6. With this configuration, the first drive unit 31 and the first reducer 33, which are heat sources, are located far from the column 6, thus reducing the thermal impact on the linear guide rail 26 of the column 6, the guided portion 20c of the base 20, and other components.

[0043] When the first drive unit 31 is driven, the output shaft 31a is rotated at a reduced speed by the first reducer 33. The pulley 31b rotates together with the output shaft 31a, moving the transmission belt 35 (circumferential movement). This movement of the transmission belt 35 rotates the pulley 27a, causing the first rotating shaft 27, which is integral with the pulley 27a, to rotate. As a result, the first arm 21, which is integral with the first rotating shaft 27, rotates around the axis of the base 20 about the rotation center P1. Furthermore, the rotational position of the first arm 21 is maintained by servo control of the first drive unit 31 (electric motor).

[0044] Furthermore, the rotational amount of pulley 27a relative to the rotational amount of pulley 31b is set by the ratio of the diameters of pulley 31b and pulley 27a. Therefore, by making the diameter of pulley 27a larger than the diameter of pulley 31b, the rotation of pulley 31b can be transmitted to the rotation of pulley 27a in a reduced manner. Therefore, as shown in FIG9, the first reducer 33 can be replaced by the first drive unit 31, and the function of the reducer can be achieved as long as the diameters of pulley 31b and pulley 27a are appropriately set. Furthermore, a sprocket can be used instead of pulley 31b and pulley 27a, and a ring-shaped chain can be used instead of the transmission belt 35.

[0045] Next, the drive system of the second arm 22 will be described. The second drive unit 32, like the first drive unit 31, includes, for example, an electric motor and an encoder for detecting the rotation of the electric motor. The electric motor is one that generates the torque necessary to rotate the second arm 22. Furthermore, the electric motors of the first drive unit 31 and the second drive unit 32 may be the same or different. The second drive unit 32 drives the rotation of the second arm 22 relative to the first arm 21 via a second reducer 34. The second drive unit 32 is rotated by a control device (not shown) described above. Furthermore, the point in the control device that uses the encoder detection result to servo-control the electric motor is the same as described above.

[0046] The output of the second drive unit 32 is output to the output shaft 32a while being reduced in speed by the second reducer 34. The second reducer 34 reduces the rotational speed transmitted from the second drive unit 32 to the output shaft 32a. The second reducer 34 is located near the second drive unit 32. This configuration avoids interference between the second reducer 34 and the second arm 22, allowing the second arm 22 to rotate without obstruction.

[0047] The output shaft 32a is configured to protrude downwards from the second reducer 34. A pulley 32b is provided in the output shaft 32a. A pulley 28a is provided in the second rotating shaft 28. The second rotating shaft 28 is rotatably supported by the first arm 21. A ring-shaped transmission belt 36 is strung between the pulleys 32b and 28a, and the rotation of the pulley 32b is transmitted to the pulley 28a via the transmission belt 36.

[0048] When the second drive unit 32 is driven, the output shaft 32a is rotated at a reduced speed by the second reducer 34. The pulley 32b rotates together with the output shaft 32a, moving the transmission belt 36 (circumferential movement). This movement of the transmission belt 36 rotates the pulley 28a, causing the second rotating shaft 28, which is integral with the pulley 28a, to rotate. As a result, the second arm 22, integral with the second rotating shaft 28, rotates about the axis of rotation center P2 relative to the first arm 21. Furthermore, the rotational position of the second arm 22 is maintained by servo control of the second drive unit 32 (electric motor). The drive timing of the second drive unit 32 may or may not be the same as the drive timing of the first drive unit 31.

[0049] Furthermore, the rotational amount of pulley 28a relative to the rotational amount of pulley 32b is set based on the ratio of the diameters of pulley 32b and pulley 28a. Therefore, by making the diameter of pulley 28a larger than the diameter of pulley 32b, the rotation of pulley 32b can be transmitted to the rotation of pulley 28a in a reduced manner. Therefore, as shown in FIG9, a second reducer 34 can be provided in the second drive unit 32 instead of the second reducer 34, and the function of a reducer can be achieved simply by appropriately setting the diameters of pulley 32b and pulley 28a. Also, a sprocket can be used instead of pulley 32b and pulley 28a, and a ring-shaped chain can be used instead of the transmission belt 36.

[0050] Next, the drive system of the article holding part 23 will be explained. As shown in Figures 9 and 10, the second rotating shaft 28 is cylindrical. Inside the second rotating shaft 28, the support shaft 37 is configured to be inserted through the second rotating shaft 28. The support shaft 37 is fixed to the first arm 21 without rotating around the axis of rotation center P2. That is, even if the second rotating shaft 28 rotates relative to the first arm 21, the support shaft 37 will not rotate relative to the first arm 21.

[0051] A pulley 37a is provided at the upper end of the support shaft 37. The pulley 37a is disposed within the second arm 22. A pulley 29a is provided in the third rotating shaft 29, which is integral with the article holding part 23. The third rotating shaft 29 is rotatably supported by the second arm 22. A ring-shaped transmission belt 38 is strung between the pulley 37a and the pulley 29a, and the rotation of the pulley 37a is transmitted to the pulley 29a through the transmission belt 38.

[0052] When the second drive unit 32 drives the second arm 22 to rotate, as described above, the second arm 22 and the second rotation shaft 28 rotate around the axis of the first arm 21 about the rotation center P2. At this time, since the support shaft 37 is fixed to the first arm 21, the support shaft 37 and the pulley 37a rotate relative to the second arm 22. That is, when the second arm 22 rotates, the second rotation shaft 28 and the support shaft 37 rotate relative to each other. The rotation of the pulley 37a moves the transmission belt 38 (circumferential movement), causing the pulley 29a and the third rotation shaft 29 to rotate. As a result, the article holding part 23, which is integrated with the third rotation shaft 29, rotates around the axis of the second arm 22 about the rotation center P3. That is, the article holding part 23 rotates synchronously with the rotation of the second arm 22.

[0053] The item holding part 23 maintains the rotational position of the second arm 22 relative to the first arm 21. The orientation of the item holding part 23 is set such that, when the first arm 21 and the second arm 22 are rotated until the item OB is received from the shelf 3, the front end of the item holding part 23, viewed from above, can be stored within the notch 3a of the shelf 3 (see Figure 5). The orientation of the item holding part 23 is set according to the rotation ratio of the pulleys 37a and 29a. To achieve the desired rotation ratio of the pulleys 37a and 29a, the diameters of the pulleys 37a and 29a are appropriately set. Alternatively, a sprocket can be used instead of the pulleys 37a and 29a, and a ring-shaped chain can be used instead of the transmission belt 38.

[0054] In this embodiment, the above-described configuration is used to rotate the article holding part 23 relative to the second arm 22, but it is not limited to this configuration. A drive unit, such as an electric motor, can also be used to rotate the article holding part 23. In this case, the drive unit (electric motor, etc.), like the second drive unit 32, can be disposed on the second end 21b side of the first arm 21, and the support shaft 37 is rotated around the axis of the rotation center P2 by a transmission belt, thus rotating the article holding part 23 relative to the second arm 22.

[0055] Furthermore, although the above description explains that the item holding part 23 is moved in the +Y direction to receive the item OB, the same applies when the item holding part 23 is moved in the -Y direction. That is, as shown in FIG2, even when the shelf 3 is arranged on the -Y side of the conveying device 1, the operation of the transfer mechanism 4 is the same as described above when the item OB is received by the shelf 3 on this -Y side. FIG11 is a top view showing another example of the item OB being arranged above the base 20 in the transfer mechanism 4.

[0056] As shown in Figure 11, by positioning the first arm 21 and the second arm 22 at predetermined angles (standby position or item holding position), the item holding part 23 can be positioned above the base 20. At this time, the first arm 21 is rotated 180 degrees from the position shown in Figure 4. The item holding part 23 faces the -Y direction. The item OB is placed on the mounting surface 23a and positioned above the base 20. Furthermore, in the state shown in Figure 11, the transport device 1 can move in the X direction via the traveling trolley 5, and the transfer mechanism 4 can be raised and lowered.

[0057] Figure 12 is a top view showing another example of receiving and accepting item OB in the transfer mechanism 4. As shown in Figure 12, by driving the first drive unit 31 and the second drive unit 32, and by positioning the first arm 21 and the second arm 22 at predetermined angle positions (receiving positions), the item holding part 23 can be moved in the -Y direction and inserted above or below the shelf 3. The operation of receiving and accepting item OB in the shelf 3 is the same as the description regarding Figures 4 and 5 above. Thus, the transfer mechanism 4 of this embodiment can receive and accept item OB in the shelf 3 on both the +Y and -Y sides respectively.

[0058] Figure 13 is a view of the base 20 from the rear side. As shown in Figure 13, in the horizontal portion 20a of the base 20, the first drive unit 31 is provided at the front end of the horizontal portion 20a (opposite to the vertical portion 20b). On the other hand, no drive unit or the like is provided in the horizontal portion 20a on the side opposite to the first drive unit 31 on the first rotation axis 27. Although the space in this part can achieve the weight reduction of the base 20, if the item OB is heavy, the rigidity of the base 20 (especially the horizontal portion 20a) may be insufficient.

[0059] Therefore, in the horizontal portion 20a of the base 20, between the first drive unit 31 and the column 6, a rib 41 is provided along the vertical direction. In this embodiment, in the horizontal portion 20a, a plurality of ribs 41 are provided in the space between the first rotation axis 27 and the vertical portion 20b. The load of the article OB, etc., acts on the first rotation axis 27. Therefore, the ribs 41 are designed to extend in the X direction, Y direction, the direction combining the X and Y directions, and the curved direction surrounding the first rotation axis 27, taking into account the case of a large load acting on the first rotation axis 27. By providing ribs 41 in the base 20, the base 20 can be lightweight and its rigidity can be improved. Furthermore, the shape of the rib 41 shown in FIG13 is only one example; the shape of the rib 41 is arbitrary as long as it can improve the rigidity of the base 20.

[0060] Thus, according to this embodiment, since the second drive unit 32 is located on the second end 21b side of the first arm 21 as viewed from the rotation center P1 of the first arm 21 and offset from the rotation track R2 of the second arm 22, interference between the second arm 22 and the second drive unit 32 during rotation can be avoided. Therefore, a vertically thin transfer mechanism 4 can be achieved without expanding the vertical spacing between the first arm 21 and the second arm 22. Furthermore, since the second drive unit 32 is located on the first arm 21, the base 20 can be kept from becoming too large.

[0061] While embodiments of the present invention have been described above, the scope of the present invention is not limited to the embodiments described above. Those skilled in the art can obviously make various modifications or improvements to the above embodiments. Furthermore, forms with such modifications or improvements are also included within the scope of the present invention. One or more of the elements described in the above embodiments may be omitted. Furthermore, the elements described in the above embodiments may be suitably combined. Further, to the extent permitted by law, the disclosure of Japanese Patent Application No. 2022-153344 and all of the above embodiments is incorporated herein by reference.

[0062] In the above embodiments, although the example given is that the first drive unit 31 is disposed on the base 20, it is not limited to this configuration. For example, the first drive unit 31 may also be disposed on the first arm 21. In this case, the first drive unit 31 may also be disposed on the second end 21b side of the first arm 21, similar to the second drive unit 32, and housed together with the second drive unit 32 within the outer casing 25.

[0063] While the above embodiments illustrate an example of the storage device 2 having one conveying device 1, this is not a limitation. For example, the storage device 2 may have two or more conveying devices 1. Furthermore, while the above embodiments illustrate an example of the conveying device 1 and the shelf 3 of the storage device 2 being installed on the floor F, this is not a limitation. One or both of the conveying device 1 and the shelf 3 may be suspended from the ceiling C.

[0064] OB: Items P1, P2, P3: Centers of rotation 1: Transport device 2: Storage device 3: shed 4: Transfer mechanism 5: Traveling trolley 6: column 20:Abutment 21: First Arm 21a: First end (one end) 21b: Second end (the other end) 21c: Upper surface 22: Second Arm 22a: Base end 22b: Front end 22c: Upper surface 22d: Lower surface 23: Item Storage Department 23a: Placement surface 25: Outer Cover 25a: Upper surface 27: First Rotation Axis 28: Second Rotation Axis 29: Third Rotation Axis 27a, 28a, 29a, 31b, 32b, 37a: Pulleys 31: First Drive Unit 32: Second Drive Unit 32c: Top surface 33: First reducer 34: Second reducer 35, 36, 38: Belt conveyor 41: Rib

Claims

1. A conveying device comprising: a traveling trolley, a column erected on the traveling trolley, and a transfer mechanism disposed on the column for transferring articles, the transfer mechanism comprising: a base that moves up and down along the column, a first arm rotatably supported on the base, a second arm rotatably supported on the first arm, an article holding portion that holds articles and is supported on the second arm, a first drive portion that rotates the first arm, and a second drive portion that rotates the second arm, the rotation center of the second arm being disposed at one end of the first arm viewed from the rotation center of the first arm, and the second drive portion being disposed on the upper surface of the first arm such that at least a portion of its height position overlaps with the height position of the second arm and is disposed at the other end of the first arm viewed from the rotation center of the first arm and deviated from the rotation track of the second arm.

2. A conveying device comprising: a traveling trolley, a column erected on the traveling trolley, and a transfer mechanism disposed on the column for transferring articles, the transfer mechanism comprising: a base that moves up and down along the column, a first arm rotatably supported on the base, a second arm rotatably supported on the first arm, an article holding portion that holds an article and is supported on the second arm, a first drive portion that rotates the first arm, and a second drive portion that rotates the second arm, the article holding portion having a mounting surface for placing an article, the rotation center of the second arm being disposed at one end of the first arm viewed from the rotation center of the first arm, the second drive portion having an upper surface lower than the mounting surface of the article holding portion, being disposed on the upper surface of the first arm and at the other end of the second drive portion viewed from the rotation center of the first arm, and being offset from the rotation track of the second arm.

3. A conveying device comprising: a traveling trolley, a column erected on the traveling trolley, and a transfer mechanism disposed on the column for transferring articles, the transfer mechanism comprising: a base that moves up and down along the column, a first arm rotatably supported on the base, a second arm rotatably supported on the first arm, an article holding part that holds articles and is supported on the second arm, a first drive unit that rotates the first arm, a second drive unit that rotates the second arm, and a first speed reducer that transmits rotational deceleration from the first drive unit to the first arm, the first drive unit and the first speed reducer being disposed below the first arm, and the rotation center of the second arm being disposed at one end of the first arm viewed from the rotation center of the first arm. The aforementioned second drive unit is located on the upper surface of the aforementioned first arm, at the other end side as viewed from the rotation center of the aforementioned first arm, and at a position offset from the rotation track of the aforementioned second arm.

4. A conveying device comprising: a traveling trolley, a column erected on the traveling trolley, and a transfer mechanism disposed on the column for transferring articles, the transfer mechanism comprising: a base that moves up and down along the column, a first arm rotatably supported on the base, a second arm rotatably supported on the first arm, an article holding part that holds an article and is supported on the second arm, a first drive part that rotates the first arm, and a second drive part that rotates the second arm, the rotation center of the second arm being disposed at one end of the first arm viewed from the rotation center of the first arm, the second drive part being disposed on the upper surface of the first arm at the other end viewed from the rotation center of the first arm and at a position offset from the rotation track of the second arm, and the article holding part rotating synchronously with the rotation of the second arm.

5. The conveying device as described in any of claims 1 to 4, wherein, The upper surface of the aforementioned second drive unit is higher than the lower surface of the aforementioned second arm.

6. The conveying device as described in any of the requests 1, 3, and 4, wherein, The aforementioned article holding part has a mounting surface for placing articles, and the upper surface of the aforementioned second driving part is lower than the aforementioned mounting surface of the aforementioned article holding part.

7. The conveying device as claimed in claim 6, wherein, The aforementioned second drive unit is stored inside the outer cover of the aforementioned first arm, and the upper surface of the aforementioned outer cover is lower than the aforementioned mounting surface.

8. A conveying device as described in any of claims 1 to 4, wherein, The aforementioned transfer mechanism further includes a second reducer, which is located near the aforementioned second drive unit and reduces the rotational speed transmitted from the aforementioned second drive unit to the aforementioned second arm.

9. A conveying device as described in any of the requests 1, 2, and 4, wherein, The aforementioned transfer mechanism further includes a first reducer, which reduces the rotational speed of the aforementioned first drive unit to the aforementioned first arm. The aforementioned first drive unit and the aforementioned first reducer are located below the aforementioned first arm.

10. The conveying device as claimed in claim 9, wherein, The aforementioned first drive unit and the aforementioned first reducer are located in the aforementioned base at a position separated from the aforementioned column.

11. The conveying device as claimed in claim 10, wherein, The aforementioned base has ribs along the vertical direction between the aforementioned first drive unit and the aforementioned column.

12. A conveying device as described in any of claims 1 to 4, wherein, The aforementioned transfer mechanism can transfer items to the left and right sides of the aforementioned traveling trolley in the direction of travel.

13. The conveying device as described in any of claims 1 to 3, wherein, The aforementioned item holding part rotates in sync with the rotation of the aforementioned second arm.

14. A storage device comprising: a storage shed for storing articles, and a transport device for transferring articles between the storage shed and any one of claims 1 to 13.

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