Conveying device

Abstract

The present invention provides a conveying device. The rotary device includes a sway limiting mechanism (51) for limiting the swaying of the rotary section (5B) in the rotation direction (Z) caused by the clearance of the transmission mechanism. The sway limiting mechanism (51) includes a pressing section (510) and a limiting section (511). The pressing section (510) includes a pressing surface (510F) facing the rotation direction (Z); the limiting section (511) includes: an abutting member (5110) disposed within the movement trajectory of the pressing surface (510F) which moves in conjunction with the rotation of the rotary section (5B), and abutting the pressing surface (510F) when the pressing surface (510F) is within a specific range in the rotation direction (Z); and a force applying mechanism (5111) that applies force to the abutting member (5110) which abuts the pressing surface (510F) towards the pressing surface (510F) in the rotation direction (Z).

Description

Technical Field

[0001] This invention relates to a conveying device for conveying articles. Background Technology

[0002] An example of such a conveying device is disclosed in Japanese Patent Application Publication No. 2020-152566 (Patent Document 1). Hereinafter, the reference numerals in parentheses in the background description are those of Patent Document 1.

[0003] The conveying device disclosed in Patent Document 1 includes a transfer machine (24) for transferring articles (W) and a rotary device (26) for rotating the transfer machine (24). The transfer machine (24) transfers articles (W) between a horizontally positioned transfer object and a horizontally displaced transfer object by moving forward and backward. The rotary device (26) changes the forward and backward direction of the transfer machine (24), i.e., the transfer direction of the transfer machine (24) for the articles (W), by rotating the transfer machine (24) about a rotation axis in the vertical direction.

[0004] In the technology of Patent Document 1, transfer target areas are provided in several different directions centered on the rotation axis of the transfer machine (24). For example, when there is a conveying device between a pair of storage shelves (1) arranged facing each other, each of the pair of storage shelves (1) located on both sides of the conveying device can become a transfer target area. In this case, the conveying device rotates the transfer machine (24) by the rotation device (26), changing the transfer direction of the transfer machine (24) for the article (W) according to the transfer target area. Summary of the Invention

[0005] Here, the aforementioned rotary devices often employ transmission mechanisms such as gears, chains, toothed belts, and toothed pulleys to transmit the rotary driving force from the drive source. However, in the meshing parts of these transmission mechanisms—such as the meshing parts of gears, chains and sprockets, and toothed belts and pulleys—a clearance, or backlash, is generally present. Therefore, in structures using such rotary devices to rotate a transfer machine, wobbling in the rotational direction occurs within the transfer machine due to this backlash. If this wobbling is significant, the transfer machine's posture in the rotational direction becomes unstable, potentially leading to inadequate transfer of items.

[0006] In view of the above-mentioned actual situation, in a conveyor system that has a rotary device that can change the transfer direction of the items, it is desirable to implement a technology that can reduce the swaying of the transfer machine in the rotation direction caused by clearance.

[0007] The technology used to solve the above problems is as follows.

[0008] A conveying device for conveying articles includes: a holding part for holding the articles; a transfer machine for moving the articles along a transfer direction and transferring the articles between the holding part and a transfer target part; a support body for supporting the holding part and the transfer machine; and a rotating device for rotating the holding part and the transfer machine relative to the support body about a rotation axis orthogonal to the transfer direction, thereby changing the transfer direction; the rotating device includes a rotating part that supports the holding part and the transfer machine and rotates relative to the support body about the rotation axis, a rotating drive source for driving the rotating part to rotate, and a transmission mechanism for transmitting a rotating drive force between the rotating drive source and the rotating part. And a sway limiting mechanism for limiting the swaying of the aforementioned rotating part in the direction of rotation caused by the clearance of the aforementioned transmission mechanism; the aforementioned sway limiting mechanism includes a push-type part that rotates in conjunction with the rotation of the aforementioned rotating part, and a limiting part supported by the aforementioned support body; the aforementioned push-type part has a push-type surface facing the aforementioned rotation direction; the aforementioned limiting part includes: an abutting member disposed within the movement trajectory of the aforementioned push-type surface that moves in conjunction with the rotation of the aforementioned rotating part, and abutting against the aforementioned push-type surface when the aforementioned push-type surface is located within a specific range in the aforementioned rotation direction; and a force-applying mechanism that applies force to the aforementioned abutting member that abuts against the aforementioned push-type surface towards the aforementioned push-type surface side in the aforementioned rotation direction.

[0009] According to this structure, the abutting member abuts against the pressed surface when the pressed surface is within a specific range in the rotation direction. Furthermore, the force-applying mechanism applies force to the abutting member abutting against the pressed surface towards the pressed surface side in the rotation direction. Therefore, a force such as the mutual pressing of the meshing parts of the transmission mechanism against each other can be applied to the transmission mechanism, reducing the backlash of the transmission mechanism. Consequently, the swaying in the rotation direction of the rotating part and the transfer machine supported by the rotating part can be reduced. Therefore, according to this structure, the swaying in the rotation direction of the transfer machine caused by backlash can be reduced.

[0010] Further features and advantages of the technology disclosed herein will become clearer from the following illustrative and non-limiting description of embodiments with reference to the accompanying drawings. Attached Figure Description

[0011] Figure 1 This is a top view of the conveying equipment.

[0012] Figure 2 This is the front view of the container shelf.

[0013] Figure 3 This is a view of the conveyor's body width.

[0014] Figure 4This is a view of the vehicle body width showing the main components of the slewing device and the sway limiting mechanism.

[0015] Figure 5 This is a top view showing the main part of the sway limiting mechanism.

[0016] Figure 6 It is an explanatory diagram for a specific range.

[0017] Figure 7 This is an explanatory diagram showing the state of the sway limiting mechanism when the transfer device is in the reference posture.

[0018] Figure 8 This is an explanatory diagram showing the state of the sway limiting mechanism when the transfer device is in the first posture.

[0019] Figure 9 This is an explanatory diagram showing the state of the sway limiting mechanism when the transfer device is in the second posture.

[0020] Figure 10 This is an explanatory diagram showing the picking action of the container relative to the shelf.

[0021] Figure 11 This is an explanatory diagram showing the action of picking up a container relative to the shelf.

[0022] Figure 12 This is an explanatory diagram showing the action of removing the container relative to the shelf.

[0023] Figure 13 This is an illustration of the parallel actions of copying and unloading containers relative to the stacked region.

[0024] Figure 14 This is an illustration of the parallel actions of copying and unloading containers relative to the stacked region.

[0025] Figure 15 This is an illustration of the parallel actions of copying and unloading the container relative to the stacked region. Detailed Implementation

[0026] A conveying device is a device for conveying containers. Hereinafter, an example of a conveying device being equipped on a conveying equipment for conveying containers will be described, and an embodiment of the conveying device will be explained. That is, in the following embodiment, the container is equivalent to an "article," and the conveying device is configured to convey the container.

[0027] like Figure 1 As shown, the conveying equipment F has a receiving container 70 (refer to...) Figure 2The container shelf 8 and the inlet / outlet section 9 for transporting in and out of containers 70. The conveying device 100 transports containers 70 into the inlet / outlet section 9 to the container shelf 8, or transports containers 70 stored in the container shelf 8 to the inlet / outlet section 9 for out.

[0028] In this embodiment, a plurality of container shelves 8 are spaced apart by a predetermined interval and arranged parallel to each other. Each of the plurality of container shelves 8 has at least a front opening, through which containers 70 are placed and removed. Furthermore, a portion of the travel path R of the traveling body 1 (conveyor 100) is provided between a pair of container shelves 8 facing each other. In other words, since a pair of adjacent container shelves 8 are arranged parallel to each other with a gap, a portion of the travel path R is provided to pass between the pair of container shelves 8. In addition, the container shelf 8 located at the far end of the plurality of container shelves 8 provided in the conveyor F is arranged with its front facing outward, and a portion of the travel path R is also provided along the front area of ​​the container shelf 8 at that end. Furthermore, since the conveyor F is provided with a plurality of inlet and outlet sections 9, a portion of the travel path R is also provided in the area passing through each of the plurality of inlet and outlet sections 9.

[0029] The travel path R includes an inner shelf path Ra extending along the front of the container shelf 8 in its extending direction, and an outer shelf path Rb located outside the arrangement area of ​​the container shelf 8. The inner shelf path Ra is provided corresponding to each of the plurality of container shelves 8. In this embodiment, a portion of the travel path R located between a pair of adjacent container shelves facing each other and a portion of the travel path R located along the front of the container shelf 8 arranged with its front facing outwards corresponds to the inner shelf path Ra. Furthermore, the outer shelf path Rb is configured to connect the plurality of inner shelf paths Ra. Additionally, the outer shelf path Rb is also configured to pass through each of the plurality of inlet / outlet sections 9. In this embodiment, the portion of the travel path R other than the inner shelf path Ra corresponds to the outer shelf path Rb.

[0030] [Container shelf]

[0031] like Figure 2 As shown, the container shelf 8 has a shelf section 80 for storing multiple layers of containers 70 in the vertical direction. In this embodiment, the container shelf 8 has a plurality of beam members 82 extending horizontally along the front side of the container shelf 8, and a plurality of support members 81 extending vertically and connected to each of the plurality of beam members 82. That is, the container shelf 8 is constructed by combining the plurality of support members 81 and the plurality of beam members 82 into a support frame.

[0032] Multiple beam members 82 are arranged apart from each other in the vertical direction. Furthermore, each of the multiple beam members 82 is connected to a mounting member 83 for holding a container 70. In this example, the container 70 is housed in a shelf section 80 by being placed on a pair of mounting members 83. Moreover, multiple sets of pairs of mounting members 83 are arranged in the shelf section 80, allowing multiple containers 70 to be housed in one shelf section 80. Additionally, in this example, in… Figure 2 In the frontal view shown, the area between a pair of adjacent support members 81 in the width direction (left-right direction) and between a pair of adjacent beam members 82 in the vertical direction corresponds to the opening of the container shelf 8.

[0033] In this embodiment, a target portion 82T is provided at a reference position 80P of the shelf portion 80 for storing the container 70, serving as a target for storing the container 70 at that reference position 80P. In this example, the target portion 82T is provided on the beam member 82. One target portion 82T is provided for each pair of mounting members 83. In the illustrated example, the target portion 82T is formed by a hole formed in the beam member 82.

[0034] 〔container〕

[0035] Container 70 is the object being transported by means of conveying device 100. Detailed illustrations are omitted, but container 70 is formed as a box with an upward-opening portion. In this example, the container's shape is rectangular when viewed from above. Container 70 can accommodate specified items. These items may include, for example, various commodities such as food and daily necessities, or parts and work-in-process used in factory production lines.

[0036] In this embodiment, container 70 is configured to be stacked with another container 70 while containing the object inside. That is, container 70 is configured to be stacked vertically (see reference). Figure 3 In this example, the two containers 70 are stacked vertically by fitting the bottom of container 70 to the opening of another container 70 from above.

[0037] [Conveying device]

[0038] like Figure 3 As shown, the conveying device 100 includes a holding part H for holding the container 70, a transfer machine 44 for transferring the container 70 between the holding part H and the transfer target part T, a transfer lifting body 40B for supporting the holding part H and the transfer machine 44, and a rotary device 5 for rotating the holding part H and the transfer machine 44 relative to the transfer lifting body 40B. In this embodiment, the transfer lifting body 40B is equivalent to a "support body".

[0039] In addition, the conveying device 100 is equipped to travel along a predetermined travel path R (refer to...) Figure 1 The system comprises a traveling vehicle 1, a transfer device 4 for transferring containers 70, a container group support 2 that supports a stacked group of containers 70 within a defined stacking region 2A, a lifting device 3 for lifting the containers 70 supported by the container group support 2, and a control unit 6 for controlling these components. Furthermore, in this embodiment, the aforementioned holding part H, transfer machine 44, and transfer lifting body 40B are configured as part of the transfer device 4. In other words, the transfer device 4 includes the holding part H, the transfer machine 44, and the transfer lifting body 40B.

[0040] The container support 2, lifting device 3, and transfer device 4 are mounted on the traveling body 1. If the direction of travel of the traveling body 1 is defined as "the front-to-back direction L", then the container support 2 and transfer device 4 are arranged on the traveling body 1 in the front-to-back direction L. In addition, the direction orthogonal to the front-to-back direction L in the vertical direction will be defined as "the width direction W".

[0041] The control unit 6 controls the various functional units of the conveying device 100. In this example, the control unit 6 controls the traveling body 1, the container support 2, the lifting device 3, the transfer device 4, and the rotating device 5 (described later). The actions for conveying and transferring the container 70 are realized by controlling the various functional units of the control unit 6. The control unit 6 may include, for example, a processor such as a microcomputer, peripheral circuits such as a memory, etc. Moreover, each function is realized through the cooperation of this hardware and the program executing on the processor such as the computer.

[0042] [Driving Body]

[0043] The driving body 1 is configured to travel along a predetermined driving path R (refer to...) Figure 1 In this embodiment, the traveling body 1 is configured to travel along the inner shelf path Ra and the outer shelf path Rb. When traveling along the inner shelf path Ra, the traveling body 1 travels along the container shelf 8; more specifically, it travels along the front of the container shelf 8. In this embodiment, the traveling body 1 is configured to travel on the floor surface.

[0044] The vehicle body 1 includes a plurality of driving wheels 10 and a driving drive unit 10M that drives at least one of the driving wheels 10. The driving drive unit 10M is configured to include a motor (not shown). By driving the driving wheels 10 through the driving drive unit 10M, a propulsive force in the driving direction is applied to the vehicle body 1.

[0045] [Container Group Support Section]

[0046] The container group support 2 is mounted on the traveling body 1. The container group support 2 is configured to support multiple containers 70 as a stacked container group 7. Above the container group support 2, a stacking region 2A is defined for arranging the container group 7. The stacking region 2A is a three-dimensional imaginary region extending upward from the container group support 2. In this example, the container group support 2 is configured as a conveyor capable of moving the container group 7 while it is loaded. In this example, the container group support 2 allows the container group 7 to move along the width direction W of the vehicle body. The conveyor constituting the container group support 2 can be a roller conveyor, chain conveyor, belt conveyor, or other known conveyors.

[0047] The container group 7, which consists of multiple stacked containers 70, is transported into the inlet / outlet section 9 (see reference). Figure 1 When the transport vehicle 1 is adjacent to the inbound / outbound section 9, the container group support 2 receives the container group 7 from the inbound / outbound section 9 or transfers the container group 7 to the inbound / outbound section 9. That is, the container group support 2 is configured to perform the transfer of the container group 7 between itself and the inbound / outbound section 9. Detailed illustrations are omitted, but in this example, the inbound / outbound section 9 is adjacent to the picking area where the operation of removing goods and other contained items from the container 70 is performed. If the container group 7 is transferred from the container group support 2 to the inbound / outbound section 9, the contained items are removed from the container 70 in the picking area adjacent to the inbound / outbound section 9. After some or all of the contained items in the container 70 are removed, the container 70 is transferred from the inbound / outbound section 9 to the container group support 2 (conveyor 100) and transported to the container shelf 8 again. However, the inbound / outbound section 9 may not be adjacent to the picking area, or it may be adjacent to other equipment or work areas. Furthermore, for example, the inbound / outbound section 9 can be configured to transport the container group 7 transferred from the container group support section 2 to the outside of the conveying equipment F.

[0048] [Lifting device]

[0049] The lifting device 3 is mounted on the traveling body 1. The lifting device 3 is configured to lift the containers 70 of the container group 7 supported by the container group support 2, in other words, the containers 70 of the container group 7 arranged in the lamination region 2A.

[0050] The lifting device 3 includes a lifting mast 30 erected upwards from the traveling body 1, a lifting lifting body 30B connected to the lifting mast 30, and a lifting lifting body drive unit 30M that moves the lifting lifting body 30B up and down along the lifting mast 30. Detailed illustrations are omitted, but the lifting lifting body drive unit 30M typically includes, for example, an endless body such as a belt connected to the lifting lifting body 30B, a rotating body wound around the endless body, and a motor that drives the rotating body to rotate.

[0051] The lifting device 3 includes a first lifting mechanism 31 for lifting containers 70 of arbitrary height stacked in the stacking region 2A relative to containers 70 adjacent to it below, and a second lifting mechanism 32 for lifting containers 70 lower than those lifted by the first lifting mechanism 31 relative to containers 70 adjacent to it below. Furthermore, in this embodiment, the first lifting mechanism 31 and the second lifting mechanism 32 are arranged apart in the vertical direction. Thus, for example... Figure 13 As shown, a space can be formed between the container 70 lifted by the first lifting mechanism 31 and the container 70 lifted by the second lifting mechanism 32 in the vertical direction. In addition, a space in the vertical direction can also be formed below the container 70 lifted by the second lifting mechanism 32.

[0052] In this embodiment, the lifting device 3 includes a first frame portion 31F and a second frame portion 32F protruding from the lifting lifting body 30B toward the stacking region 2A in the longitudinal direction L of the vehicle body, and a connecting frame portion 33F connecting the first frame portion 31F and the second frame portion 32F. The first frame portion 31F and the second frame portion 32F are arranged with a gap in the vertical direction. The first frame portion 31F is positioned above the second frame portion 32F. The connecting frame portion 33F connects the first frame portion 31F and the second frame portion 32F in the vertical direction. With this structure, the first frame portion 31F and the second frame portion 32F do not move relative to each other. The vertical gap between the first frame portion 31F and the second frame portion 32F is always constant. The first frame portion 31F, the second frame portion 32F, and the connecting frame portion 33F rise and fall together with the lifting lifting body 30B.

[0053] Detailed illustrations are omitted, but in this embodiment, the first frame portion 31F includes a pair of first frame members 31Fa arranged at intervals in the vehicle width direction W. The pair of first frame members 31Fa is arranged corresponding to the width (length in the vehicle width direction W) of the container 70 arranged in the lamination region 2A. The second frame portion 32F includes a pair of second frame members 32Fa arranged at intervals in the vehicle width direction W. The pair of second frame members 32Fa is arranged corresponding to the width of the container 70 arranged in the lamination region 2A. The connecting frame portion 33F includes a connecting frame member 33Fa. The connecting frame member 33Fa connects the first frame members 31Fa and the second frame members 32Fa arranged in the vertical direction.

[0054] like Figure 13As shown, in this embodiment, the first lifting mechanism 31 includes a first lifting and holding portion 31a that holds the container 70, and a first lifting drive portion (not shown) that changes the posture of the first lifting and holding portion 31a. Detailed illustrations are omitted, but the first lifting drive portion is configured to change the posture of the first lifting and holding portion 31a to a holding posture that holds the container 70 and a non-holding posture that does not hold the container 70. Figure 13 In the middle, the first raised holding part 31a becomes a holding posture.

[0055] Similarly, the second lifting mechanism 32 includes a second lifting holding portion 32a for holding the container 70, and a second lifting drive portion (not shown) for changing the posture of the second lifting holding portion 32a. Detailed illustrations are omitted, but the second lifting drive portion is configured to change the posture of the second lifting holding portion 32a to a holding posture for holding the container 70 and a non-holding posture for not holding the container 70. Figure 13 In the middle, the second lifting and holding part 32a becomes the holding posture.

[0056] Here, in Figure 13 In the middle, each container 70 stacked in the stacking region 2A is assigned the number "1 to 5" sequentially from bottom to top. In addition, the container 70 held by the transfer device 4 is assigned the character "α".

[0057] When a space is formed between the container 70 lifted by the first lifting mechanism 31 and the container 70 lifted by the second lifting mechanism 32 in the vertical direction, other containers 70 can be unloaded into that space. That is, other containers 70 can be stacked on top of the container 70 lifted by the second lifting mechanism 32 using the transfer device 4. Figure 14 The example shown illustrates the situation where a container 70 (container "α") held by the transfer device 4 is unloaded into the space formed between a container 70 (container "5") lifted by the first lifting mechanism 31 and a container 70 (container "4") lifted by the second lifting mechanism 32 in the vertical direction.

[0058] Furthermore, when a vertical space is formed below the container 70 lifted by the second lifting mechanism 32, the container 70 positioned below the container 70 lifted by the second lifting mechanism 32 can be picked up using this space. Figure 14 The example shown illustrates the case where container 70 (container "3") is picked up from below container 70 (container "4"), which is lifted by the second lifting mechanism 32. The unloading and picking operations of container 70 relative to the lamination region 2A will be described later.

[0059] [Transfer Device]

[0060] like Figure 3As shown, the transfer device 4 is mounted on the traveling body 1 and configured to transfer the container 70. The transfer device 4 includes a holding part H for holding the container 70, a transfer machine 44 for performing the transfer operation, and a guide mechanism 45 for guiding the container 70 as it moves between the holding part H and the transfer target part T. The transfer operation includes an unloading operation to transfer the container 70 from the holding part H to the transfer target part T and a picking operation to transfer the container 70 from the transfer target part T to the holding part H. Furthermore, the transfer device 4 includes a transfer mast 40 fixed to the traveling body 1 and arranged vertically, a transfer lifting body 40B that moves up and down along the transfer mast 40, and a transfer lifting body drive part 40M that moves the transfer lifting body 40B up and down along the transfer mast 40. The transfer lifting body 40B supports the holding part H, the transfer machine 44, and the guide mechanism 45. Detailed illustrations are omitted, but the transfer lifting unit drive 40M includes, for example, an endless body such as a belt connected to the transfer lifting unit 40B, a rotating body wound around the endless body, and a motor that drives the rotating body to rotate. Furthermore, in this embodiment, the transfer object portion T includes a shelf portion 80 comprising a laminated region 2A and a container shelf 8.

[0061] Here, the direction of movement of the container 70 transferred by the transfer device 4 is defined as the "transfer direction X", and the direction orthogonal to the transfer direction X when viewed in the vertical direction is defined as the "width direction Y". Furthermore, the side of the transfer direction X from the holding part H toward the transfer target part T is defined as the "transfer direction unloading side X1", and the side of the transfer direction X from the transfer target part T toward the holding part H is defined as the "transfer direction picking side X2". The transfer direction X is a horizontal direction. In this example, the width direction Y is also a horizontal direction. The transfer direction unloading side X1 is the side where the container 70 moves along the transfer direction X when it is unloaded. The transfer direction picking side X2 is the side where the container 70 moves along the transfer direction X when it is picked up.

[0062] The transfer machine 44 is configured to move the container 70 along the transfer direction X, transferring the container 70 between the holding part H and the transfer target part T. In this embodiment, the transfer machine 44 performs the unloading operation of the container 70 by moving the container 70 from the holding part H toward the unloading side X1 in the transfer direction. Furthermore, the transfer machine 44 performs the picking operation of the container 70 by moving the container 70 from the transfer target part T toward the picking side X2 in the transfer direction.

[0063] In this embodiment, the transfer machine 44 includes a contact portion 440 that contacts the container 70 during the transfer operation and causes the container 70 to move along the transfer direction X, and a transfer drive portion 44M that reciprocates the contact portion 440 along the transfer direction X. The transfer drive portion 44M is composed of a mechanism (not shown) for reciprocating the contact portion 440 along the transfer direction X and a motor for driving the mechanism.

[0064] In this embodiment, the contact portion 440 includes a pressing portion 441 that pushes the container 70 toward the unloading side X1 in the transfer direction when the container 70 is unloaded (see reference). Figure 12 ), and a locking part 442 that, when performing the copying operation of container 70, locks against container 70 and pulls container 70 toward the copying side X2 in the transfer direction (see reference). Figure 10 Furthermore, the locking part 442 is configured to change its posture to a locking posture that locks onto the container 70 and a non-locking posture that does not lock onto the container 70. The locking part 442 changes its posture to a locking posture and a non-locking posture depending on the situation.

[0065] For example, Figure 12 As shown, the pushing part 441 pushes the container 70 of the object to be unloaded toward the unloading side X1 in the transfer direction by moving relative to the holding part H toward the unloading side X1 in the transfer direction. Furthermore, for example, as... Figure 10 As shown, the locking part 442 moves relative to the holding part H towards the copying side X2 in the transfer direction, pulling the container 70 of the copying object towards the copying side X2 in the transfer direction. Hereinafter, the pushing part 441 and the locking part 442 will be collectively referred to as the "contact part 440".

[0066] The guiding mechanism 45 is configured to guide the container 70, which moves between the holding part H and the transfer target part T, along the transfer direction X. Figure 11 As shown, in this embodiment, the guide mechanism 45 includes a pair of guide portions 450 disposed on both sides of the container 70 held by the holding portion H in the width direction Y, and a guide drive portion 45M that varies the interval between the pair of guide portions 450 in the width direction Y. The guide drive portion 45M is configured to include a mechanism (not shown) for varying the interval between the pair of guide portions 450 in the width direction Y and a motor for driving the mechanism.

[0067] In this embodiment, each of the pair of guide portions 450 is formed to extend in the horizontal direction and is supported by the holding portion H in a manner that allows it to rotate freely about an axis in the vertical direction. In this example, each of the pair of guide portions 450 has a fulcrum portion 451 that serves as the center of rotation, and the entire assembly rotates around the fulcrum portion 451.

[0068] As described above, the guide drive unit 45M is configured to vary the spacing in the width direction Y of the pair of guide units 450. Strictly speaking, in this example, the spacing in the width direction Y of the pair of guide units 450 does not change at the fulcrum portion 451, which is the rotation center of each pair of guide units 450, but varies in the portion radially (radially relative to the rotation center) outside the fulcrum portion 451. However, here, the case where the spacing in the width direction Y of the pair of guide units 450 varies in the portion radially outer of the fulcrum portion 451 is defined as "the spacing in the width direction Y of the pair of guide units 450 varies".

[0069] like Figure 11 As shown, in this embodiment, the guide drive unit 45M is configured such that the spacing in the width direction Y of a pair of guide units 450 varies to a reference spacing Ds and a wide spacing Dw that is wider than the reference spacing Ds when each of the pair of guide units 450 is arranged along the transfer direction X. In this example, the guide drive unit 45M causes the spacing in the width direction Y of the pair of guide units 450 to vary between the reference spacing Ds and the wide spacing Dw by synchronously rotating the pair of guide units 450.

[0070] like Figure 3 As shown, in this embodiment, the transfer device 4 includes multiple (two in this example) units U comprising the transfer machine 44, guide mechanism 45, and holding part H described above. Each unit U includes a first unit U1 and a second unit U2 disposed below the first unit U1. The first unit U1 and the second unit U2 are supported by a transfer lifting body 40B and have identical structures. Hereinafter, the first unit U1 and the second unit U2 will be collectively referred to as "unit U".

[0071] In this embodiment, the transfer device 4 includes a retaining connection portion 43 that connects the first unit U1 and the second unit U2 in the vertical direction. The retaining connection portion 43 connects the first unit U1 and the second unit U2 so that the vertical distance between them is constant. In the illustrated example, the retaining connection portion 43 connects the retaining portion H of the first unit U1 to the retaining portion H of the second unit U2. Thus, in this embodiment, the transfer device 4 includes a plurality of units U arranged in the vertical direction.

[0072] [Rotating device]

[0073] like Figure 3 As shown, the slewing device 5 is mounted on the traveling body 1. The slewing device 5 is configured such that the holding part H and the transfer machine 44 are arranged relative to the transfer lifting body 40B around a slewing axis 500x (refer to...) orthogonal to the transfer direction X. Figure 4The rotation device 5 is configured to rotate the guide mechanism 45 in addition to the holding part H and the transfer machine 44. In this embodiment, the rotation device 5 is configured to rotate multiple units U (here, the first unit U1 and the second unit U2) including the holding part H, the transfer machine 44 and the guide mechanism 45 as a single unit. In addition, in this example, the rotation axis 500x is set along the vertical direction.

[0074] In this embodiment, the rotating device 5 is configured to rotate the transfer device 4 (more specifically, the transfer machine 44, which is part of the transfer device 4) about a rotation axis 500x along the vertical direction, thereby changing the posture of the transfer device 4 (transfer machine 44) to a reference posture P0 with the unloading side X1 of the transfer direction facing the lamination region 2A (refer to...). Figure 7 ), with the first posture P1 (refer to) the unloading side X1 facing one of the pair of container shelves 8 in the transfer direction. Figure 8 ) and the second posture P2, in which the unloading direction X1 is oriented toward the other side of a pair of container shelves 8 (refer to Figure 9 Thus, in this embodiment, the transfer direction X is changed in the horizontal plane by means of the rotating device 5.

[0075] The rotary device 5 changes the posture of the transfer device 4 according to the position of the transfer object T. Specifically, when the transfer object T is the lamination region 2A, the rotary device 5 changes the transfer device 4 to the reference posture P0 (refer to...). Figure 7 When the transfer target location T is one of a pair of container shelves 8 (shelf section 80), the transfer device 4 is changed to the first posture P1 (refer to...). Figure 8 When the transfer target location T is one of the two container shelves 8 (shelf section 80), the transfer device 4 is changed to the second position P2 (see reference). Figure 9 ).

[0076] The following, such as Figure 5 As shown, the circumferential direction around the rotation axis 500x is defined as "rotation direction Z", one side of rotation direction Z is defined as "rotation direction first side Z1", and the other side of rotation direction Z is defined as "rotation direction second side Z2".

[0077] like Figure 4 As shown, the rotary device 5 includes a support and holding part H and a transfer machine 44 (in this example, in addition to them, there is a guide mechanism 45) and a rotary part 5B that rotates about the rotary axis 500x relative to the transfer lifting body 40B, a rotary drive source 5M that drives the rotary part 5B to rotate, a transmission mechanism 50 that transmits the rotary drive force between the rotary drive source 5M and the rotary part 5B, and a sway limiting mechanism 51 that limits the swaying of the rotary part 5B in the rotation direction Z caused by the clearance of the transmission mechanism 50.

[0078] In this embodiment, the rotating part 5B supports the first unit U1 and the second unit U2 (see also...). Figure 3 In detail, the rotating part 5B supports the retaining connection part 43 that integrally connects the first unit U1 and the second unit U2. Therefore, when the rotating part 5B rotates, the first unit U1 and the second unit U2, which are supported by the rotating part 5B via the retaining connection part 43, also rotate together with the rotating part 5B.

[0079] In this embodiment, the rotating part 5B is connected to the transfer lifting body 40B (support body) in a rotatable manner by the connecting member 53. The connecting member 53 is configured including bearings (not shown). In this example, the transfer lifting body 40B has a support body connecting part 40Ba connected to the transfer mast 40, and a support body protrusion 40Bb protruding from the support body connecting part 40Ba toward the unloading side X1 in the transfer direction. Moreover, the rotating part 5B is supported by the support body protrusion 40Bb via the connecting member 53.

[0080] The transmission mechanism 50 transmits the rotary driving force from the rotary drive source 5M using, for example, gears, chains and sprockets, toothed belts and toothed pulleys. The transmission mechanism 50 is provided with clearance. Here, "clearance" refers to the "gap" provided in the meshing parts of the transmission mechanism 50, such as the meshing parts of gears, chains and sprockets, or toothed belts and toothed pulleys, and is provided to ensure proper movement of the meshing objects.

[0081] In this embodiment, the transmission mechanism 50 includes a rotary shaft 500 that rotates about a rotary axis 500x, a first gear 501 that rotates integrally with the rotary shaft 500, a second gear 502 that meshes with the first gear 501, and an output shaft 503 that rotates integrally with the second gear 502 and outputs rotary driving force from the rotary drive source 5M.

[0082] In this embodiment, the rotary shaft 500 is arranged vertically, and the support protrusion 40Bb of the transfer lifting body 40B passes through it in the vertical direction. The rotary shaft 500 is supported relative to the support protrusion 40Bb by a bearing (not shown) in a manner that allows for relative rotation. In this embodiment, the rotary shaft 500 is connected to the rotating part 5B above the support protrusion 40Bb and to the first gear 501 below the support protrusion 40Bb.

[0083] The first gear 501 is configured to rotate integrally with the rotary shaft 500 and mesh with the second gear 502. In the illustrated example, the first gear 501 is connected to the lower end of the rotary shaft 500.

[0084] The second gear 502 is configured to rotate integrally with the output shaft 503 and mesh with the first gear 501. In the illustrated example, the second gear 502 is connected to the end of the output shaft 503 on the unloading side X1 in the transfer direction.

[0085] The output shaft 503 is a component that outputs the rotary driving force from the rotary drive source 5M. In this embodiment, the output shaft 503 is arranged along the transfer direction X. The output shaft 503 is connected to the second gear 502 at the end on the unloading side X1 in the transfer direction, and connected to the rotary drive source 5M at the end on the picking side X2 in the transfer direction.

[0086] Thus, in this embodiment, the rotary shaft 500 is arranged along the vertical direction, and the output shaft 503 is arranged along the transfer direction X (horizontal direction). That is, the extending direction of the rotary shaft 500 intersects (orthogonally in this example) the extending direction of the output shaft 503. Therefore, the first gear 501 connected to the rotary shaft 500 and the second gear 502 connected to the output shaft 503 and meshing with the first gear 501 are both bevel gears. With this structure, the vertical dimensions of the transmission mechanism 50 can be miniaturized.

[0087] In this embodiment, the elements of the transmission mechanism 50 located below the support protrusion 40Bb are covered by the housing 52. Specifically, a portion of the rotary shaft 500, the first gear 501, the second gear 502, and the output shaft 503 are covered by the housing 52. In this example, in addition to these, the rotary drive source 5M is also covered by the housing 52.

[0088] In this embodiment, the aforementioned clearance (not shown) is provided at the meshing portion of the first gear 501 and the second gear 502. This allows the first gear 501 and the second gear 502 to operate appropriately relative to each other. On the other hand, because of this clearance, a rotational direction Z (refer to...) may occur in the rotating section 5B. Figure 5 Therefore, the transfer machine 44, supported by the rotating part 5B, may also experience swaying in the rotation direction Z. In the art disclosed herein, the swaying in the rotation direction Z of the transfer machine 44 caused by clearance is reduced by means of a sway limiting mechanism 51. Hereinafter, it will be described in detail.

[0089] like Figure 4 and Figure 5 As shown, the sway limiting mechanism 51 includes a push-type part 510 that rotates in conjunction with the rotation of the rotating part 5B, and a limiting part 511 that is supported by the transfer lifting body 40B.

[0090] In this embodiment, the pressed part 510 is fixed to the rotating part 5B. In this example, the pressed part 510 is provided to protrude downward from the rotating part 5B and is positioned above the transfer lifting body 40B (here, the support body protrusion 40Bb).

[0091] like Figure 5 As shown, the pressing part 510 has a pressing surface 510F facing the rotation direction Z. The pressing surface 510F is arranged radially away from the rotation axis 500x. Moreover, the pressing surface 510F is linked to the rotation of the rotating part 5B and moves about the rotation axis 500x along the rotation direction Z. In this embodiment, the pressing surface 510F is formed as a plane along the radial direction of the rotation axis 500x and in a direction parallel to the rotation axis 500x (vertical direction in this example).

[0092] In this embodiment, the pressed portion 510 includes a first pressed surface 510F1, which serves as the pressed surface 510F, and a second pressed surface 510F2. The first pressed surface 510F1 faces the first side Z1 of the rotation direction. The second pressed surface 510F2 faces the second side Z2 of the rotation direction Z at a position different from the first pressed surface 510F1 in the rotation direction Z. Like the first pressed surface 510F1, the second pressed surface 510F2 is formed as a plane along the radial direction of the rotation axis 500x and in a direction parallel to the rotation axis 500x (vertical direction in this example). In this embodiment, the pressed portion 510 includes a pair of plate-shaped members disposed apart in the rotation direction Z. The first pressed surface 510F1 is formed on one of the pair of plate-shaped members, and the second pressed surface 510F2 is formed on the other.

[0093] The second pressed surface 510F2 is arranged radially away from the rotation axis 500x. In this example, the second pressed surface 510F2 is positioned opposite the first pressed surface 510F1, sandwiching the rotation axis 500x. Specifically, the first pressed surface 510F1, the rotation axis 500x, and the second pressed surface 510F2 are arranged in a straight line when viewed vertically. Furthermore, the second pressed surface 510F2 is linked to the rotation of the rotating part 5B and moves about the rotation axis 500x along the rotation direction Z. In this example, the first pressed surface 510F1 and the second pressed surface 510F2 are configured to move about the rotation axis 500x along the rotation direction Z while maintaining their relative positional relationship. That is, the first pressing surface 510F1 and the second pressing surface 510F2 are configured to move around the rotation axis 500x along the rotation direction Z while maintaining the state of being sandwiched between the rotation axis 500x and arranged on opposite sides.

[0094] like Figure 6 As shown, a specific range SR is provided within a portion of the movement range of the first pressed surface 510F1, which moves along the rotation direction Z. In this embodiment, this specific range SR is designated as the first specific range SR1. Furthermore, a second specific range SR2 is provided separately from the first specific range SR1 within a portion of the movement range of the second pressed surface 510F2, which moves along the rotation direction Z.

[0095] like Figure 5 and Figure 6 As shown, the limiting part 511 includes: an abutting member 5110 disposed within the movement trajectory of a first pressed surface 510F1 that moves in conjunction with the rotation of the rotating part 5B, and abutting against the first pressed surface 510F1 when the first pressed surface 510F1 is located within a first specific range SR1 in the rotation direction Z; and a force-applying mechanism 5111 that applies force to the abutting member 5110 abutting against the first pressed surface 510F1 towards the first pressed surface 510F1 in the rotation direction Z. In this embodiment, the abutting member 5110 is also disposed within the movement trajectory of a second pressed surface 510F2 that moves in conjunction with the rotation of the rotating part 5B, and abutting against the second pressed surface 510F2 when the second pressed surface 510F2 is located within a second specific range SR2 in the rotation direction Z. In addition, the force-applying mechanism 5111 applies force to the contact member 5110, which abuts against the second pressed surface 510F2, toward the side of the second pressed surface 510F2 in the rotation direction Z.

[0096] That is, in this embodiment, when the first pressed surface 510F1 is located within the first specific range SR1, the abutting member 5110 abuts against the first pressed surface 510F1 from the first side Z1 of the rotation direction, and the force applying mechanism 5111 applies force to the abutting member 5110 towards the second side Z2 of the rotation direction while the abutting member 5110 abuts against the first pressed surface 510F1 from the first side Z1 of the rotation direction. Furthermore, when the second pressed surface 510F2 is located within the second specific range SR2 of the rotation direction Z, the abutting member 5110 abuts against the second pressed surface 510F2 from the second side Z2 of the rotation direction, and the force applying mechanism 5111 applies force to the abutting member 5110 towards the first side Z1 of the rotation direction while the abutting member 5110 abuts against the second pressed surface 510F2 from the second side Z2 of the rotation direction.

[0097] In this embodiment, the abutting member 5110 is allowed to move within a predetermined range in the pushing direction when it is pushed by the first pressing surface 510F1 toward the first side Z1 of the rotation direction. This permitted predetermined range corresponds to a first specific range SR1. In other words, the first specific range SR1 corresponds to the permissible range of movement of the abutting member 5110 when it is being pushed by the first pressing surface 510F1.

[0098] Furthermore, in this embodiment, the abutting member 5110 is allowed to move within a predetermined range in the pushing direction when it is pushed by the second pressing surface 510F2 toward the second side Z2 of the rotation direction. This permitted predetermined range corresponds to a second specific range SR2. In other words, the second specific range SR2 corresponds to the permissible range of movement of the abutting member 5110 when it is being pushed by the second pressing surface 510F2.

[0099] In this embodiment, such as Figure 5 As shown, the abutting member 5110 includes an abutting portion 5110a that abuts against the first pressed surface 510F1, and a swinging body 5110c that supports the abutting portion 5110a and is capable of swinging about a swing axis Ax1. The swing axis Ax1 is arranged parallel to and away from the rotation axis 500x. In this example, the swing axis Ax1 is arranged at a position farther from the rotation axis 500x than the arcuate movement trajectory of the first pressed surface 510F1 (and the second pressed surface 510F2) along the rotation direction Z. In this embodiment, the abutting member 5110 includes a swing shaft 5110b that connects the swinging body 5110c to the transfer lifting body 40B in a swingable manner. The swing shaft 5110b is arranged along the swing axis Ax1.

[0100] The abutting portion 5110a is the portion that abuts against the first pressed surface 510F1 and also against the second pressed surface 510F2. In this embodiment, the abutting portion 5110a is a roller supported relative to the swing body 5110c in a manner rotatable about the rotation axis Ax2. The rotation axis Ax2 is parallel to and disposed away from the swing axis Ax1. In this example, the rotation axis Ax2 is disposed at a position closer to the rotation axis 500x than the swing axis Ax1. In this embodiment, the rotation axis 500x, the swing axis Ax1, and the rotation axis Ax2 are disposed parallel to each other.

[0101] In this embodiment, the force-applying mechanism 5111 includes a spring member 5111a that applies force to the swing body 5110c at a reference position in the swing direction (around the swing axis Ax1), and a spring-locking portion 5111b that locks a portion of the spring member 5111a. In this example, the spring member 5111a is a torsion coil spring formed by shaping an elastic linear member into a coil shape, and is externally fitted into the swing axis 5110b. The two ends of the linear member constituting the spring member 5111a are respectively arranged radially along the swing axis Ax1 and locked by the spring-locking portion 5111b. The spring member 5111a rotates with the swing of the swing body 5110c, but as described above, a portion of the spring member 5111a is locked by the spring-locking portion 5111b. Therefore, the spring member 5111a deforms with the swing of the swing body 5110c and returns to its original shape due to the elastic force. Therefore, the force-applying mechanism 5111 applies force to the swing body 5110c toward the reference position in the swing direction (around the swing axis Ax1). In addition, when the swing body 5110c is stopped at the reference position in the swing direction, there is no elastic force from the spring member 5111a acting on the swing body 5110c.

[0102] In this embodiment, the sway limiting mechanism 51 includes a stopper 512, which limits the range of movement of the abutting member 5110 when it is pressed by the first pressed surface 510F1 (or the second pressed surface 510F2). The stopper 512 is configured to limit the movement of the abutting member 5110 in the pressing direction to the aforementioned permissible movement range when the abutting member 5110 is pressed by the first pressed surface 510F1 (or the second pressed surface 510F2).

[0103] In this embodiment, the stop member 512 includes a fixing part 5120 that is fixed to the transfer lifting body 40B, and a protruding pin 5121 that protrudes from the fixing part 5120 toward the swing body 5110c.

[0104] In this embodiment, a pair of protruding pins 5121 are provided in the fixing portion 5120. One of the pair of protruding pins 5121 contacts a portion of the abutting member 5110 that is moved by being pushed by the first pressing surface 510F1, thereby limiting the movement of the abutting member 5110 beyond its permissible range of movement. Specifically, when the abutting portion 5110a is pushed by the first pressing surface 510F1 and the swinging body 5110c swings, one of the pair of protruding pins 5121 contacts the swinging body 5110c, thereby limiting the excessive swinging of the swinging body 5110c. Furthermore, the other of the pair of protruding pins 5121 contacts a portion of the abutting member 5110 that is moved by being pushed by the second pressing surface 510F2, thereby limiting the movement of the abutting member 5110 beyond its permissible range of movement. In detail, when the abutment portion 5110a is pushed by the second push surface 510F2 and the swing body 5110c swings, the other of the pair of protruding pins 5121 contacts the swing body 5110c, thereby limiting the excessive swing of the swing body 5110c.

[0105] Figures 7-9 This indicates the correspondence between the posture of the transfer device 4 and the state of the sway limiting mechanism 51. As described above, the transfer device 4 is configured such that its posture changes to a reference posture P0 with the transfer direction unloading side X1 facing the lamination region 2A (refer to...). Figure 7 ), with the first posture P1 (refer to) the unloading side X1 facing one of the pair of container shelves 8 in the transfer direction. Figure 8 ), and the second posture P2, in which the unloading side X1 is oriented toward the other side of a pair of container shelves 8 (see reference). Figure 9 ).

[0106] Figure 7 This indicates the state of the sway limiting mechanism 51 when the transfer device 4 is in the reference posture P0 and when the transfer device 4 is in the reference posture P0. For example... Figure 7 As shown, when the transfer device 4 is in the reference posture P0, the transfer direction X is along the front-rear direction L of the vehicle body, and the unloading side X1 of the transfer direction faces the lamination region 2A. In this embodiment, the configuration is such that when the transfer device 4 is in the reference posture P0, neither the first pressed surface 510F1 nor the second pressed surface 510F2 abuts against the abutting member 5110. In this example, when the transfer device 4 is in the reference posture P0, both the first pressed surface 510F1 and the second pressed surface 510F2 are arranged along the front-rear direction L of the vehicle body.

[0107] Figure 8 This indicates the state of the sway limiting mechanism 51 when the transfer device 4 is in the first posture P1 and when the transfer device 4 is in the first posture P1. For example... Figure 8As shown, when the transfer device 4 is in the first posture P1, the transfer direction X is along the width direction W of the vehicle body, and the unloading side X1 of the transfer direction faces one of the pair of container shelves 8. In this embodiment, the configuration is such that when the transfer device 4 is in the first posture P1, the first pressed surface 510F1 abuts against the abutting member 5110 from the second side Z2 of the rotation direction. Moreover, the force applying mechanism 5111 applies force to the abutting member 5110, which abuts against the first pressed surface 510F1, towards the second side Z2 of the rotation direction. As a result, the transfer mechanism 50 (see reference) can be made to... Figure 4 The meshing parts of the transmission mechanism 50 are subjected to a force that pushes against each other in the meshing direction (circumferential direction) by the meshing components (in this example, the first gear 501 and the second gear 502), which can reduce the backlash of the transmission mechanism 50. Therefore, the sway in the rotation direction Z of the transfer machine 44 caused by the backlash can be reduced.

[0108] Figure 9 This indicates the state of the sway limiting mechanism 51 when the transfer device 4 is in the second posture P2 and when the transfer device 4 is in the second posture P2. For example... Figure 9 As shown, when the transfer device 4 is in the second posture P2, the transfer direction X is along the width direction W of the vehicle body, and the unloading side X1 of the transfer direction faces the other side of the pair of container shelves 8. In this embodiment, the configuration is such that when the transfer device 4 is in the second posture P2, the second pressed surface 510F2 abuts against the abutting member 5110 from the first side Z1 of the rotation direction. Moreover, the force application mechanism 5111 applies force to the abutting member 5110, which abuts against the second pressed surface 510F2, toward the first side Z1 of the rotation direction. As a result, it is possible to make the transfer mechanism 50 (see reference) Figure 4 The meshing parts of the transmission mechanism 50 are subjected to a force that pushes against each other in the meshing direction (circumferential direction) by the meshing components (in this example, the first gear 501 and the second gear 502), which can reduce the backlash of the transmission mechanism 50. Therefore, the sway in the rotation direction Z of the transfer machine 44 caused by the backlash can be reduced.

[0109] [Transfer Action]

[0110] Next, the transfer operation of container 70 performed by transfer device 4 will be described. Figures 10-15 This is an explanatory diagram illustrating the case where the transfer device 4 performs a transfer operation (unloading operation or picking operation) of the container 70 relative to the transfer target part T.

[0111] Figures 10-12 This indicates the transfer action of container 70 relative to shelf portion 80. In this embodiment, the transfer device 4 is in the first posture P1 described above (refer to...). Figure 8 ) or second posture P2 (refer to Figure 9The container 70 is then transferred relative to the shelf section 80.

[0112] Figure 10 and Figure 11 This describes the transfer operation (relocation operation) of container 70 relative to shelf section 80, exemplified by the transfer machine 44 of unit 1 U1 transferring container 70 stored in shelf section 80 to holding section H. In this case, control unit 6 (see reference) Figure 3 Align the position of the transfer machine 44 with the reference position 80P of the shelf section 80 (refer to...). Figure 2 Then, the locking part 442 pulls the container 70 toward the transfer direction picking side X2. Specifically, the control unit 6 sets the locking part 442 of the first unit U1 to a locking position, so that it moves relative to the holding part H toward the transfer direction picking side X2 while locked with the container 70. As a result, the container 70 of the picking object is pulled toward the holding part H.

[0113] In this embodiment, the transfer device 4 includes a reference position 80P for detecting the shelf section 80 (refer to...). Figure 2 The reference position detection sensor Se1 is used. As described above, the reference position 80P is the reference position of the shelf section 80 for storing the container 70.

[0114] The reference position detection sensor Se1 is configured to detect the positional relationship between the transfer device 4, equipped with the reference position detection sensor Se1, and the reference position 80P of the shelf section 80 by detecting the target section 82T provided on the beam member 82. Furthermore, based on the detection result of the reference position detection sensor Se1 on the target section 82T, the driving body 1, the slewing device 5, and the transfer lifting body drive unit 40M are controlled to perform position correction operations on the transfer device 4, thereby enabling appropriate transfer of the container 70 relative to the shelf section 80. In this example, the reference position detection sensor Se1 is configured as a camera. Through image recognition using the reference position detection sensor Se1 configured as a camera, the positional relationship between the transfer device 4 and the target section 82T provided on the beam member 82 can be detected. For example, the reference position detection sensor Se1 may also function as a distance measuring sensor for detecting the distance to an object.

[0115] like Figure 11 As shown, in this embodiment, when the transfer machine 44 performs the container 70 picking operation, the guide mechanism 45 brings a pair of guide parts 450 closer together in the width direction Y. In other words, in parallel with the container 70 picking operation performed by the transfer machine 44, the guide mechanism 45 sets the distance between the pair of guide parts 450 from the wide distance Dw to the reference distance Ds. Therefore, the container 70, which moves from the unloading side X1 in the transfer direction towards the picking side X2 in the transfer direction by means of the picking operation, can be properly guided towards the holding part H.

[0116] Figure 12 This describes the unloading (transfer) operation of container 70 relative to shelf section 80, exemplified by the case where the transfer machine 44 of unit 2 U2 unloads container 70, held by holding section H, onto shelf section 80. In this case, control unit 6 (see reference) Figure 3 If it is determined that the shelf section 80, which is the object to be unloaded from, does not hold another container 70, the pushing part 441 pushes the container 70 toward the unloading side X1 in the transfer direction. Specifically, the control unit 6 moves the pushing part 441 of the second unit U2 relative to the holding part H toward the unloading side X1 in the transfer direction while in contact with the container 70. As a result, the container 70 to be unloaded is pushed into the shelf section 80 (the transfer object section T).

[0117] Furthermore, in this embodiment, the transfer device 4 is equipped with a storage container detection sensor Se2 for detecting the container 70 stored in the shelf section 80.

[0118] The container detection sensor Se2 detects the presence or absence of the container 70 in the shelf section 80 during the unloading operation of the transfer device 4, which transfers the container 70 to the shelf section 80. If the container detection sensor Se2 detects that there is no container 70 in the shelf section 80 that is the unloading destination, the transfer device 4 performs the unloading operation of the container 70 to that shelf section 80. If the container detection sensor Se2 detects that there is a container 70 in the shelf section 80 that is the unloading destination, the container 70 can be transferred to another empty shelf section 80, or the transfer can be stopped. For example, the container detection sensor Se2 can also be configured as a distance sensor that detects the distance to the target. Therefore, the transfer operation can be performed while measuring the distance between the transfer device 4 and the transfer target section T. In this embodiment, the container detection sensor Se2 is configured as a light sensor that projects light onto the target. However, it is not limited to such a structure; the container detection sensor Se2 can also be constructed using well-known mechanisms such as ultrasonic sensors or cameras.

[0119] Furthermore, in this embodiment, when the transfer machine 44 performs the unloading operation of the container 70, the guide mechanism 45 maintains the distance between the pair of guide sections 450 at a reference distance Ds. This allows the container 70 to be unloaded to be properly guided relative to the shelf section 80 (transfer object section T).

[0120] Figures 13-15 This indicates the transfer action of container 70 relative to the lamination region 2A. In this embodiment, the transfer device 4 is in the aforementioned reference posture P0 (refer to...). Figure 7The container 70 is then transferred relative to the lamination region 2A.

[0121] As described above, in this embodiment, the lifting device 3 allows space to be formed in the vertical direction between the multiple containers 70 stacked in the stacking region 2A. Furthermore, the transfer device 4 utilizes these spaces to transfer the containers 70 relative to the stacking region 2A. In this embodiment, the transfer device 4 is configured to perform both picking up and unloading operations of the containers 70 relative to the stacking region 2A. More specifically, the transfer device 4 is configured to perform the picking up and unloading of the containers 70 in parallel relative to the stacking region 2A.

[0122] exist Figures 13-15 The diagram illustrates an example where five layers of containers 70 are stacked in the stacking region 2A as container group 7. In the diagram, each of the stacked containers 70 is assigned the numbers "1 to 5" sequentially from bottom to top. Furthermore, the container 70 to be unloaded, held by the holding part H of the first unit U1, is assigned the character "α". In the example shown below, the container 70 (container "α") is unloaded onto the fourth container 70 (container "4") using the space formed between the fifth container 70 (container "5") and the fourth container 70 (container "4") in the vertical direction using the lifting device 3. Simultaneously, the third container 70 (container "3") is retrieved using the space formed below the fourth container 70 (container "4") using the lifting device 3.

[0123] like Figure 14 As shown, control unit 6 (refer to) Figure 3 The locking part 442 of the second unit U2 is set to a locking position, so that it moves relative to the holding part H toward the transfer direction picking side X2 while locked to the container 70 (container "3"). Simultaneously, the control unit 6, while the container 70 (container "α") held by the holding part H of the first unit U1 is being pressed by the pressing part 441, moves the pressing part 441 relative to the holding part H toward the transfer direction unloading side X1. Thus, the locking part 442 of the second unit U2 pulls the container 70 (container "3") to be picked up toward the transfer direction picking side X2, and the pressing part 441 of the first unit U1 pushes the container 70 (container "α") to be unloaded toward the transfer direction unloading side X1.

[0124] Then, the control unit 6 places the container 70 (container "3") of the copied object, which is pulled in by the locking part 442 of the second unit U2, onto the holding part H of the second unit U2, and places the container 70 (container "α") of the unloaded object, which is pushed by the pushing part 441 of the first unit U1, above the container 70 (container "4") that is lifted by the second lifting holding part 32a, so that it fits with the container 70 (container "4"). Thus, the container group 7 of the lamination region 2A becomes Figure 15 The state is as shown. That is, a portion of the containers 70 (container "3") in the multiple containers 70 configured in the layering region 2A are replaced with a new container 70 (container "α").

[0125] [Other Implementation Methods]

[0126] Next, other embodiments of the conveying device will be described.

[0127] (1) In the above embodiment, an example of a transmission mechanism 50 having a first gear 501 that rotates integrally with the rotary shaft 500 and a second gear 502 that meshes with the first gear 501 has been described. However, the transmission mechanism 50 may also have multiple different gears in addition to the first gear 501 and the second gear 502.

[0128] (2) In the above embodiment, an example in which clearance is provided at the meshing portion of the first gear 501 and the second gear 502 has been described. However, this is not a limitation; if the transmission mechanism 50 has multiple gears other than the first gear 501 and the second gear 502, clearance may also be provided at the meshing portion of these gears. Furthermore, if the transmission mechanism 50 includes a chain and sprocket, a toothed belt and a toothed pulley, clearance may also be provided at the meshing portion of the chain and sprocket, or at the meshing portion of the toothed belt and the toothed pulley. Alternatively, clearance may be provided as part of a speed reducer that serves as the rotary drive source 5M of the motor. In this case, the speed reducer is also included as part of the transmission mechanism 50. The clearance provided at all the above locations is the main cause of the swaying in the rotation direction Z of the rotating part 5B. The sway limiting mechanism 51 can reduce the swaying in the rotation direction Z of the transfer machine 44 caused by these clearances.

[0129] (3) In the above embodiment, an example in which the extending direction of the rotary shaft 500 intersects the extending direction of the output shaft 503 has been described. However, this is not a limitation; the extending directions of the rotary shaft 500 and the output shaft 503 may also be parallel to each other. In other words, the rotary shaft 500 and the output shaft 503 may extend in the same direction. In this case, the meshing first gear 501 and second gear 502 are preferably composed of gears other than bevel gears (e.g., spur gears).

[0130] (4) In the above embodiment, an example of the pressed surface 510F being formed as a planar shape in the radial direction along the rotation axis 500x and in a direction parallel to the rotation axis 500x has been described. However, it is not limited to such an example, and the pressed surface 510F can be formed as long as it faces the rotation direction Z. Therefore, the pressed surface 510F can also be formed as a curved surface, or it can be formed as including a planar portion and a curved portion.

[0131] (5) In the above embodiment, an example has been described in which the pressed portion 510 has a pair of plate-shaped members arranged apart in the rotation direction Z, one of the pair of plate-shaped members has a first pressed surface 510F1 and the other has a second pressed surface 510F2. However, it is not limited to such an example, and the pressed portion 510 may also be constructed as a single component, in which both the first pressed surface 510F1 and the second pressed surface 510F2 are formed.

[0132] (6) In the above embodiment, an example was described in which the pressed part 510 has a second pressed surface 510F2 in addition to the first pressed surface 510F1, which is the pressed surface 510F. However, it is not limited to such an example, and the pressed part 510 may not have the second pressed surface 510F2. Alternatively, the pressed part 510 may have one or more other pressed surfaces in addition to the first pressed surface 510F1 and the second pressed surface 510F2. The number of pressed surfaces is preferably set according to the number of transfer object parts T, that is, the number of rotation stop positions of the transfer machine 44.

[0133] (7) In the above embodiment, an example was described in which the first pressing surface 510F1 and the second pressing surface 510F2 are arranged along the front-rear direction L of the vehicle body when the transfer device 4 is in the reference posture P0. However, the direction in which the first pressing surface 510F1 and the second pressing surface 510F2 are arranged when the transfer device 4 is in the reference posture P0 is not particularly limited. For example, when the transfer device 4 is in the reference posture P0, the first pressing surface 510F1 and the second pressing surface 510F2 may also be arranged along the width direction W of the vehicle body. In this case, the limiting part 511 is also arranged at the position corresponding to the first pressing surface 510F1 and the second pressing surface 510F2.

[0134] (8) In the above embodiment, an example has been described in which the abutting member 5110 has an abutting portion 5110a that abuts against the first pressed surface 510F1 and a swinging body 5110c that supports the abutting portion 5110a and is capable of swinging about the swinging axis Ax1. However, it is not limited to such an example. Instead of the swinging body 5110c, the abutting member 5110 may have a linear motion body that is capable of linear motion in the tangential direction of an arc-shaped movement trajectory that moves along the first pressed surface 510F1.

[0135] (9) In the above embodiment, an example of a roller in which the abutment portion 5110a is supported in a manner that allows it to rotate freely about the rotation axis Ax2 relative to the swing body 5110c has been described. However, this is not a limitation; the abutment portion 5110a may also be fixed to the swing body 5110c or formed integrally with the swing body 5110c. In this case, the abutment portion 5110a is preferably made of a component that is difficult to cause friction even when it abuts against the first pressed surface 510F1 or the second pressed surface 510F2.

[0136] (10) In the above embodiment, an example in which the spring component 5111a is made of a torsion coil spring has been described. However, it is not limited to such an example. The spring component 5111a may also be made of other coil springs such as compression coil springs or tension coil springs, or springs with other structures such as leaf springs.

[0137] (11) In the above embodiment, an example of the force application mechanism 5111 having a spring member 5111a that applies force to the swing body 5110c at a reference position in the swing direction (about the swing axis Ax1) has been described. However, it is not limited to such an example, and the force application mechanism 5111 may replace the spring member 5111a with, for example, a hydraulic cylinder, a pneumatic cylinder, etc., that applies force to the swing body 5110c at a reference position in the swing direction.

[0138] (12) In the above embodiment, an example of a sway limiting mechanism 51 having a stop 512 that limits the range of movement of the abutting member 5110 when it is pressed by the first pressed surface 510F1 (or the second pressed surface 510F2) to a certain range has been described. However, the sway limiting mechanism 51 may not have such a stop 512. Alternatively, the stop 512 may be provided separately from the sway limiting mechanism 51.

[0139] (13) In the above embodiments, an example of the conveying device 100 being configured to have a traveling body that travels on the floor surface has been described. However, it is not limited to such an example, and the conveying device 100 may also be configured as other well-known conveying devices such as stacker cranes or overhead conveyor trucks.

[0140] (14) Furthermore, the structures disclosed in the above embodiments can be combined with structures disclosed in other embodiments, provided that no contradictions arise. Regarding other structures, the embodiments disclosed in this specification are merely illustrative in all respects. Therefore, various modifications can be appropriately made without departing from the spirit of this disclosure.

[0141] [Summary of the above embodiments]

[0142] The conveying device described above will now be explained.

[0143] A conveying device for conveying articles includes: a holding part for holding the articles; a transfer machine for moving the articles along a transfer direction and transferring the articles between the holding part and a transfer target part; a support body for supporting the holding part and the transfer machine; and a rotating device for rotating the holding part and the transfer machine relative to the support body about a rotation axis orthogonal to the transfer direction, thereby changing the transfer direction; the rotating device includes a rotating part that supports the holding part and the transfer machine and rotates relative to the support body about the rotation axis, a rotating drive source for driving the rotating part to rotate, and a transmission mechanism for transmitting a rotating drive force between the rotating drive source and the rotating part. And a sway limiting mechanism for limiting the swaying of the aforementioned rotating part in the direction of rotation caused by the clearance of the aforementioned transmission mechanism; the aforementioned sway limiting mechanism includes a push-type part that rotates in conjunction with the rotation of the aforementioned rotating part, and a limiting part supported by the aforementioned support body; the aforementioned push-type part has a push-type surface facing the aforementioned rotation direction; the aforementioned limiting part includes: an abutting member disposed within the movement trajectory of the aforementioned push-type surface that moves in conjunction with the rotation of the aforementioned rotating part, and abutting against the aforementioned push-type surface when the aforementioned push-type surface is located within a specific range in the aforementioned rotation direction; and a force-applying mechanism that applies force to the aforementioned abutting member that abuts against the aforementioned push-type surface towards the aforementioned push-type surface side in the aforementioned rotation direction.

[0144] According to this structure, the abutting member abuts against the pressed surface when the pressed surface is within a specific range in the rotation direction. Furthermore, the force-applying mechanism applies force to the abutting member abutting against the pressed surface towards the pressed surface side in the rotation direction. Therefore, a force such as the mutual pressing of the meshing parts of the transmission mechanism against each other can be applied to the transmission mechanism, reducing the backlash of the transmission mechanism. Consequently, the swaying in the rotation direction of the rotating part and the transfer machine supported by the rotating part can be reduced. Therefore, according to this structure, the swaying in the rotation direction of the transfer machine caused by backlash can be reduced.

[0145] Here, preferably, the aforementioned pressed portion is fixed to the aforementioned rotating portion; the aforementioned pressed surface is formed as a plane in the radial direction along the aforementioned rotating axis and in the direction parallel to the aforementioned rotating axis.

[0146] According to this structure, the rotational force generated by the force-applying mechanism can be appropriately applied to the rotating part via the pressing part. Furthermore, since the pressing surface is formed as a plane in the radial direction along the rotation axis and in a direction parallel to the rotation axis, the aforementioned force can be efficiently absorbed. Therefore, according to this structure, the deviation of the rotational direction of the transfer machine can be appropriately suppressed.

[0147] Furthermore, preferably, one side of the aforementioned rotation direction is designated as the first side of the rotation direction, and the other side of the aforementioned rotation direction is designated as the second side of the rotation direction; the aforementioned pressed portion, in addition to the first pressed surface which is the aforementioned pressed surface, also has a second pressed surface; the aforementioned first pressed surface is the surface facing the aforementioned first side of the rotation direction; the aforementioned second pressed surface is the surface facing the aforementioned second side of the rotation direction at a position different from the aforementioned first pressed surface in the aforementioned rotation direction; the aforementioned specific range is designated as the first specific range; the aforementioned abutting member is located within the aforementioned first specific range of the aforementioned first pressed surface. In the state within the aforementioned area, the first pressed surface abuts against the first side of the aforementioned rotation direction; in the state where the second pressed surface is located within the second specific range of the aforementioned rotation direction, the second pressed surface abuts against the second side of the aforementioned rotation direction; the aforementioned force-applying mechanism applies force to the abutting member toward the second side of the aforementioned rotation direction when the abutting member abuts against the first pressed surface from the first side of the aforementioned rotation direction, and applies force to the abutting member toward the first side of the aforementioned rotation direction when the abutting member abuts against the second pressed surface from the second side of the aforementioned rotation direction.

[0148] There are cases where the transfer machine has two (or more) rotation stop positions set for transferring to the target area. According to this structure, by setting a first specific range and a second specific range corresponding to each of the two rotation stop positions, the swaying in the rotation direction of the transfer machine can be reduced regardless of which of the two rotation stop positions the transfer machine stops at. Furthermore, according to this structure, since the above effects can be achieved using a single abutting member and a force-applying mechanism, it is easier to miniaturize and simplify the device compared to cases where multiple abutting members and force-applying mechanisms are provided.

[0149] Furthermore, preferably, the aforementioned abutting member includes an abutting portion that abuts against the aforementioned pressed surface, and a swinging body that supports the aforementioned abutting portion and is capable of swinging about a swinging axis; the aforementioned swinging axis is arranged parallel to the aforementioned rotation axis and away from the aforementioned rotation axis; the aforementioned force-applying mechanism includes a spring member that applies force to the aforementioned swinging body at a reference position in the swinging direction.

[0150] According to this structure, the restriction part can be implemented with a relatively simple structure.

[0151] Furthermore, in the above structure, it is preferable that the aforementioned abutting portion is a roller supported relative to the aforementioned oscillating body in a manner that allows it to rotate freely about a rotation axis; the aforementioned rotation axis is arranged parallel to the aforementioned oscillating axis and away from the aforementioned oscillating axis.

[0152] According to this structure, even when the pressed surface rotates further towards the abutting part while the pressed surface is in contact with the abutting part, the friction between the pressed surface and the abutting part can be reduced. Therefore, according to this structure, smooth movement of the pressed surface and the abutting part can be achieved, and wear on both can be reduced.

[0153] Furthermore, preferably, the aforementioned sway limiting mechanism includes a stop member that limits the range of movement of the aforementioned abutting member caused by being pushed by the aforementioned pressing surface to a certain range.

[0154] According to this structure, excessive movement of the contacting component can be limited by means of a stop. Furthermore, by incorporating such a stop into the sway limiting mechanism, it is easier to achieve miniaturization and simplification of the device compared to the case where a separate stop is provided in the sway limiting mechanism.

[0155] Industrial availability

[0156] The technology disclosed herein can be used in conveying devices for transporting articles.

[0157] Explanation of reference numerals in the attached figures

[0158] 100: Conveying device

[0159] 40B: Lifting body (support body) for transfer

[0160] 44: Transfer machine

[0161] H: Retention section

[0162] 5: Rotary device

[0163] 5B: Rotating part

[0164] 5M: Rotary drive source

[0165] 50: Transmission mechanism

[0166] 500: Rotary shaft

[0167] 500x: Rotation axis

[0168] 51: Restricted Agencies

[0169] 510: The part being pushed

[0170] 510F: The surface being pushed

[0171] 510F1: First pushed surface

[0172] 510F2: Second pushed surface

[0173] 511: Restriction Department

[0174] 5110: Abutment component

[0175] 5110a: Abutment part

[0176] 5110b: Swing shaft

[0177] 5110c: Oscillating body

[0178] 5111: Force-applying mechanism

[0179] 5111a: Spring component

[0180] 512: Stopping component

[0181] 70: Container (Item)

[0182] Ax1: Oscillation axis

[0183] Ax2: Rotation axis

[0184] SR: Specific range

[0185] SR1: First specific range

[0186] SR2: Second specific range

[0187] T: Location of the object being transferred

[0188] X: Transfer direction

[0189] Z: Turning direction

[0190] Z1: Turning direction, first side

[0191] Z2: The second side of the turning direction.

Claims

1. A conveying device for conveying articles, characterized in that, have: The maintenance department is responsible for maintaining the aforementioned items; A transfer machine moves the aforementioned article along the transfer direction and transfers the aforementioned article between the aforementioned holding part and the transfer target part; Support body, supporting the aforementioned retaining part and the aforementioned transfer machine; and The rotary device causes the aforementioned holding part and the aforementioned transfer machine to rotate relative to the aforementioned support body about a rotary axis orthogonal to the aforementioned transfer direction, thereby changing the aforementioned transfer direction; The aforementioned rotary device includes a rotary section that supports the aforementioned holding part and the aforementioned transfer machine and rotates relative to the aforementioned support body about the aforementioned rotary axis, a rotary drive source that drives the aforementioned rotary section to rotate, a transmission mechanism that transmits the rotary drive force between the aforementioned rotary drive source and the aforementioned rotary section, and a sway limiting mechanism that limits the swaying of the aforementioned rotary section in the rotation direction caused by the clearance of the aforementioned transmission mechanism. The aforementioned sway limiting mechanism includes a pushable part that rotates in conjunction with the rotation of the aforementioned rotating part, and a limiting part supported by the aforementioned support body; The aforementioned pushed portion has a pushed surface facing the aforementioned rotation direction; The aforementioned limiting part includes: an abutting member disposed within the movement trajectory of the aforementioned pressed surface that moves in conjunction with the rotation of the aforementioned rotating part, and abutting against the aforementioned pressed surface when the aforementioned pressed surface is located within a specific range in the aforementioned rotation direction; and a force-applying mechanism that applies force to the aforementioned abutting member abutting against the aforementioned pressed surface toward the aforementioned pressed surface side in the aforementioned rotation direction.

2. The conveying device as described in claim 1, characterized in that, The aforementioned pushed part is fixed to the aforementioned rotating part; The aforementioned pressed surface is formed as a plane in the radial direction along the aforementioned axis of rotation and in the direction parallel to the aforementioned axis of rotation.

3. The conveying device as described in claim 1, characterized in that, One side of the aforementioned turning direction is designated as the first side of the turning direction, and the other side of the aforementioned turning direction is designated as the second side of the turning direction. In addition to the first pushed surface, which is the aforementioned pushed surface, the aforementioned pushed portion also has a second pushed surface; The first surface being pushed is the surface facing the first side of the aforementioned rotation direction; The aforementioned second pressed surface is a surface that faces the second side of the aforementioned rotation direction at a position different from the aforementioned first pressed surface in the aforementioned rotation direction; Set the aforementioned specific range as the first specific range; The aforementioned abutting member abuts against the aforementioned first pressed surface from the first side of the aforementioned rotation direction when the aforementioned first pressed surface is located within the aforementioned first specific range, and abuts against the aforementioned second pressed surface from the aforementioned second side of the aforementioned rotation direction when the aforementioned second pressed surface is located within the aforementioned second specific range of the aforementioned rotation direction. The aforementioned force-applying mechanism applies force to the aforementioned abutting member toward the aforementioned second side of the rotation direction when the aforementioned abutting member abuts against the aforementioned first pushed surface from the aforementioned first side of the rotation direction, and applies force to the aforementioned abutting member toward the aforementioned first side of the rotation direction when the aforementioned abutting member abuts against the aforementioned second pushed surface from the aforementioned second side of the rotation direction.

4. The conveying device as described in claim 2, characterized in that, One side of the aforementioned turning direction is designated as the first side of the turning direction, and the other side of the aforementioned turning direction is designated as the second side of the turning direction. In addition to the first pushed surface, which is the aforementioned pushed surface, the aforementioned pushed portion also has a second pushed surface; The first surface being pushed is the surface facing the first side of the aforementioned rotation direction; The aforementioned second pressed surface is a surface that faces the second side of the aforementioned rotation direction at a position different from the aforementioned first pressed surface in the aforementioned rotation direction; Set the aforementioned specific range as the first specific range; The aforementioned abutting member abuts against the aforementioned first pressed surface from the first side of the aforementioned rotation direction when the aforementioned first pressed surface is located within the aforementioned first specific range, and abuts against the aforementioned second pressed surface from the aforementioned second side of the aforementioned rotation direction when the aforementioned second pressed surface is located within the aforementioned second specific range of the aforementioned rotation direction. The aforementioned force-applying mechanism applies force to the aforementioned abutting member toward the aforementioned second side of the rotation direction when the aforementioned abutting member abuts against the aforementioned first pushed surface from the aforementioned first side of the rotation direction, and applies force to the aforementioned abutting member toward the aforementioned first side of the rotation direction when the aforementioned abutting member abuts against the aforementioned second pushed surface from the aforementioned second side of the rotation direction.

5. The conveying device according to any one of claims 1 to 4, characterized in that, The aforementioned abutting member includes an abutting portion that abuts against the aforementioned pressed surface, and a swinging body that supports the aforementioned abutting portion and is capable of swinging about a swinging axis; The aforementioned swing axis is arranged parallel to and away from the aforementioned rotation axis; The aforementioned force-applying mechanism includes a spring component that applies force to the aforementioned swinging body at a reference position in the swing direction.

6. The conveying device as described in claim 5, characterized in that, The aforementioned abutting part is a roller that is supported relative to the aforementioned swinging body in a manner that allows it to rotate freely about a rotation axis; The aforementioned rotation axis is arranged parallel to and away from the aforementioned swing axis.

7. The conveying device according to any one of claims 1 to 4, characterized in that, The aforementioned sway limiting mechanism includes a stop member, which limits the range of movement of the aforementioned abutting member caused by being pushed by the aforementioned pressing surface to a certain range.

8. The conveying device as described in claim 5, characterized in that, The aforementioned sway limiting mechanism includes a stop member, which limits the range of movement of the aforementioned abutting member caused by being pushed by the aforementioned pressing surface to a certain range.

9. The conveying device as described in claim 6, characterized in that, The aforementioned sway limiting mechanism includes a stop member, which limits the range of movement of the aforementioned abutting member caused by being pushed by the aforementioned pressing surface to a certain range.

Images