Item lifting device

Abstract

The present invention relates to an article lifting device, which comprises a gripping portion for gripping an article, a supporting portion for supporting the gripping portion, and a lifting portion for moving the supporting portion up and down, the supporting portion comprising an elastic supporting mechanism and a locking mechanism, the elastic supporting mechanism comprising a supporting body for movably supporting the gripping portion in an up-and-down direction, and an elastic body which is arranged between the supporting body and the gripping portion and can be elastically deformed, the locking mechanism comprising a switching portion, which switches the state of the locking mechanism into a locked state for restricting the movement of the gripping portion and a locked released state for allowing the movement of the gripping portion, the switching portion being configured such that: as the supporting portion moves from a reference position, the state of the locking mechanism is switched into a locked state, and as the supporting portion reaches the reference position, the state of the locking mechanism is switched into a locked released state.

Description

Technical Field

[0001] The present invention relates to an article lifting device, which comprises a gripping part for gripping an article, a supporting part for supporting the gripping part, and a lifting part for lifting and lowering the supporting part relative to a base. Background Art

[0002] As such an article lifting device, for example, a device described in Japanese Patent Gazette No. 2016-094263 (Patent Document 1) is known. Hereinafter, in the description of the background technology, the symbols or names written in parentheses are the symbols or names in the prior art documents. The article lifting device described in Patent Document 1 is equipped on an article transport vehicle 1, and comprises: a support body (bottom portion 31a), which supports the gripping portion so as to be freely movable in the up-down direction; and an elastic body (buffer body 36), which is arranged between the support body and the gripping portion and can be elastically deformed in the up-down direction. In this way, the elastic body is arranged between the support body and the gripping portion, so that when the article transport vehicle is traveling, the vibration generated at the base is absorbed by the elastic portion, thereby suppressing the vibration from being transmitted to the article gripped by the gripping portion. Summary of the invention

[0003] In the case where the article lifting device mentioned above lifts and lowers the support body by the lifting part and moves the article to the target position, it is sometimes required to accurately move the article to the target position. However, in the article lifting device mentioned above, an elastic body that is elastically deformed is used to suppress the vibration transmitted to the article, so that the gripping part is relatively movable in the up-down direction relative to the supporting part. Therefore, especially with respect to the position in the up-down direction, the accuracy of the stopping position of the article is sometimes lower than the stopping accuracy required for the target position.

[0004] Therefore, it is desired to realize an article lifting and lowering device that can accurately move the article to a target position while suppressing vibration transmitted to the article.

[0005] The article lifting device involved in the present disclosure is characterized in that it comprises a gripping portion for gripping an article, a supporting portion supporting the gripping portion, and a lifting portion for lifting and lowering the supporting portion relative to a base portion, the supporting portion comprising an elastic supporting mechanism and a locking mechanism, the elastic supporting mechanism comprising a supporting body that movably supports the gripping portion in an up-and-down direction, and an elastic body that is arranged between the supporting body and the gripping portion and can be elastically deformed in an up-and-down direction, the locking mechanism comprising a switching portion, which switches the state of the locking mechanism into a locked state that restricts the movement of the gripping portion in an up-and-down direction relative to the supporting body and a locked released state that allows the movement of the gripping portion in an up-and-down direction relative to the supporting body, the switching portion being configured to: as the supporting portion moves from a reference position through the lifting portion, the state of the locking mechanism is switched from the locked released state to the locked state, and as the supporting portion reaches the reference position through the lifting portion, the state of the locking mechanism is switched from the locked state to the locked released state.

[0006] According to this characteristic configuration, the support portion is moved to the reference position by the lifting portion, so that the state of the locking mechanism can be switched from the locked state to the unlocked state by the switching portion. In the unlocked state, the movement of the gripping portion in the up-and-down direction relative to the support body is allowed, thereby suppressing the vibration generated in the base from being transmitted to the gripping portion via the lifting portion or the support portion, thereby reducing the vibration transmitted to the article supported by the gripping portion. In addition, the support portion is moved from the reference position by the lifting portion, so that the state of the locking mechanism can be switched from the unlocked state to the locked state by the switching portion. In the locked state, the movement of the holding portion in the up-and-down direction relative to the support body is restricted. Therefore, in the case where the support portion is moved from the reference position by the lifting portion and the article is stopped at the target position, the stopping accuracy of the article in the up-and-down direction can be ensured to a high degree. In this way, according to this configuration, the vibration transmitted to the article can be suppressed as needed, while the article is correctly moved to the target position.

[0007] Moreover, according to this configuration, the switching of the locking mechanism from the unlocked state to the locked state is performed as the support part moves from the reference position via the lifting part, and the switching of the locking mechanism from the locked state to the unlocked state is performed by the support part reaching the reference position via the lifting part. That is, the switching of the locking mechanism can be performed by lifting and moving the support part via the lifting part. Therefore, it is not necessary to provide a dedicated drive part for switching the locking mechanism. Therefore, there is also an advantage that the complexity of the structure of the article lifting device can be suppressed. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a side view showing the article transport vehicle with the support portion in the raised position.

[0009] Figure 2 It is a side view showing the article transport vehicle with the support portion in the lowered position.

[0010] Figure 3 It is a side view of the article transport vehicle.

[0011] Figure 4 It is a top view of the support portion.

[0012] Figure 5 It is a side view of the gripping part and the switching part.

[0013] Figure 6 It is an exploded perspective view of the switching unit.

[0014] Figure 7 It is a side view showing a state in which the lock mechanism is switched to the unlocked state.

[0015] Figure 8 It is a side view showing a state where the lock mechanism is switched to the locked state.

[0016] Fig. 9 This is a side view showing a state in which the lock mechanism according to another embodiment is switched to the unlocked state.

[0017] Fig.10 This is a side view showing a state in which the lock mechanism according to another embodiment is switched to the lock state. DETAILED DESCRIPTION

[0018] 1. First Implementation Method

[0019] An embodiment of an article transport vehicle having an article lifting device will be described based on the accompanying drawings. Figures 1 to 3 As shown, the article transport vehicle 1 includes: a travel portion 3 that travels on a travel rail 2 suspended from a ceiling and along the travel rail 2; and a main body 4 that is located below the travel rail 2 and supports the article W. The article transport vehicle 1 travels along the travel rail 2 and thus travels along a travel path. In addition, the direction along the travel path is referred to as a travel direction, and the direction orthogonal to the travel direction when viewed in the up-down direction along the up-down direction Z is referred to as a width direction.

[0020] The main body 4 of the article transport vehicle 1 is provided with an article lifting device 5 for lifting and moving the article W. In the article transport vehicle 1, the article lifting device 5 supports the article W in a travel position ( Figure 1The article transport vehicle 1 is configured to transport the article W from a transport starting point (not shown) to a support table 7 by the travel of the travel unit 3 and the lifting and lowering of the article W by the article lifting and lowering device 5. The article transport vehicle 1 is configured to transport the article W from a transport starting point (not shown) to a support table 7 by the travel of the travel unit 3 and the lifting and lowering of the article W by the article lifting and lowering device 5. The article transport vehicle 1 is configured to transport the article W from the support table 7 to a transport destination (not shown). In the embodiment, the support table 7 is provided at a position adjacent to a processing device 8 for processing the article W.

[0021] In this embodiment, the object W is a container that can hold a content. Specifically, a substrate such as a semiconductor wafer is used as a content. In this embodiment, the object W is a FOUP (Front Opening Unified Pod) that can hold multiple substrates. If additional instructions are given, Figure 3 As shown, the article W comprises: a flange portion 11, which is provided at the upper end portion of the article W and is supported by the article lifting device 5 of the article transport vehicle 1; a container body 12, which is located below the flange portion 11 and accommodates multiple substrates; and a cover body (not shown) that can be loaded and unloaded and which closes a substrate entrance and exit formed on the front surface of the container body 12 for entering and exiting substrates.

[0022] (Travel Department)

[0023] The travel unit 3 includes a first travel mechanism 3F and a second travel mechanism 3R arranged side by side in the travel direction. The first travel mechanism 3F is arranged on the front side of the second travel mechanism 3R in the travel direction. Moreover, each of the first travel mechanism 3F and the second travel mechanism 3R is connected to the main body 4 in a state of being freely rotatable around a longitudinal axis along the up-down direction Z.

[0024] The first travel mechanism 3F includes travel wheels 15 that rotate on a travel surface formed by an upper surface facing the upper side Z1 of the travel rail 2, and a travel motor 16 that rotationally drives the travel wheels 15. The second travel mechanism 3R also includes travel wheels 15 and a travel motor 16 similarly to the first travel mechanism 3F. The article transport vehicle 1 is configured to travel along a travel path by rotating the travel wheels 15 of the first travel mechanism 3F and the travel wheels 15 of the second travel mechanism 3R by the travel motor 16.

[0025] (Main body)

[0026] The main body 4 is equipped with: an article lifting device 5, which enables the article W to be lifted and lowered relative to the traveling portion 3; a sliding operating device 18, which enables the article lifting device 5 to slide in the width direction relative to the traveling portion 3; and a cover body 19, which covers the upper side Z1 of the article W supported by the article lifting device 5 and both sides of the traveling direction.

[0027] The slide operation device 18 includes: a transfer portion 21 supported by the traveling portion 3 so as to slide freely in the width direction relative to the traveling portion 3; and a slide motor (not shown) for sliding the transfer portion 21 in the width direction. The slide operation device 18 is configured to slide the transfer portion 21 in the width direction relative to the traveling portion 3 by driving the slide motor, thereby moving the article lifting device 5 supported by the transfer portion 21 in the width direction.

[0028] (Item lifting device)

[0029] Next, the article lifting device 5 is described. The article lifting device 5 includes: a gripping portion 26 that grips the article W; a supporting portion 27 that supports the gripping portion 26; and a lifting portion 28 that moves the supporting portion 27 up and down relative to the transfer portion 21. Figure 4 and Figure 5 As shown, the support portion 27 includes an elastic support mechanism 31 and a locking mechanism 32. The elastic support mechanism 31 includes: a support body 33 that supports the gripping portion 26 movably along the vertical direction Z; and an elastic body 34 that is arranged between the support body 33 and the gripping portion 26 and can be elastically deformed along the vertical direction Z. The locking mechanism 32 includes a switching portion 35 that switches the state of the locking mechanism 32 to the following: a locked state, such as Figure 8 As shown in the limit grip portion 26 relative to the support body 33 in the vertical direction Z movement; and the lock release state, such as Figure 7 The grip portion 26 is allowed to move in the up-down direction Z relative to the support body 33. In the present embodiment, the intermediate portion 21 corresponds to the base.

[0030] like Figure 3 As shown, the lifting unit 28 includes: a belt 37 that suspends and supports the support unit 27; a pulley 38 that winds up the belt 37; and a lifting motor 39 that rotates the pulley 38 to wind up and gradually release the belt 37. The lifting motor 39 and the pulley 38 are supported by the transfer unit 21. Moreover, the lifting unit 28 rotates the pulley 38 in the positive direction by the lifting motor 39, so that the pulley 38 gradually releases the belt 37, and the support unit 27 moves to the lower side Z2. In addition, the pulley 38 is rotated in the reverse direction by the lifting motor 39, so that the pulley 38 winds up the belt 37, and the support unit 27 moves to the upper side Z1. In this way, the support unit 27 is lifted and moved, so that the gripping unit 26 supported by the support unit 27 and the article W gripped by the gripping unit 26 are lifted and moved together with the support unit 27.

[0031] like Figure 4As shown, the support portion 27 includes: a housing portion 41; a connecting portion 42, which is fixed to the housing portion 41 and connected to the end of the lower side Z2 of the belt 37; and a pair of movable portions 43, which are supported by the housing portion 41 so as to be freely movable in the horizontal direction. In this embodiment, the support body 33 is formed by a pair of movable portions 43, and the pair of movable portions 43 are supported by the housing portion 41 so as to be freely movable along the first direction X. If it is to be explained in addition, a guide rail 44 is provided in the housing portion 41 along the first direction X, and a guide block 45 (see FIG. 4 ) which is guided by the guide rail 44 along the travel direction is fixed to each of the pair of movable portions 43. Figure 5 ). The guide block 45 is guided by the guide rail 44, so that Figure 4 As shown by arrows in the figure, each of the pair of moving parts 43 moves along the first direction X. In addition, in the present embodiment, the first direction X is the same direction as the traveling direction. In addition, a direction orthogonal to the first direction X when viewed in the up-down direction is sometimes referred to as a second direction Y.

[0032] like Figure 3 and Figure 4 As shown, the gripping portion 26 includes a pair of gripping claws 47. Figure 5 As shown, each of the pair of gripping claws 47 includes: a guided portion 48, which is guided along the up-down direction Z on the support portion 27; and an engaging portion 49, which engages with the article W. In the present embodiment, the engaging portion 49 is located at the lower side Z2 than the support portion 27, and the guided portion 48 is located at the upper side Z1 than the moving portion 43 of the support portion 27. The guided portion 48 is supported by the support portion 27 so as to be freely movable along the up-down direction Z. In the present embodiment, an elastic body 34 is provided between the guided portion 48 and the moving portion 43. In the example shown in the figure, the elastic body 34 is composed of a coil spring. In addition, the elastic body 34 may also be various springs or rubbers other than the coil spring. In this way, the elastic body 34 is provided between the guided portion 48 and the moving portion 43, so that the guided portion 48 is elastically supported by the moving portion 43 via the elastic body 34. In addition, the moving portion 43 includes a guide pin 51 protruding toward the upper side Z1, and the guided portion 48 includes an insertion through portion 52 through which the guide pin 51 is inserted in the vertical direction Z. These guide pins 51 and the insertion through portion 52 function as a guide mechanism that restricts the horizontal movement of the guided portion 48 relative to the moving portion 43 and guides the guided portion 48 relative to the moving portion 43 in the vertical direction Z. Therefore, the gripping portion 26 moves integrally with the moving portion 43 in the first direction X, but can move relative to the moving portion 43 in the vertical direction Z.

[0033] like Figure 4As shown, the article lifting device 5 is equipped with a moving device 54 that moves the pair of gripping claws 47 in the directions opposite to each other, so that the pair of gripping claws 47 approach or separate. In this embodiment, the moving device 54 includes: a threaded shaft 55 that is threadedly engaged with the pair of moving parts 43; and a gripping motor 56 that rotates the threaded shaft 55. And it is configured so that the pair of gripping claws 47 approach or separate from each other by rotating the threaded shaft 55 by the gripping motor 56. The pair of gripping claws 47 are brought closer to each other by the moving device 54, so that the gripping part 26 is in a gripping state in which the pair of gripping claws 47 grip the flange part 11 of the article W, and the pair of gripping claws 47 are separated from each other by the moving device 54, so that the gripping part 26 is in a gripping release state in which the pair of gripping claws 47 release the gripping of the flange part 11. In this manner, the moving device 54 switches the gripping portion 26 between the gripping state and the gripping released state.

[0034] When the article transport vehicle 1 transports the article W from the support platform 7 to any transport destination, the article transport vehicle 1 causes the travel portion 3 to travel to a position corresponding to the support platform 7 while the article W is supported on the support platform 7 and the article W is not gripped by the gripping portion 26. Subsequently, the article transport vehicle 1 causes the support portion 27 of the article lifting device 5 to move from the raised position P1 ( Figure 1 The position shown in the figure) is lowered to the lowered position P2 ( Figure 2 Then, the article transport vehicle 1 switches the gripping claw 47 from the gripping release state to the gripping state with the support platform 7 at the lowered position P2, and the gripping portion 26 grips the article W, and then the support portion 27 is raised to the raised position P1 by the lifting portion 28. In this way, the support portion 27 is raised to the raised position P1, so that the article W gripped by the gripping portion 26 is located at the travel position. The article transport vehicle 1 travels on the travel rail 2 with the support portion 27 at the raised position P1.

[0035] In addition, when the article W is transported from any of the transport starting points to the support platform 7, the travel unit 3 is moved to a position corresponding to the support platform 7 in a state where the article W is not supported on the support platform 7 and the article W is gripped by the gripping unit 26. Subsequently, the article transport vehicle 1 lowers the support unit 27 of the article lifting device 5 from the raised position P1 to the lowered position P2 corresponding to the height of the support platform 7 by the lifting unit 28. In this way, the support unit 27 is lowered to the lowered position P2, so that the article W is supported by the support platform 7. Then, in a state where the support platform 7 is located at the lowered position P2, the article transport vehicle 1 switches the gripping claw 47 from the gripping state to the gripping release state, releases the gripping of the article W by the gripping unit 26, and then raises the support unit 27 to the raised position P1 by the lifting unit 28.

[0036] Accordingly, the gripping portion 26 is configured to grip or release the article W when the support portion 27 is lowered to the lowered position P2 by the lifting portion 28, and to maintain the gripping state in order to convey the article W when the support portion 27 is raised to the raised position P1 by the lifting portion 28.

[0037] (Switch section)

[0038] Next, the switching unit 35 of the locking mechanism 32 will be described. The switching unit 35 is configured such that the support unit 27 moves from the reference position P (see FIG. 1 ) to the reference position P (see FIG. 1 ) as the support unit 27 passes through the lifting unit 28. Figure 3 ) moves, switches the state of the locking mechanism 32 from the unlocked state to the locked state, and switches the state of the locking mechanism 32 from the locked state to the unlocked state as the support portion 27 passes through the lifting portion 28 and reaches the reference position P. In addition, in the present embodiment, the reference position P is set to the ascending position P1. That is, the switching portion 35 is configured to switch the state of the locking mechanism 32 from the unlocked state to the locked state as the support portion 27 descends from the ascending position P1 through the lifting portion 28, and switches the state of the locking mechanism 32 from the locked state to the unlocked state as the support portion 27 passes through the lifting portion 28 and reaches the ascending position P1.

[0039] like Figure 2 and Figure 3 As shown, the transfer part 21 (base) is provided with a fixed operation part 61. The fixed operation part 61 is provided on the transfer part 21 in a state of protruding toward the locking mechanism 32. In the present embodiment, when the support part 27 is in the state of being in the raised position P1, the locking mechanism 32 provided on the support part 27 is located at the lower side Z2 relative to the transfer part 21, and the fixed operation part 61 is provided on the transfer part 21 in a state of protruding toward the lower side Z2. Moreover, as the support part 27 reaches the raised position P1, as shown in FIG. Figure 7 As shown, the fixing operation part 61 contacts the switching part 35. As a result, the switching part 35 switches the locking mechanism 32 from the locked state to the unlocked state. Figure 8 As shown, the fixing operation portion 61 is disengaged from the switching portion 35. Thus, the switching portion 35 switches the lock mechanism 32 from the unlocked state to the locked state.

[0040] If the switching unit 35 is additionally described, Figure 5As shown, the switching part 35 includes: a locked body 62 fixed to the grip part 26; a locking body 63 supported by the support body 33; and an operating mechanism 64 supported by the support body 33 and operating the locking body 63. In the present embodiment, the locked body 62 is supported by the guided portion 48 of the grip part 26 so as to move integrally with the grip part 26. In addition, the locking body 63 and the operating mechanism 64 are supported by the moving part 43 so as to move integrally with the moving part 43. As such, the locked body 62 is supported by the grip part 26, and the locking body 63 and the operating mechanism 64 are supported by the moving part 43, so that as the grip part 26 and the moving part 43 move integrally in the first direction X, the locked body 62, the locking body 63, and the operating mechanism 64 move integrally in the first direction X, and as the grip part 26 and the moving part 43 move relatively in the up-down direction Z, the locked body 62, the locking body 63, and the operating mechanism 64 move relatively in the up-down direction Z.

[0041] like Figure 7 and Figure 8 As shown, the locking body 63 moves to a limiting position that limits the movement of the locked body 62 in the vertical direction Z (see Figure 8 ), so that the locking mechanism 32 becomes locked, and the locking body 63 moves to a permissible position that allows the locked body 62 to move in the vertical direction Z (refer to Figure 7 ), so that the locking mechanism 32 is in the unlocked state. If additional explanation is given, as the switching portion 35 contacts the fixed operating portion 61, the locking body 63 moves to the permissible position (see Figure 7 ), the locking mechanism 32 is in the unlocked state. In this unlocked state, the locked body 62 is allowed to move in the vertical direction Z relative to the locking body 63. Thus, the gripping portion 26 is allowed to move in the vertical direction Z relative to the moving portion 43. In addition, as the fixing operation portion 61 is disengaged from the switching portion 35, the locking body 63 is moved to the restricted position (see Figure 8 ), the locking mechanism 32 is in a locked state. In this locked state, the locked body 62 is restricted from moving in the vertical direction Z relative to the locking body 63. Thus, the movement of the gripping portion 26 in the vertical direction Z relative to the moving portion 43 is restricted.

[0042] The operating mechanism 64 operates the locking body 63 by the relative movement of the support body 33 in the up-down direction Z relative to the fixed operating part 61. In addition, the operating mechanism 64 includes a conversion mechanism 65, which converts the relative movement of the support body 33 in the up-down direction Z relative to the fixed operating part 61 into the movement of the locking body 63 between the restricted position and the allowed position. The conversion mechanism 65 includes: a lever part 68, which swings by contacting with the fixed operating part 61; and a gear mechanism 69, which rotates with the swing of the lever part 68. The locking body 63 is composed of an engaging body 73 that rotates integrally with the gear mechanism 69. In the present embodiment, the locking body 63 is composed of a plurality of engaging bodies 73. In the illustrated example, the locking body 63 is composed of two engaging bodies 73, a first engaging body 73A and a second engaging body 73B.

[0043] The locked body 62 includes an engaged portion 72 engaged with an engaging body 73. In the present embodiment, the locked body 62 includes a plurality of engaged portions 72. In the illustrated example, the locked body 62 includes two engaged portions 72, namely, a first engaged portion 72A engaged with a first engaging body 73A and a second engaged portion 72B engaged with a second engaging body 73B. In the present embodiment, the locked body 62 includes a through hole 74 extending in the first direction X, and the engaged portion 72 is formed by a portion of the through hole 74. In the through hole 74, a movement allowing portion 74A, which is a portion where the engaged portion 72 is not formed, is formed larger in the up-down direction Z than a portion where the engaged portion 72 is formed. More specifically, the engaged portion 72 is formed with a width in the vertical direction Z that is equal to (or slightly larger than) the length (here, diameter) of the engaging body 73 in the vertical direction Z, and the movement-permitting portion 74A is formed with a width in the vertical direction Z that is sufficiently larger (for example, more than twice) than the length (here, diameter) of the engaging body 73 in the vertical direction Z. Therefore, when the engaging body 73 is located in the engaged portion 72 of the through hole 74, the movement of the engaged portion 72 relative to the engaging body 73 in the vertical direction Z is restricted, but when the engaging body 73 is located in the movement-permitting portion 74A that is disengaged from the engaged portion 72 of the through hole 74, the movement of the engaged portion 72 relative to the engaging body 73 in the vertical direction Z is permitted. In the present embodiment, the locked body 62 includes a through hole 74 through which the first engaging body 73A is inserted, and a through hole 74 through which the second engaging body 73B is inserted. In the through hole 74 through which the first engaging body 73A is inserted, a first engaged portion 72A is formed on the first side Y1 in the second direction relative to the movement allowing portion 74A. In the through hole 74 through which the second engaging body 73B is inserted, a second engaged portion 72B is formed on the second side Y2 in the second direction relative to the movement allowing portion 74A. Furthermore, the through hole 74 through which the second engaging body 73B is inserted is arranged on the second side Y2 in the second direction relative to the through hole 74 through which the first engaging body 73A is inserted.

[0044] The engaging body 73 moves from a restricted position engaged with the engaged portion 72 to an allowed position disengaged from the engaged portion 72 by the rotation of the gear mechanism 69 toward the first rotation direction side R1, and moves from the allowed position to the restricted position by the rotation of the gear mechanism 69 toward the second rotation direction side R2 which is the side opposite to the first rotation direction side R1.

[0045] The gear mechanism 69 includes a first gear 75 that rotates around the swing axis of the lever portion 68, a second gear 76 that meshes with the first gear 75, a third gear 77 that rotates integrally with the second gear 76 around the rotation axis of the second gear 76, and a fourth gear 78 that meshes with the third gear 77. In the present embodiment, the lever portion 68 is arranged to extend from the swing axis toward the second direction first side Y1 that is one side of the second direction Y. The second gear 76 and the third gear 77 are arranged on the second direction second side Y2 that is the side opposite to the second direction first side Y1 with respect to the first gear 75, and the fourth gear 78 is arranged on the second direction second side Y2 with respect to the second gear 76 and the third gear 77.

[0046] The lever portion 68 is formed in a Y-shaped configuration with the tip portion being divided into a first portion 68A and a second portion 68B. The lever portion 68 is configured to be able to change its posture to a standing posture in which the first portion 68A and the second portion 68B are arranged side by side in the second direction Y by swinging around the swing axis (see Figure 8 ), and a falling posture in which the standing posture falls toward the first side Y1 in the second direction (refer to Figure 7 ). Here, it is appropriate that the direction in which the first part 68A and the second part 68B are arranged side by side in the standing posture is a direction inclined relative to the second direction Y. In the illustrated example, the direction is a direction inclined in the direction toward the upper side as it moves toward the second direction second side Y2. When the support body 33 moves toward the upper side Z1 toward the rising position P1, the fixed operating part 61 is inserted between the first part 68A and the second part 68B in the lever part 68 in the standing posture, and then the support body 33 rises toward the rising position P1, so that the first part 68A is pushed toward the lower side Z2 by the fixed operating part 61, and the posture of the lever part 68 swings from the standing posture to the overturned posture. In addition, when the support body 33 moves from the rising position P1 to the lower side Z2, the second part 68B is pushed toward the upper side Z1 by the fixed operating part 61, so that the posture of the lever part 68 swings from the overturned posture to the standing posture. As a result, when the lever portion 68 is swung to the standing position, the support body 33 further moves to the lower side Z2, and the fixed operation portion 61 is separated from between the first portion 68A and the second portion 68B.

[0047] like Figure 7As shown in FIG. 1 , as the lever portion 68 changes its posture from the upright posture to the overturned posture, the gear mechanism 69 rotates toward the first rotation direction side R1, as shown in FIG. Figure 8 As shown, as the lever portion 68 changes its posture from the overturned posture to the upright posture, the gear mechanism 69 rotates toward the second rotation direction side R2. Figure 7 and Figure 8 , then along with the lever portion 68 changing its posture from the standing posture to the overturned posture, such as Figure 7 As shown in FIG. 1 , the first gear 75 and the fourth gear 78 rotate counterclockwise, and the second gear 76 and the third gear 77 rotate clockwise. Figure 8 As shown, the first gear 75 and the fourth gear 78 rotate in the clockwise direction, and the second gear 76 and the third gear 77 rotate in the counterclockwise direction. That is, with respect to the first gear 75 and the fourth gear 78, the counterclockwise direction is the first rotation direction side R1, and the clockwise direction is the second rotation direction side R2. In addition, with respect to the second gear 76 and the third gear 77, the clockwise direction is the first rotation direction side R1, and the counterclockwise direction is the second rotation direction side R2.

[0048] Moreover, Figure 6 As shown, the first engaging body 73A is fixed to the second gear 76, and the second engaging body 73B is fixed to the fourth gear 78. In the present embodiment, the first engaging body 73A is fixed to a portion of the second gear 76 that is closer to the upper side Z1 than the rotation axis of the second gear 76. Therefore, by the second gear 76 rotating toward the first rotation direction side R1 (clockwise side), the first engaging body 73A moves toward the second direction second side Y2 and disengages from the first engaged portion 72A, and by the second gear 76 rotating toward the second rotation direction side R2 (counterclockwise side), the first engaging body 73A moves toward the second direction first side Y1 and engages with the first engaged portion 72A. In addition, the second engaged portion 72B is fixed to a portion of the fourth gear 78 that is closer to the upper side Z1 than the rotation axis of the fourth gear 78. Therefore, by rotating the fourth gear 78 toward the first rotation direction side R1 (counterclockwise side), the second engaging body 73B moves toward the second direction first side Y1 and disengages from the second engaged portion 72B, and by rotating the fourth gear 78 toward the second rotation direction side R2 (clockwise side), the second engaging body 73B moves toward the second direction second side Y2 and engages with the second engaged portion 72B.

[0049] As for the switching unit 35, as the support unit 27 is lowered from the raised position P1 by the lifting unit 28, Figure 8As shown, the lever portion 68 becomes an upright position, the gear mechanism 69 rotates to the second rotation direction side R2, the first engaging body 73A engages with the first engaged portion 72A, and the second engaging body 73B engages with the second engaged portion 72B. As a result, the state of the locking mechanism 32 is switched from the unlocked state to the locked state, and the movement of the gripping portion 26 in the up-and-down direction Z relative to the support portion 27 is restricted while the support portion 27 descends to the descending position P2. Therefore, when the article W is lowered by the lifting portion 28 and stopped at the descending position P2 corresponding to the height of the support platform 7, the accuracy of the stopping position of the article W can be ensured to a high degree. In addition, with respect to the switching portion 35, as the support portion 27 reaches the ascending position P1 through the lifting portion 28, Figure 7 As shown, the lever portion 68 is turned over, the gear mechanism 69 rotates toward the first rotation direction side R1, the first engaging body 73A is disengaged from the first engaged portion 72A, and the second engaging body 73B is disengaged from the second engaged portion 72B. As a result, the state of the locking mechanism 32 is switched from the locked state to the unlocked state, and when the article transport vehicle 1 is driven with the support portion 27 at the raised position P1, the movement of the gripping portion 26 in the vertical direction Z relative to the support portion 27 is allowed. Therefore, during the driving of the article transport vehicle 1, the vibration transmitted to the article W can be reduced.

[0050] 2. Second Implementation

[0051] Next, use Fig. 9 and Fig.10 A second embodiment of the article lifting device is described. In this embodiment, the structure of the conversion mechanism 65 is different from that of the first embodiment. Hereinafter, the conversion mechanism 65 involved in this embodiment will be described with the focus on the points that are different from the first embodiment. In addition, the points not specifically described are the same as those of the first embodiment.

[0052] In the present embodiment, in the through hole 74 through which the first engaging body 73A is inserted, a first engaged portion 72A is formed on the second direction second side Y2 relative to the movement allowing portion 74A. In the through hole 74 through which the second engaging body 73B is inserted, a second engaged portion 72B is formed on the second direction first side Y1 relative to the movement allowing portion 74A. Furthermore, the through hole 74 through which the second engaging body 73B is inserted is arranged on the second direction second side Y2 relative to the through hole 74 through which the first engaging body 73A is inserted.

[0053] The conversion mechanism 65 includes: a lever portion 68 that swings around a first swing axis Q1; and a link mechanism 81 that changes its posture as the lever portion 68 swings. The link mechanism 81 includes: a first link body 82 that is connected to the lever portion 68; a second link body 83 that is connected to the first link body 82 and swings around a second swing axis Q2; a third link body 84 that is connected to the second link body 83 and has a first engaging body 73A connected at its top end; and a fourth link body 85 that is connected to the second link body 83 and has a second engaging body 73B connected at its top end.

[0054] Moreover, if Fig. 9 As shown, as the lever portion 68 changes its posture from the standing posture to the falling posture, the lever portion 68 pushes the first link body 82 toward the second direction second side Y2. As the first link body 82 is pushed toward the second direction second side Y2, the second link body 83 swings counterclockwise, the third link body 84 is pushed toward the second direction first side Y1, the first engaging body 73A moves toward the second direction first side Y1 and disengages from the first engaged portion 72A, and the fourth link body 85 is pushed toward the second direction second side Y2, the second engaging body 73B moves toward the second direction second side Y2 and disengages from the second engaged portion 72B.

[0055] In addition, if Fig.10 As shown, as the lever portion 68 changes its posture from the overturned posture to the standing posture, the lever portion 68 pulls the first link body 82 toward the second direction first side Y1. As the first link body 82 is pulled toward the second direction first side Y1, the second link body 83 swings clockwise, the third link body 84 is pulled toward the second direction second side Y2, the first engaging body 73A moves toward the second direction second side Y2 and engages with the first engaged portion 72A, and the fourth link body 85 is pulled toward the second direction first side Y1, the second engaging body 73B moves toward the second direction first side Y1 and engages with the second engaged portion 72B.

[0056] As such, in the second embodiment, regarding the switching portion 35, as the support portion 27 is lowered from the raised position P1 by the lifting portion 28, as shown in FIG. Fig.10 As shown in FIG. 1 , the lever portion 68 is in an upright position, and the link bodies of the link mechanism 81 are pulled, so that the first engaging body 73A engages with the first engaged portion 72A, and the second engaging body 73B engages with the second engaged portion 72B, thereby switching the state of the locking mechanism 32 from the unlocked state to the locked state. In addition, regarding the switching portion 35, as the support portion 27 passes through the lifting portion 28 and reaches the raised position P1, as shown in FIG. Fig. 9As shown, the lever portion 68 is in an overturned position, and the link bodies of the link mechanism 81 are pushed, the first engaging body 73A is disengaged from the first engaged portion 72A, and the second engaging body 73B is disengaged from the second engaged portion 72B, so that the state of the locking mechanism 32 is switched from the locked state to the unlocked state.

[0057] 3. Other Implementation Methods

[0058] Next, other embodiments of the article lifting and lowering device will be described.

[0059] (1) In the first embodiment, the configuration in which the lever portion 68 and the gear mechanism 69 are provided in the conversion mechanism 65 is exemplified, and in the second embodiment, the configuration in which the lever portion 68 and the link mechanism 81 are provided in the conversion mechanism 65 is exemplified. However, the configuration of the conversion mechanism 65 may be appropriately changed. For example, the conversion mechanism 65 may be configured to include: a sliding body to which the engaging body 73 is fixed and which is capable of sliding along the second direction Y; and a biasing body that biases the sliding body toward the second direction first side Y1. Furthermore, the configuration may be such that an inclined surface is formed on the sliding body, and the inclined surface is inclined toward the second direction first side Y1 as it moves toward the lower side Z2. By configuring in this way, it is possible to configure such that the fixed operating portion 61 contacts the inclined surface of the sliding body from the upper side Z1, so that the sliding body moves toward the second direction second side Y2, and the sliding body moves toward the second direction first side Y1 due to the biasing force of the biasing body without the contact of the fixed operating portion 61.

[0060] (2) In the above embodiment, the following configuration is used as an example for explanation: the direction in which the support portion 27 moves relative to the fixed operating portion 61 and the direction in which the locking body 63 moves between the restricted position and the permitted position are different directions. However, the configuration is not limited to this. For example, the following configuration may be used: the locking body 63 is configured to change between the restricted position and the permitted position by moving along the up-down direction Z, and the direction in which the support portion 27 moves relative to the fixed operating portion 61 and the direction in which the locking body 63 moves between the restricted position and the permitted position are the same direction. In the case where the locking body 63 is configured in this way, the conversion mechanism 65 may not be provided.

[0061] (3) In the above embodiment, the following configuration is used as an example: the article lifting device 5 is mounted on the article transport vehicle 1 that travels on the travel rail 2 suspended from the ceiling. However, the configuration is not limited to this. For example, the article lifting device 5 may be mounted on a transport vehicle that travels on the ground, or may be installed in a state where the position is fixed near the ceiling or on the ground.

[0062] (4) In the above embodiment, the following configuration is used as an example for explanation: the reference position P is set to the raised position P1. However, the present invention is not limited to such a configuration, and the reference position P may be set to the lowered position P2. For example, in the following configuration, it is appropriate that the reference position P is set to the lowered position P2: the article lifting device 5 is mounted on a transport vehicle traveling on the ground, and the transport vehicle travels in a state where the support portion 27 is lowered to the lowered position P2 by the lifting portion 28.

[0063] (5) In the above embodiment, the following configuration is described as an example: the fixed operation portion 61 is provided on the intermediate portion 21. However, the configuration is not limited to this. For example, the fixed operation portion 61 may be provided on a portion other than the intermediate portion 21 such as the cover body 19.

[0064] (6) In addition, the configuration disclosed in each of the above-mentioned embodiments can also be combined with the configuration disclosed in other embodiments and applied as long as no contradiction occurs. Regarding other configurations, the embodiments disclosed in this specification are also merely illustrative in all points. Therefore, various changes can be appropriately made within the scope of the purpose of the present disclosure.

[0065] 4. Overview of the above embodiments

[0066] Hereinafter, the outline of the article lifting and lowering device described above will be described.

[0067] The article lifting device comprises a gripping portion for gripping an article, a supporting portion supporting the aforementioned gripping portion, and a lifting portion for lifting and lowering the aforementioned support portion relative to a base portion, the aforementioned support portion comprising an elastic supporting mechanism and a locking mechanism, the aforementioned elastic supporting mechanism comprising a supporting body that movably supports the aforementioned gripping portion in an up-and-down direction, and an elastic body that is arranged between the aforementioned supporting body and the aforementioned gripping portion and can be elastically deformed in an up-and-down direction, the aforementioned locking mechanism comprising a switching portion, which switches the state of the aforementioned locking mechanism into a locked state that restricts the movement of the aforementioned gripping portion in an up-and-down direction relative to the aforementioned support body and a locked released state that allows the movement of the aforementioned gripping portion in an up-and-down direction relative to the aforementioned support body, the aforementioned switching portion being configured to: as the aforementioned support portion moves from a reference position through the aforementioned lifting portion, the state of the aforementioned locking mechanism is switched from the aforementioned locked released state to the aforementioned locked state, and as the aforementioned support portion reaches the aforementioned reference position through the aforementioned lifting portion, the state of the aforementioned locking mechanism is switched from the aforementioned locked state to the aforementioned locked released state.

[0068] According to this configuration, the support portion is moved to the reference position by the lifting portion, so that the state of the locking mechanism can be switched from the locked state to the unlocked state by the switching portion. In this unlocked state, the movement of the gripping portion in the up-and-down direction relative to the support body is allowed, thereby suppressing the vibration generated in the base from being transmitted to the gripping portion via the lifting portion or the support portion, thereby reducing the vibration transmitted to the article supported by the gripping portion. In addition, the support portion is moved from the reference position by the lifting portion, so that the state of the locking mechanism can be switched from the unlocked state to the locked state by the switching portion. In this locked state, the movement of the holding portion in the up-and-down direction relative to the support body is restricted. Therefore, in the case where the support portion is moved from the reference position by the lifting portion and the article is stopped at the target position, the stopping accuracy of the article in the up-and-down direction can be ensured to a high degree. In this way, according to this configuration, the vibration transmitted to the article can be suppressed as needed, while the article is correctly moved to the target position.

[0069] Moreover, according to this configuration, the switching of the locking mechanism from the unlocked state to the locked state is performed as the support part moves from the reference position via the lifting part, and the switching of the locking mechanism from the locked state to the unlocked state is performed by the support part reaching the reference position via the lifting part. That is, the switching of the locking mechanism can be performed by lifting and moving the support part via the lifting part. Therefore, it is not necessary to provide a dedicated drive part for switching the locking mechanism. Therefore, there is also an advantage that the complexity of the structure of the article lifting device can be suppressed.

[0070] Here, it is appropriate that the base portion includes a fixed operating portion, the switching portion includes a locked body fixed to the grip portion, a locking body supported by the supporting body, and an operating mechanism supported by the supporting body and operating the locking body, the locking body moves to a limiting position that limits the movement of the locked body in the up-down direction, whereby the locking mechanism becomes the locked state, the locking body moves to an allowing position that allows the movement of the locked body in the up-down direction, whereby the locking mechanism becomes the unlocked state, and the operating mechanism operates the locking body by relative movement of the supporting body in the up-down direction relative to the fixed operating portion.

[0071] According to this configuration, the operating mechanism moves the locking body to the restricted position by the relative movement of the support portion in the up-down direction relative to the fixed operating portion due to the movement of the support body from the reference position, thereby placing the locking mechanism in a locked state. In addition, the operating mechanism moves the locking body to the restriction release position by the relative movement of the support portion in the up-down direction relative to the fixed operating portion due to the support body reaching the reference position, thereby placing the locking mechanism in a locked state. In this way, according to this configuration, the locking body can be moved to the restricted position and the restriction release position by the operating mechanism by utilizing the relative movement of the support body in the up-down direction relative to the fixed operating portion due to the lifting of the support body. Therefore, the state of the locking mechanism can be appropriately switched without providing a dedicated drive unit for switching the locking mechanism.

[0072] Furthermore, preferably, the operating mechanism includes a conversion mechanism that converts a relative movement of the supporting body in a vertical direction with respect to the fixed operating portion into a movement of the locking body between the restricting position and the allowing position.

[0073] According to this structure, even if the direction of movement of the locking body between the limiting position and the allowing position is a direction intersecting the up and down direction, the relative movement of the support body with respect to the fixed operating part can be converted into the movement of the locking body through the conversion mechanism, thereby properly performing the movement of the limiting position and the allowing position of the locking body.

[0074] In addition, it is suitable that the above-mentioned conversion mechanism includes a lever part that swings by contacting the above-mentioned fixed operating part, and a gear mechanism that rotates along with the swing of the above-mentioned lever part, the above-mentioned locking body is composed of an engaging body that rotates integrally with the above-mentioned gear mechanism, the above-mentioned locked body includes an engaged part engaged by the above-mentioned engaging body, the above-mentioned engaging body moves from the above-mentioned limiting position engaged with the above-mentioned engaged part to the above-mentioned allowing position that is detached from the above-mentioned engaged part by the rotation of the above-mentioned gear mechanism toward the first rotation direction side, and moves from the above-mentioned allowing position to the above-mentioned limiting position by the rotation of the above-mentioned gear mechanism toward the second rotation direction side which is the side opposite to the above-mentioned first rotation direction side.

[0075] According to this configuration, the support body moves relative to the fixed operating part in the up-down direction by the lifting of the support body, so that the fixed operating part contacts and separates from the lever part, and the lever part swings, and the gear mechanism rotates accordingly, so that the engaging body can be moved to the restricted position and the permitted position. In this way, the relative movement of the support body in the up-down direction relative to the fixed operating part can be converted into the rotational movement of the engaging body by the conversion mechanism, so that the restricted position and the permitted position of the engaging body can be properly moved, and the state of the locking mechanism can be properly switched.

[0076] In addition, it is suitable that the aforementioned grasping portion is constructed so that when the aforementioned support portion is lowered to the lowered position by the aforementioned lifting portion, the article is grasped or released, and when the aforementioned support portion is raised to the raised position by the aforementioned lifting portion, the grasping state is maintained in order to convey the article; the aforementioned reference position is set to the aforementioned raised position.

[0077] According to this configuration, when the support portion is in the raised position, the locking mechanism is in the unlocked state, thereby suppressing the transmission of vibration to the article supported by the gripping portion. Moreover, as the support portion descends from the raised position, the locking mechanism is in the locked state, and thus when the support portion descends toward the lowered position, the locking mechanism is in the locked state, which can improve the stopping accuracy of the support portion at the lowered position. As a result, the accuracy of the gripping or releasing of the article by the gripping portion can also be improved. In addition, when the article is transported with the support portion in the raised position, the vibration transmitted to the article during the transport can also be reduced.

[0078] Industrial Applicability

[0079] The technology involved in the present disclosure can be used in an article lifting device including: a gripping portion that grips an article; a supporting portion that supports the gripping portion; and a lifting portion that lifts and lowers the supporting portion relative to a base.

[0080] Explanation of symbols

[0081] 5: Item lifting device

[0082] 21: Transfer part (base)

[0083] 26: Grip

[0084] 27: Support

[0085] 28: Lifting Department

[0086] 31: Elastic support mechanism

[0087] 32: Locking mechanism

[0088] 33: Support body

[0089] 34: Elastomer

[0090] 35: Switching Department

[0091] 61: Fixed operation unit

[0092] 62: Locked Body

[0093] 63: Locking body

[0094] 64: Operating mechanism

[0095] 65: Transformation mechanism

[0096] 68: Lever

[0097] 69: Gear mechanism

[0098] 72: The clamped part

[0099] 73: Card fit

[0100] P: Reference position

[0101] P1: Ascending position

[0102] P2: descending position

[0103] R1: First rotation direction side

[0104] R2: Second rotation direction side

[0105] W: Items

[0106] Z: Up and down direction.

Claims

1. An article lifting device, comprising: a gripping portion, which grips an object; a support portion that supports the grip portion; A lifting part, which enables the support part to move up and down relative to the base; It has the following characteristics: The support portion includes an elastic support mechanism and a locking mechanism. The elastic support mechanism includes a support body that supports the gripping portion movably in the up-down direction, and an elastic body that is arranged between the support body and the gripping portion and can be elastically deformed in the up-down direction. The locking mechanism includes a switching portion that switches the state of the locking mechanism between a locked state that restricts the vertical movement of the gripping portion relative to the support body and an unlocked state that allows the vertical movement of the gripping portion relative to the support body. The switching unit is configured to switch the state of the locking mechanism from the unlocked state to the locked state as the support unit moves from the reference position through the lifting unit, and to switch the state of the locking mechanism from the locked state to the unlocked state as the support unit reaches the reference position through the lifting unit. The base has a fixed operating part. The switching portion includes a locked body fixed to the grip portion, a locking body supported by the supporting body, and an operating mechanism supported by the supporting body and operating the locking body. The locking body is moved to a limiting position that limits the vertical movement of the locked body, so that the locking mechanism is in the locked state. The locking body is moved to a allowing position that allows the vertical movement of the locked body, so that the locking mechanism is in the unlocked state. The operating mechanism operates the locking body by the relative movement of the supporting body in the up-down direction with respect to the fixed operating portion.

2. The article lifting device according to claim 1, wherein: The operating mechanism includes a conversion mechanism that converts the relative movement of the support body in the up-down direction with respect to the fixed operating portion into movement of the locking body between the restricting position and the allowing position.

3. The article lifting device according to claim 2, wherein: The conversion mechanism includes a lever portion that swings by contacting the fixed operation portion, and a gear mechanism that rotates as the lever portion swings. The locking body is composed of an engaging body that rotates integrally with the gear mechanism. The locked body includes an engaged portion engaged with the engaging body. The engaging body moves from the limiting position engaged with the engaged portion to the allowing position disengaged from the engaged portion by the rotation of the gear mechanism toward the first rotation direction side, and moves from the allowing position to the limiting position by the rotation of the gear mechanism toward the second rotation direction side which is the opposite side to the first rotation direction side.

4. The article lifting device according to any one of claims 1 to 3, wherein: The gripping portion is configured to grip or release an article when the support portion is lowered to a lowered position by the lifting portion, and to maintain the gripping state for conveying the article when the support portion is raised to an raised position by the lifting portion. The reference position is set to the raised position.

Images