Goods carrier

Abstract

The article transporter (V) includes a cart body (1) and a transfer device (3) mounted on the cart body (1) for transferring articles. The transfer device (3) has an article support portion (32), a connection support portion (31) that connects the article support portion (32) and the cart body (1), and a drive portion (D). The connection support portion (31) has a first axis support portion (311) that is swingably connected to the cart body (1) about a first axis (A1). The article support portion (32) has a second axis support portion (321) that is swingably connected to the connection support portion (31) about a second axis (A2). The drive portion (D) has a first drive portion (33D) and a second drive portion (34D). The first drive portion (33D) swings the connection support portion (31) and the article support portion (32) connected to the connection support portion (31) about the first axis (A1). The second drive portion (34D) swings the article support portion (32) about the second axis (A2).

Description

Technical Field

[0001] The present invention relates to a goods carrier having a cart body and a transfer device mounted on the cart body for transferring goods. Background Art

[0002] For example, Japanese Patent Laid-Open No. 06-298348 (Patent Document 1) discloses a device for classifying goods according to different handling and classification destinations. Hereinafter, the reference numerals in parentheses in the description of the background art are the reference numerals in the drawings of Patent Document 1.

[0003] The device described in Patent Document 1 includes a carrier (1) having a platform (13) that can be tilted about a shaft member (17). The carrier (1) is configured to travel along a track (2) while supporting a cargo (4) on the platform (13), and transfer the cargo (4) to a cargo discharging device (7) corresponding to the classification destination. At one end portion on the traveling direction side of the platform (13), an inclined rotation guide member (14) guided by a guide groove (22a) provided along the traveling track (19) of the carrier (1) is installed. And, it is configured that when the carrier (1) is at a position adjacent to the cargo discharging device (7) on the traveling track (19), the inclined rotation guide member (14) is guided downward by the guide groove (22a), whereby the platform (13) is tilted toward the cargo discharging device (7). Thus, the carrier (1) in Patent Document 1 can transfer the cargo (4) supported on the platform (13) to the cargo discharging device (7).

[0004] Patent Document 1: Japanese Patent Laid-Open No. 06-298348.

[0005] However, the carrier (1) described in Patent Document 1 is configured to transfer goods only to one side, that is, one side in the direction orthogonal to the traveling direction. In addition, since the guide groove (22a) for guiding the inclined rotation guide member (14) needs to be provided over the entire length of the traveling track (19) in Patent Document 1, the degree of freedom in setting the traveling path of the carrier (1) is low, and the cost of the entire device also tends to be high. Summary of the Invention

[0006] In view of the above actual situation, it is necessary to realize a goods carrier that can transfer goods in multiple directions, has a high degree of freedom in path setting, and can also suppress the equipment cost to be relatively low.

[0007] The goods carrier of the present application is a goods carrier as follows: The aforementioned goods carrier includes a trolley main body and a transfer device mounted on the aforementioned trolley main body for transferring goods. It is characterized in that the aforementioned transfer device has an article support portion for supporting the article from below, a connection support portion for connecting the aforementioned article support portion and the aforementioned trolley main body, and a drive portion for performing tilting drive to tilt the aforementioned article support portion. One direction along the horizontal direction is set as the reference axis direction. The aforementioned connection support portion has a first axis support portion that is swingably connected to the aforementioned trolley main body about a first axis along the aforementioned reference axis direction. The aforementioned article support portion has a second axis support portion that is swingably connected to the aforementioned connection support portion about a second axis along the aforementioned reference axis direction. The aforementioned first axis and the aforementioned second axis are arranged at different positions when viewed in the reference axis direction along the aforementioned reference axis direction. The aforementioned drive portion has a first drive portion and a second drive portion. The aforementioned first drive portion transmits a driving force to the aforementioned connection support portion, thereby causing the aforementioned connection support portion and the aforementioned article support portion connected to the connection support portion to swing about the first axis, and tilting the aforementioned article support portion in a first tilting direction. The aforementioned second drive portion transmits a driving force to the aforementioned article support portion, thereby causing the aforementioned article support portion to swing about the second axis, and tilting the aforementioned article support portion in a second tilting direction different from the aforementioned first tilting direction.

[0008] According to this structure, by means of the first drive portion, the article support portion can be swung about the first axis via the connection support portion to tilt the article support portion in the first tilting direction, and by means of the second drive portion, the article support portion can be swung about the second axis to tilt the article support portion in the second tilting direction. Therefore, according to this structure, the article support portion can be tilted in two different directions, and the goods supported by the article support portion can slide in two different directions for transfer. In addition, according to this structure, the tilting drive of the article support portion can be performed by means of the drive portion provided in the goods carrier, so there is no need to separately provide a mechanism for tilting the article support portion along the traveling path of the goods carrier. Therefore, the degree of freedom in setting the traveling path of the goods carrier is high, and the cost of the equipment equipped with this goods carrier can also be suppressed to a lower level.

[0009] Further technical features and advantages of the present application can be made more apparent from the following illustrative and non-limiting description of embodiments with reference to the accompanying drawings. Description of the Drawings

[0010] Figure 1 It is a top view schematically showing a goods handling device.

[0011] Figure 2 It is a conceptual diagram of a goods carrier.

[0012] Figure 3It is an explanatory diagram showing the state in which the article support portion is inclined in the first inclination direction.

[0013] Figure 4 It is an explanatory diagram showing the state in which the article support portion is inclined in the second inclination direction.

[0014] Figure 5 It is an explanatory diagram showing the operation when the article support portion is inclined in the first inclination direction.

[0015] Figure 6 It is an explanatory diagram showing the operation when the article support portion is inclined in the second inclination direction.

[0016] Figure 7 It is a diagram showing a part of the article carrier of another embodiment.

[0017] Figure 8 It is a diagram showing a part of the article carrier of another embodiment.

[0018] Figure 9 It is a diagram showing the article carrier of another embodiment. Detailed Embodiment

[0019] 1. First Embodiment

[0020] With reference to the accompanying drawings, the article carrier of the first embodiment will be described. Hereinafter, the case where the article carrier is applied to an article handling device for handling and sorting articles will be described as an example.

[0021] 〔Outline of Article Handling Device〕

[0022] As Figure 1 shown, the article handling device F includes an article carrier V for handling an article W, and an article input unit 80 into which the article W carried by the article carrier V is input. In this article handling device F, for example, the article W is input into the article input unit 80 specified based on specific information such as the type of the article W, the shipping destination, etc., whereby a plurality of articles W are sorted according to specific information such as type, shipping destination, etc. In the illustrated example, a plurality of article input units 80 are provided on the floor 70 of the device, and a travel path for the article carrier V is set on the floor 70. And it is configured such that a plurality of article carriers V travel along the travel path respectively, and carry the article W to the article input unit 80 specified based on specific information such as type, shipping destination, etc.

[0023] In the present embodiment, the article handling device F includes an article supply unit 90 for supplying the article W to be handled to the article carrier V, and a general control device Cf for controlling the handling destinations of the articles W of a plurality of article carriers V.

[0024] In the article supply section 90, for example, an article W in a specific article input section 80 (transfer destination) designated based on specific information such as type and shipping destination is supplied to an article carrier V by an automatic supply device. For example, in this case, the overall control device Cf controls the automatic supply device so as to supply the article W with the designated transfer destination to the article carrier V, and instructs the article carrier V to transfer the article W to the transfer destination. However, in the article supply section 90, an operator may also supply the article W with the designated transfer destination to the article carrier V. For example, in this case, the overall control device Cf designates the transfer destination for the article W and designates the article carrier V corresponding to the transfer destination. Then, the operator supplies the article W to the article carrier V corresponding to the article W with the designated transfer destination. The article carrier V that receives the supply of the article W transfers the article W to the transfer destination (specific article input section 80).

[0025] Around each of the plurality of article input sections 80, a position information storage section Sf that stores position information indicating the position corresponding to each article input section 80 is provided. The article carrier V travels to a specific article input section 80 designated as the transfer destination, and detects the position information stored in the position information storage section Sf corresponding to the article input section 80 by a position information detection section Sv (refer to Figure 2 ), and thereby stops at this position (or travels at a low speed state) to input the article W to the article input section 80. The position information storage section Sf is configured, for example, as a bar code (e.g., two-dimensional bar code) or a radio frequency identification tag (RFID) that stores position information. When the position information storage section Sf is a bar code, the position information detection section Sv is configured as a bar code reader, and when the position information storage section Sf is a radio frequency identification tag, the position information detection section Sv is configured as a radio frequency identification reader. In addition, the input of the article W to the article input section 80 by the article carrier V is performed by transfer by a transfer device 3 described later (refer to Figure 2 ).

[0026] 〔Schematic structure of article carrier〕

[0027] Next, with reference to Figure 2 conceptually showing the structure of the article carrier V, the schematic structure of the article carrier V will be described.

[0028] Hereinafter, a direction along one horizontal direction will be set as the reference axis direction A, and a direction orthogonal to the reference axis direction A when observed in the vertical direction will be set as the reference axis orthogonal direction C for explanation. The reference axis direction A is the direction serving as a reference for arranging the following first axis A1 to fourth axis A4. In the present embodiment, it is the direction along the traveling direction of the article carrier V. Additionally, Figure 2 in, the reference axis direction A is the direction orthogonal to the paper surface. However, it is not limited thereto, and the reference axis direction A may also be a direction intersecting the traveling direction of the article carrier V when observed in the vertical direction.

[0029] As Figure 2 shown, the article carrier V includes a cart body 1 and a transfer device 3 mounted on the cart body 1 for transferring the article W. The transfer device 3 has an article support portion 32 that supports the article W from below, a connection support portion 31 that connects the article support portion 32 and the cart body 1, and a transfer drive portion D (equivalent to a drive portion) that performs tilt drive for tilting the article support portion 32. In the present embodiment, the article carrier V includes a plurality of wheels 2 and a traveling drive portion 2D (traveling motor) that rotationally drives at least one of the plurality of wheels 2. In addition, Figure 2 in the example shown, the article carrier V includes an individual control device Cv that controls each functional portion of the article carrier V. In this example, the individual control device Cv is configured to control the traveling drive portion 2D and the transfer drive portion D. Thereby, the traveling operation and the transfer operation of the article carrier V are controlled.

[0030] In the present embodiment, the article carrier V includes a storage portion Mv and a position information detection portion Sv. The aforementioned storage portion Mv stores the position information of the article input portion 80 designated as the transfer destination, and the aforementioned position information detection portion Sv detects the position information stored in the position information storage portion Sf provided around the article input portion 80. The article carrier V transfers (loads) the article W to the article input portion 80 when the position information of the position information storage portion Sf detected by the position information detection portion Sv matches the position information of the article input portion 80 designated as the transfer destination.

[0031] As Figure 2 shown, the connection support portion 31 is swingably connected to the cart body 1 about a first axis A1 along the reference axis direction A. The article support portion 32 is swingably connected to the connection support portion 31 about a second axis A2 along the reference axis direction A. The first axis A1 and the second axis A2 are arranged parallel to each other. And, the first axis A1 and the second axis A2 are arranged at different positions when observed in the reference axis direction A along the reference axis direction A. In the present embodiment, the position of the first axis A1 with respect to the cart body 1 is fixed. Since the second axis A2 rotates about the first axis A1 as the connection support portion 31 swings, the position with respect to the cart body 1 moves.

[0032] The transfer drive unit D has a first drive unit 33D and a second drive unit 34D. As Figure 2 shown, the first drive unit 33D transmits a driving force to the connection support unit 31, causing the connection support unit 31 to swing around the first axis A1. In the present embodiment, the first drive unit 33D swings the connection support unit 31 upward from a position on the central side of the cart body 1 in the direction C orthogonal to the reference axis and closer to the first axis A1. Thus, the first drive unit 33D causes the connection support unit 31 to swing counterclockwise about the first axis A1 in accordance with Figure 2 (see Figure 5 ). In addition, the second drive unit 34D transmits a driving force to the article support unit 32, causing the article support unit 32 to swing around the second axis A2. In the present embodiment, the second drive unit 34D swings the article support unit 32 upward from a position on the central side of the cart body 1 in the direction C orthogonal to the reference axis and closer to the second axis A2. Thus, the second drive unit 34D causes the article support unit 32 to swing clockwise about the second axis A2 in accordance with Figure 2 (see Figure 6 ).

[0033] As Figure 2 shown, the second drive unit 34D transmits a driving force to the article support unit 32, thereby causing only the article support unit 32 to swing around the second axis A2 and causing the article support unit 32 to tilt in the second tilt direction T2. In addition, the first drive unit 33D transmits a driving force to the connection support unit 31, thereby causing both the connection support unit 31 and the article support unit 32 connected thereto to swing around the first axis A1 and causing the article support unit 32 to tilt in the first tilt direction T1 (see Figure 3 ).

[0034] In the present embodiment, the "second tilt direction T2" means a direction in which one end portion in the direction C orthogonal to the reference axis of the article support unit 32 is disposed below the other end portion. In this example, the state in which the connection end portion (one end portion: fixed end portion) on the second axis A2 side of the article support unit 32 is disposed below the end portion on the opposite side (the other end portion: free end portion) is the state in which the article support unit 32 tilts in the second tilt direction T2, and is shown as a state of the right side descending in Figure 2 . In addition, the "first tilt direction T1" means a direction in which the other end portion in the direction C orthogonal to the reference axis of the article support unit 32 is disposed below the one end portion. In this example, the state in which the end portion (the other end portion: free end portion) of the article support unit 32 is disposed below the connection end portion (one end portion: fixed end portion) on the second axis A2 side is the state in which the article support unit 32 tilts in the first tilt direction T1, Figure 3 and is shown as a state of the left side descending in

[0035] For example, as Figure 2 shown, in a state where the article support portion 32 supports the article W and is inclined in the second inclination direction T2, the article W slides off the article support portion 32 and is thus inserted (transferred) into the article insertion portion 80. In the illustrated example, the article insertion portion 80 has an insertion port 81 into which the article W is inserted, and a guide portion 82 provided around the insertion port 81 and inclined downward toward the central portion of the insertion port 81. With the guide portion 82, the article W that has slid off the article support portion 32 can be appropriately guided with respect to the insertion port 81. In addition, although not shown in the figure, in a state where the article insertion portion 80 is arranged on the side opposite to the second axis A2 side with respect to the first axis A1 ( Figure 2 on the left side with respect to the article carrier V in the figure), in a state where the article support portion 32 supports the article W and is inclined in the first inclination direction T1, the article W can be inserted (transferred) into the article insertion portion 80.

[0036] 〔Specific structure of the transfer device〕

[0037] Next, the specific structure of the transfer device 3 will be described. The transfer device 3 is configured to transfer the article W by inclining the article support portion 32 in the first inclination direction T1 or the second inclination direction T2. Figure 3 shows a state where the article support portion 32 is inclined in the first inclination direction T1, Figure 4 shows a state where the article support portion 32 is inclined in the second inclination direction T2.

[0038] As described above, the transfer device 3 has an article support portion 32 that supports the article W from below, a connection support portion 31 that connects the article support portion 32 and the carriage body 1, and a transfer drive portion D (equivalent to a drive portion) that performs inclination drive to incline the article support portion 32.

[0039] As Figure 3 and Figure 4 shown, the connection support portion 31 has a first axis support portion 311 that is swingably connected to the carriage body 1 about a first axis A1 along the reference axis direction A. In the present embodiment, the connection support portion 31 has a portion to be pushed that is pushed by a first push portion 332 of the first drive portion 33D. In this example, the portion to be pushed is a first sliding portion 312 that can slide when pushed by the first push portion 332. And in the present embodiment, as Figure 5 shown, a first bulging portion 313 that bulges downward as it approaches the first axis support portion 311 is formed on the first sliding portion 312. In addition, the "bulging downward" in this case is based on a state where the article support portion 32 is not inclined (not driven state). The same applies to the following description.

[0040] As Figure 5As shown, in the present embodiment, the first bulging portion 313 has a first arcuate portion 313a and a second arcuate portion 313b. The shape of the first arcuate portion 313a as observed in the reference axis direction A is an upwardly convex circular arc shape, and the shape of the second arcuate portion 313b as observed in the reference axis direction A is a downwardly convex circular arc shape. They are arranged in the order of the first arcuate portion 313a and the second arcuate portion 313b from the distal side with respect to the first shaft support portion 311, forming a continuously S-shaped curved surface. And in this example, the end portion of the first arcuate portion 313a on the farther side with respect to the first shaft support portion 311 and the end portion of the second arcuate portion 313b on the nearer side with respect to the first shaft support portion 311 are both along a horizontal plane in a state where the connecting support portion 31 is not inclined. Details will be described later, but the first pressing portion 332 of the first driving portion 33D is configured to press the connecting support portion 31 while sliding on the first sliding portion 312 formed including the first arcuate portion 313a and the second arcuate portion 313b.

[0041] As Figure 3 and Figure 4 shown, the article support portion 32 has a second shaft support portion 321 that is swingably connected to the connecting support portion 31 about a second axis A2 along the reference axis direction A. In the present embodiment, the article support portion 32 has a portion to be pressed that is pressed by the second pressing portion 342 of the second driving portion 34D. In this example, the portion to be pressed is a second sliding portion 322 on which the second pressing portion 342 can slide during the pressing by the second pressing portion 342. The second sliding portion 322 is disposed outside the carriage body 1 in the reference axis direction A relative to the first sliding portion 312. And in the present embodiment, as Figure 6 shown, in the second sliding portion 322, a second bulging portion 323 that bulges downward as it approaches the second shaft support portion 321 is formed.

[0042] As Figure 6As shown, in the present embodiment, the second bulging portion 323 has a third arcuate portion 323a and a fourth arcuate portion 323b. The shape of the aforementioned third arcuate portion 323a is a circular arc convex upward when observed in the reference axis direction A, and the shape of the aforementioned fourth arcuate portion 323b is a circular arc convex downward when observed in the reference axis direction A. They are arranged in the order of the third arcuate portion 323a and the fourth arcuate portion 323b from the distal side with respect to the second shaft support portion 321, forming a continuously S-shaped curved surface. And, in this example, both the end portion of the third arcuate portion 323a on the farther side with respect to the second shaft support portion 321 and the end portion of the fourth arcuate portion 323b on the nearer side with respect to the second shaft support portion 321 are along a horizontal plane in a state where the article support portion 32 is not inclined. Details will be described later, but the second pressing portion 342 of the second driving portion 34D is configured to press the article support portion 32 while sliding on the second sliding portion 322 constituted by including the third arcuate portion 323a and the fourth arcuate portion 323b.

[0043] In the present embodiment, the article support portion 32 has a support table 324 for supporting the article W. As Figure 3 shown, the support table 324 of this example is constituted by a plate-like member extending flat in the reference axis direction A, and is formed to cover the upper surface of the cart body 1 in a state where the article support portion 32 is not inclined. The support table 324 does not have a protruding portion protruding upward at least at both ends (or the vicinity thereof) in the direction C orthogonal to the reference axis. Thereby, in a state where the article support portion 32 is inclined, the article W supported on the support table 324 can slide appropriately with respect to the article input portion 80. In addition, in the illustrated example, the support table 324 is formed in a rectangular plate shape, but is not limited to such an example, and the support table 324 can be in various shapes such as a circular plate shape and an octagonal plate shape that can support the article W.

[0044] As Figure 3 and Figure 4 shown, in the present embodiment, the article support portion 32 is arranged above the connection support portion 31 so as to straddle the connection support portion 31 in the reference axis direction A. That is, it is configured that the article support portion 32 abuts against the connection support portion 31 from above in a state where the article support portion 32 does not swing around the second axis A2. Thereby, the swing of the article support portion 32 downward with respect to the connection support portion 31 is restricted by the connection support portion 31. Therefore, when the connection support portion 31 swings upward around the first axis A1, the article support portion 32 is pushed from below by the connection support portion 31 and swings upward around the first axis A1 together with the connection support portion 31. In addition, it is configured that the connection support portion 31 abuts against a part (an abutting portion not shown) of the cart body 1 from above in a state where it does not swing around the first axis A1 (in this example, a horizontal state). Thereby, the swing of the connection support portion 31 downward from the horizontal state is restricted by the abutting portion of the cart body 1.

[0045] As shown Figure 3 in Figure 3 , the first drive unit 33D is configured to transmit a driving force with respect to the connection support unit 31, whereby the connection support unit 31 and the article support unit 32 connected to the connection support unit 31 swing about the first axis A1, and the article support unit 32 is inclined in the first inclination direction T1. In the present embodiment, the first drive unit 33D transmits a driving force upward with respect to the connection support unit 31 from the central side of the carriage body 1 in the direction C orthogonal to the reference axis with respect to the first axis A1. Thus, the connection support unit 31 swings from above and from the central side of the carriage body 1 in the direction C orthogonal to the reference axis toward the side facing the first axis A1. Figure 3 In the example shown in Figure 3 , the first drive unit 33D swings the connection support unit 31 so as to rotate counterclockwise about the first axis A1. As described above, the downward swing of the article support unit 32 with respect to the connection support unit 31 is restricted. Therefore, as the connection support unit 31 swings upward, the article support unit 32 also swings upward. Thus, the first drive unit 33D inclines the article support unit 32 in the first inclination direction T1.

[0046] In the present embodiment, the first drive unit 33D includes a first arm portion 331 connected to the carriage body 1, a first pressing portion 332 connected to the first arm portion 331 and pressing the connection support unit 31 from below, and a first drive source M1 that drives the first arm portion 331.

[0047] In the present embodiment, the first arm portion 331 is connected to the carriage body 1 so as to be rotatable about a third axis A3 along the reference axis direction A. For example, as shown Figure 5 in Figure 5 , in the present embodiment, the first arm portion 331 has a first bent portion 331a that bends in a manner of facing the connection support unit 31 as it goes from the side of the third axis A3 toward the side of the first pressing portion 332 between the first pressing portion 332 and the third axis A3. Thus, when the connection support unit 31 is pressed by the first pressing portion 332, a part of the load applied to the first arm portion 331 as bending stress can be made into compressive stress, and the durability of the first arm portion 331 can be improved.

[0048] The first pressing portion 332 is configured to be connected to a position separated from the third axis A3 of the first arm portion 331, rotate about the third axis A3 together with the first arm portion 331, and slide with respect to the connection support unit 31, thereby pressing the connection support unit 31. As described above, the first pressing portion 332 is configured to slide along the first sliding portion 312 of the connection support unit 31. In this example, the first pressing portion 332 includes a roller that rotates about an axis along the reference axis direction A.

[0049] The first drive source M1 is configured as an electric motor and rotationally drives the first arm portion 331 about the third axis A3. The first drive source M1 operates in correspondence with an instruction from an individual control device Cv.

[0050] In the present embodiment, the third axis A3, which is the rotation center of the first arm portion 331, is disposed closer to the center side of the carriage body 1 in the orthogonal direction C of the reference axis than the first axis A1. Further, the third axis A3 is also disposed closer to the center side of the carriage body 1 in the orthogonal direction C of the reference axis than the second axis A2. However, the structure is not limited to the above, and the third axis A3 may be disposed closer to the outer side of the carriage body 1 in the orthogonal direction C of the reference axis than the first axis A1, or may be disposed closer to the outer side of the carriage body 1 in the orthogonal direction C of the reference axis than the second axis A2.

[0051] As Figure 4 shown, the second drive unit 34D is configured to transmit a driving force to the article support portion 32, whereby the article support portion 32 swings about the second axis A2, and the article support portion 32 is inclined in a second inclination direction T2 different from the first inclination direction T1. In the present embodiment, the second drive unit 34D transmits a driving force upward with respect to the article support portion 32 from a position closer to the center side of the carriage body 1 in the orthogonal direction C of the reference axis than the second axis A2, whereby the article support portion 32 swings from above and the center of the carriage body 1 in the orthogonal direction C of the reference axis toward the side facing the second axis A2. Figure 4 In the example shown, the second drive unit 34D swings the article support portion 32 to rotate clockwise about the second axis A2. As described above, since the article support portion 32 only abuts from above against the connection support portion 31 without swinging about the second axis A2, when swinging about the second axis A2, only the article support portion 32 swings upward. Thus, the second drive unit 34D does not incline (swing) the connection support portion 31 but only inclines the article support portion 32 in the second inclination direction T2.

[0052] In the present embodiment, the second drive unit 34D includes a second arm portion 341 connected to the carriage body 1, a second pressing portion 342 connected to the second arm portion 341 and pressing the article support portion 32 from below, and a second drive source M2 that drives the second arm portion 341.

[0053] In the present embodiment, the second arm portion 341 is rotatably connected to the carriage body 1 about a fourth axis A4 along the reference axis direction A. For example, as Figure 6 shown, in the present embodiment, the second arm portion 341 has a second bent portion 341a that bends in a manner of facing the article support portion 32 as it goes from the fourth axis A4 side toward the second pressing portion 342 side between the second pressing portion 342 and the fourth axis A4. Thereby, part of the load applied to the second arm portion 341 as bending stress when the article support portion 32 is pressed by the second pressing portion 342 can be compression stress, and the durability of the second arm portion 341 can be improved.

[0054] The second pressing portion 342 is connected to the position of the second arm portion 341 away from the fourth axis A4, rotates around the fourth axis A4 together with the second arm portion 341, and slides relative to the article support portion 32, thereby pressing the article support portion 32. As described above, the second pressing portion 342 is configured to slide along the second sliding portion 322 of the article support portion 32. In this example, the second pressing portion 342 includes a roller that rotates around an axis along the reference axis direction A.

[0055] The second drive source M2 is configured as an electric motor, and rotationally drives the second arm 341 around the fourth axis A4. The second drive source M2 operates in accordance with a command from the individual control device Cv.

[0056] In the present embodiment, the fourth axis A4, which is the rotation center of the second arm portion 341, is arranged on the central side of the dolly body 1 in the reference axis orthogonal direction C relative to the second axis A2. Furthermore, the fourth axis A4 is also arranged on the central side of the dolly body 1 in the reference axis orthogonal direction C relative to the first axis A1. However, the present invention is not limited to the above-mentioned structure, and the fourth axis A4 may be arranged on the outer side of the dolly body 1 in the reference axis orthogonal direction C relative to the second axis A2, or may be arranged on the outer side of the dolly body 1 in the reference axis orthogonal direction C relative to the first axis A1.

[0057] like Figure 3 and Figure 4 As shown, in this embodiment, the third axis A3 and the fourth axis A4 are a common common axis AS. In other words, the third axis A3 and the fourth axis A4 are arranged at the same position. In addition, in this embodiment, the common axis AS is arranged between the first axis A1 and the second axis A2 when viewed in the up-down direction. In this example, the common axis AS is arranged at the middle position between the first axis A1 and the second axis A2 when viewed in the up-down direction.

[0058] In the present embodiment, the first arm portion 331 and the second arm portion 341 are connected in a manner of integrally rotating around a common axis AS, and are configured to extend in mutually different directions from the common axis AS. In the present embodiment, the first arm portion 331 and the second arm portion 341 are configured to extend in opposite directions (directions that differ by 180°) when viewed in the reference axis direction A. In addition, the first arm portion 331 and the second arm portion 341 are integrally formed by one component.

[0059] As described above, the second sliding portion 322 of the article support portion 32 is arranged on the outer side of the carriage body 1 in the reference axis direction A relative to the first sliding portion 312 connected to the support portion 31. Furthermore, the first pressing portion 332 connected to the first arm portion 331 is configured to slide relative to the first sliding portion 312, and the second pressing portion 342 connected to the second arm portion 341 is configured to slide relative to the second sliding portion 322. Therefore, in this example, Figure 3 andFigure 4 As shown, the first pressing portion 332 that contacts (slides) with respect to the first sliding portion 312 is disposed closer to the inner side (the inner side in the drawing) of the bogie body 1 in the reference axis direction A than the second pressing portion 342 that contacts (slides) with respect to the second sliding portion 322. In order to achieve this configuration, in the present embodiment, the first arm portion 331 is bent such that the first pressing portion 332 side of the first arm portion 331 is located closer to the inner side of the bogie body 1 in the reference axis direction A than the common axis AS side of the first arm portion 331. Thus, the first arm portion 331 and the second arm portion 341 are connected to the common axis AS, the first pressing portion 332 slides relative to the first sliding portion 312, and the second pressing portion 342 slides relative to the second sliding portion 322.

[0060] In the present embodiment, the first drive source M1 and the second drive source M2 are a common drive source MS. By applying a rotational force to the common axis AS by means of the common drive source MS, the first arm portion 331 and the second arm portion 341 connected to the common axis AS rotate. In this example, the common drive source MS is configured as an electric motor.

[0061] 〔Operation of the article support portion〕

[0062] Next, with reference to Figure 5 and Figure 6 , the operation of the article support portion 32 will be described.

[0063] Figure 5 FIG. shows the operation when the article support portion 32 tilts in the first tilt direction T1. When the article support portion 32 is tilted in the first tilt direction T1, a driving force is transmitted to the connection support portion 31 by means of the first drive portion 33D, whereby the article support portion 32 tilts together with the connection support portion 31.

[0064] The first drive portion 33D rotationally drives the first arm portion 331 by means of the first drive source M1 such that the first pressing portion 332 slides relative to the connection support portion 31 in a direction approaching the first shaft support portion 311 from the horizontal state (refer to Figure 5 the left figure) in which the article support portion 32 is not tilted. In the present embodiment, the first arm portion 331 and the second arm portion 341 are rotationally driven about the common axis AS by means of the common drive source MS. Thus, the first arm portion 331 swings about the third axis A3 (common axis AS), the connection support portion 31 is pressed from below by the first pressing portion 332, and the connection support portion 31 and the article support portion 32 are lifted upward (refer to Figure 5 the central figure).

[0065] Then, the first arm portion 331 further swings about the third axis A3, whereby the first pressing portion 332 presses the connection support portion 31 while sliding in sequence on the first arcuate portion 313a and the second arcuate portion 313b of the first bulging portion 313. As a result, the article support portion 32 is in a state of tilting in the first tilting direction T1 (see Figure 5 right figure). Therefore, the article W supported by the support table 324 of the article support portion 32 can slide relative to the article loading portion 80 (see Figure 1 ), and as a result, the article W can be transferred relative to the article loading portion 80.

[0066] Here, the first bulging portion 313 is formed on the first sliding portion 312, whereby a relatively large tilting angle of the article support portion 32 can be ensured with respect to the length of the first arm portion 331. In addition, since the first bulging portion 313 has the first arcuate portion 313a and the second arcuate portion 313b, the tilting speed of the article support portion 32 is appropriately changed during the tilting in the first tilting direction T1. That is, during the period when the first pressing portion 332 slides on the first arcuate portion 313a which is a circular arc convex upward, the tilting speed of the article support portion 32 gradually increases. Then, during the period when the first pressing portion 332 slides on the second arcuate portion 313b which is a circular arc convex downward, the tilting speed of the article support portion 32 gradually decreases. As a result, the average tilting speed when the article support portion 32 tilts in the first tilting direction T1 can be ensured to be relatively high, and the tilting speeds at the start and end of the change in the tilting angle can be suppressed to be relatively low. Therefore, the cycle time for transferring the article W can be shortened, and the article W supported by the article support portion 32 can be prevented from jumping up from the article support portion 32, and the transfer of the article W can be appropriately performed.

[0067] Figure 6 This shows the operation when the article support portion 32 tilts in the second tilting direction T2. When the article support portion 32 tilts in the second tilting direction T2, a driving force is transmitted to the article support portion 32 by the second driving portion 34D, whereby the article support portion 32 tilts.

[0068] The second driving portion 34D rotationally drives the second arm portion 341 by the second driving source M2 so that the second pressing portion 342 slides relative to the article support portion 32 in a direction approaching the second axis support portion 321 from the horizontal state where the article support portion 32 is not tilted (see Figure 6 left figure). In the present embodiment, the first arm portion 331 and the second arm portion 341 are rotationally driven about the common axis AS by the common driving source MS. As a result, the second arm portion 341 swings about the fourth axis A4 (common axis AS), and the article support portion 32 is pushed upward from below by the second pressing portion 342 (see Figure 6 center figure).

[0069] Then, the second arm portion 341 further swings around the fourth axis A4, whereby the second pressing portion 342 presses the article support portion 32 while sliding on the third arcuate portion 323a and the fourth arcuate portion 323b of the second bulging portion 323 in sequence. As a result, the article support portion 32 is in a state of tilting in the second tilting direction T2 (see Figure 6 the right figure). Therefore, the article W supported by the support table 324 of the article support portion 32 can be made to slide relative to the article loading portion 80 (see Figure 1 ), and as a result, the article W can be transferred relative to the article loading portion 80.

[0070] Here, the second bulging portion 323 is formed on the second sliding portion 322, whereby the tilting angle of the article support portion 32 can be ensured to be larger relative to the length of the second arm portion 341. In addition, since the second bulging portion 323 has the third arcuate portion 323a and the fourth arcuate portion 323b, the tilting speed of the article support portion 32 during tilting in the second tilting direction T2 is appropriately changed. That is, during the period when the second pressing portion 342 slides on the third arcuate portion 323a which is a circular arc convex upward, the tilting speed of the article support portion 32 gradually increases. Then, during the period when the second pressing portion 342 slides on the fourth arcuate portion 323b which is a circular arc convex downward, the tilting speed of the article support portion 32 gradually decreases. As a result, the average tilting speed when tilting the article support portion 32 in the second tilting direction T2 can be ensured to be high, and the tilting speeds at the start and end of the change in the tilting angle can be suppressed to be low. Therefore, the cycle time for transferring the article W can be shortened, and the article W supported by the article support portion 32 can be prevented from jumping up from the article support portion 32, and the transfer of the article W can be appropriately performed.

[0071] In this way, in the present embodiment, the common drive source MS rotationally drives the first arm portion 331 in the first rotation direction ( Figure 5 the counterclockwise rotation direction), whereby the article support portion 32 can be tilted in the first tilting direction T1, and the common drive source MS rotationally drives the second arm portion 341 in the second rotation direction opposite to the first rotation direction ( Figure 6 the clockwise rotation direction), whereby the article support portion 32 can be tilted in the second tilting direction T2. That is, in the present embodiment, the common drive source MS is configured to rotationally drive the first arm portion 331 and the second arm portion 341 in opposite directions around the common axis AS when tilting the connecting support portion 31 around the first axis A1 to tilt the article support portion 32 in the first tilting direction T1 and when tilting the article support portion 32 around the second axis A2 to tilt the article support portion 32 in the second tilting direction T2. In the present embodiment, by making the structure for swinging the connecting support portion 31 and the structure for swinging the article support portion 32 common, the size of the entire article carrier V can be reduced.

[0072] 2. Other Embodiments

[0073] Next, other embodiments of the article carrier will be described.

[0074] (1) In the above-described embodiment, an example was described in which the third axis A3 serving as the rotation center of the first arm portion 331 and the fourth axis A4 serving as the rotation center of the second arm portion 341 are a common axis AS that is common to each other, and the first drive source M1 that rotationally drives the first arm portion 331 and the second drive source M2 that rotationally drives the second arm portion 341 are a common drive source MS that is common to each other.

[0075] However, it is not limited to such an example. For example, as Figure 7 shown, the third axis A3 and the fourth axis A4 can be separate axes from each other, and the first drive source M1 and the second drive source M2 can also be set as independent driving force sources.

[0076] (2) In the above-described embodiment, an example was described in which the first drive unit 33D is configured to include the first arm portion 331 that rotates about the third axis A3, and the second drive unit 34D is configured to include the second arm portion 341 that rotates about the fourth axis A4. However, it is not limited to such an example. For example, as Figure 8As shown, the first drive unit 33D and the second drive unit 34D may also be configured as linear actuators that perform telescopic drive. As such a linear actuator, for example, a linear pressure cylinder type actuator including an electric motor that operates by receiving power supply from a battery mounted on the article carrier V, and a conversion mechanism such as a ball screw or a worm gear that converts the rotational driving force of the electric motor into the linear driving force of the pressure cylinder shaft can be suitably used. In this case, one end of the first linear actuator (first drive unit 33D) that swings the connection support portion 31 around the first axis A1 may be swingably connected to the connection support portion 31 at a position closer to the second axis A2 side than the center CC of the reference axis orthogonal direction C of the connection support portion 31. In addition, the other end of the first linear actuator (first drive unit 33D) may be swingably connected to the cart body 1. Thereby, the driving force transmitted to the connection support portion 31 by the first linear actuator (first drive unit 33D) can be suitably transmitted as the driving force that swings the connection support portion 31 around the first axis A1. Similarly, one end of the second linear actuator (second drive unit 34D) that swings the article support portion 32 around the second axis A2 may be swingably connected to the article support portion 32 at a position closer to the first axis A1 side than the center CC of the reference axis orthogonal direction C of the article support portion 32. In addition, the other end of the second linear actuator (second drive unit 34D) may be swingably connected to the cart body 1. Thereby, the driving force transmitted to the article support portion 32 by the second linear actuator (second drive unit 34D) can be suitably transmitted as the driving force that swings the article support portion 32 around the second axis A2. Additionally, Figure 8 In [the figure], an example in which both the first drive unit 33D and the second drive unit 34D are configured as linear actuators is shown, but the first drive unit 33D and the second drive unit 34D may be drive units of different forms.

[0077] (3) In the above-described embodiment, Figure 2 a structure in which the width of the support table 324 in the reference axis orthogonal direction C is equal to the width of the cart body 1 in the reference axis orthogonal direction C is described as an example. However, it is not limited to such an example. For example, as Figure 9 shown, the width of the support table 324 in the reference axis orthogonal direction C may also be configured to be larger than the width of the cart body 1 in the reference axis orthogonal direction C. According to this solution, the lower end portion of the support table 324 in the state where the article support portion 32 is inclined can be made closer to the ground 70 and the article input portion 80. Therefore, it is also possible to directly input the article W into the input port 81 of the article input portion 80 without passing through Figure 2 a guide portion 82 as shown.

[0078] (4)In the above-described embodiments, an example in which the first bulging portion 313 is formed on the first sliding portion 312 and the second bulging portion 323 is formed on the second sliding portion 322 has been described. However, the example is not limited thereto, and the shapes of the first sliding portion 312 and the second sliding portion 322 when viewed in the reference axis direction A may be formed in a linear shape.

[0079] (5)In addition, the structures disclosed in the above-described embodiments can also be combined and applied with the structures disclosed in other embodiments as long as no contradiction occurs. Regarding other structures, the embodiments disclosed in this specification are merely illustrative in all aspects. Therefore, various changes can be appropriately made without departing from the gist of the present application.

[0080] 3. Summary of the above-described embodiments

[0081] Hereinafter, the article carrier described above will be described.

[0082] The article carrier of the present application is an article carrier in which the aforementioned article carrier includes a cart main body and a transfer device mounted on the aforementioned cart main body for transferring articles, and is characterized in that the aforementioned transfer device has an article support portion for supporting the article from below, a connection support portion for connecting the aforementioned article support portion and the aforementioned cart main body, and a drive portion for performing tilt drive to tilt the aforementioned article support portion. One direction in the horizontal direction is set as the reference axis direction. The aforementioned connection support portion has a first axis support portion that is swingably connected to the aforementioned cart main body about a first axis along the aforementioned reference axis direction. The aforementioned article support portion has a second axis support portion that is swingably connected to the aforementioned connection support portion about a second axis along the aforementioned reference axis direction. The aforementioned first axis and the aforementioned second axis are arranged at different positions when viewed in the reference axis direction along the aforementioned reference axis direction. The aforementioned drive portion has a first drive portion and a second drive portion. The aforementioned first drive portion transmits a driving force to the aforementioned connection support portion, thereby causing the aforementioned connection support portion and the aforementioned article support portion connected to the connection support portion to swing about the aforementioned first axis, and tilting the aforementioned article support portion in a first tilt direction. The aforementioned second drive portion transmits a driving force to the aforementioned article support portion, thereby causing the aforementioned article support portion to swing about the aforementioned second axis, and tilting the aforementioned article support portion in a second tilt direction different from the aforementioned first tilt direction.

[0083] According to this structure, by means of the first driving part, the article supporting part can be swung around the first axis via the connecting support part to incline the article supporting part in the first inclination direction, and by means of the second driving part, the article supporting part can be swung around the second axis to incline the article supporting part in the second inclination direction. Therefore, according to this structure, the article supporting part can be inclined in two different directions, and the article supported by the article supporting part can slide in two different directions for transfer. In addition, according to this structure, the inclination driving of the article supporting part can be performed by means of the driving part provided in the article carrier, so there is no need to separately provide a mechanism for inclining the article supporting part along the traveling path of the article carrier. Therefore, the degree of freedom in setting the traveling path of the article carrier is high, and the cost of the equipment equipped with this article carrier can also be suppressed to a lower level.

[0084] Here, preferably, the first driving part has a first arm part connected to the trolley body, a first pressing part connected to the first arm part and pressing the connecting support part from below, and a first driving source for driving the first arm part; the second driving part has a second arm part connected to the trolley body, a second pressing part connected to the second arm part and pressing the article supporting part from below, and a second driving source for driving the second arm part.

[0085] According to this structure, by means of the first driving source for driving the first arm part and the second driving source for driving the second arm part respectively, the article supporting part can be inclined around the first axis or the second axis in mutually different directions. Therefore, a structure for appropriately transferring the article supported by the article supporting part in two different directions can be realized.

[0086] In addition, preferably, the first arm part is rotatably connected to the trolley body around a third axis along the reference axis direction, the second arm part is rotatably connected to the trolley body around a fourth axis along the reference axis direction, the first pressing part is configured to be connected to a position away from the third axis of the first arm part, rotate around the third axis together with the first arm part, and slide relative to the connecting support part to press the connecting support part; the second pressing part is configured to be connected to a position away from the fourth axis of the second arm part, rotate around the fourth axis together with the second arm part, and slide relative to the article supporting part to press the article supporting part; the first driving source rotationally drives the first arm part so that the first pressing part slides relative to the connecting support part in a direction approaching the first axis branch; the second driving source rotationally drives the second arm part so that the second pressing part slides relative to the article supporting part in a direction approaching the second axis branch.

[0087] According to this structure, the driving force transmitted to the connection support part via the first pressing part can be appropriately transmitted as the driving force necessary for rotating the connection support part around the first axis. Similarly, the driving force transmitted to the article support part via the second pressing part can be appropriately transmitted as the driving force necessary for rotating the article support part around the second axis.

[0088] In addition, it is preferable that the third axis and the fourth axis are a common axis, the common axis is disposed between the first axis and the second axis when viewed in the vertical direction, the first arm part and the second arm part are connected so as to rotate integrally around the common axis, and are arranged to extend in different directions from the common axis, the first drive source and the second drive source are a common drive source, and when the connection support part swings around the first axis and when the article support part swings around the second axis, the first arm part and the second arm part are rotationally driven in opposite directions around the common axis.

[0089] According to this structure, the structure for swinging the connection support part around the first axis and the structure for swinging the article support part around the second axis can be made common, and the size of the article carrier as a whole can be reduced.

[0090] In addition, a first sliding part where the first pressing part of the connection support part slides forms a first bulging part that bulges downward as it approaches the first axis support part, and a second sliding part where the second pressing part of the article support part slides forms a second bulging part that bulges downward as it approaches the second axis support part.

[0091] According to this structure, by means of the first pressing part, the connection support part can be pressed via the first bulging part, so compared with the case where the first bulging part is not provided, the tilt angle of the article support part can be ensured, and the length of the first arm part can be set shorter. Similarly, by means of the second pressing part, the article support part can be pressed via the second bulging part, so compared with the case where the second bulging part is not provided, the tilt angle of the article support part can be ensured, and the length of the second arm part can be set shorter. Therefore, according to this structure, corresponding to the fact that the lengths of the first arm part and the second arm part can be set relatively short, the enlargement of the article carrier can be suppressed.

[0092] Industrial applicability

[0093] The technology of the present application can be used in an article carrier that includes a cart body and a transfer device mounted on the cart body for transferring articles.

[0094] Explanation of reference numerals

[0095] V Article carrier D Transfer Driving Unit (Driving Unit) W Article

[0096] 1 Cart Body

[0097] 3 Transfer Device

[0098] 31 Connecting Support Part

[0099] 32 Article Support Part

[0100] 33D: First Driving Unit

[0101] 34D: Second Driving Unit

[0102] 311: First Axis Support Part

[0103] 312: First Sliding Part

[0104] 313: First Bulging Part

[0105] 321: Second Axis Support Part

[0106] 322: Second Sliding Part

[0107] 323: Second Bulging Part

[0108] 331: First Arm Part

[0109] 332: First Pushing Part

[0110] 341: Second Arm Part

[0111] 342: Second Pushing Part M1 First Driving Source M2 Second Driving Source MS Common Driving Source A1 First Axis A2 Second Axis A3 Third Axis A4 Fourth Axis AS Common Axis A Reference Axis Direction C Reference Axis Orthogonal Direction T1 First Tilt Direction T2 Second Tilt Direction

Claims

1. An article carrier, wherein the article carrier includes a cart body and a transfer device mounted on the cart body for transferring articles, and is characterized in that the transfer device has: an article support portion having a support table for supporting an article from below and a transmission portion, a connection support portion for pressing the article support portion from below, and a drive portion for performing tilt drive to tilt the article support portion; one direction along the horizontal direction is set as the reference axis direction; the connection support portion has a first axis support portion that is swingably connected to the cart body about a first axis along the reference axis direction; the article support portion has a second axis support portion that is swingably connected to the cart body about a second axis along the reference axis direction; the support table is composed of a plate-like member that extends flatly in the reference axis direction and in a direction orthogonal to the reference axis direction; the drive portion has a first drive portion and a second drive portion; the first drive portion transmits a driving force to the connection support portion, thereby swinging the connection support portion and causing the support table pressed from below by the swinging connection support portion to swing about the first axis, and tilting the support table in a first tilt direction; the second drive portion transmits a driving force to the transmission portion of the article support portion, thereby causing the support table to swing about the second axis, and tilting the support table in a second tilt direction different from the first tilt direction; the first drive portion has a first arm portion connected to the cart body, a first pressing portion connected to the first arm portion for pressing the connection support portion from below, and a first drive source for driving the first arm portion; the second drive portion has a second arm portion connected to the cart body, a second pressing portion connected to the second arm portion for pressing the transmission portion from below, and a second drive source for driving the second arm portion; the first arm portion is rotatably connected to the cart body about a third axis along the reference axis direction; the second arm portion is rotatably connected to the cart body about a fourth axis along the reference axis direction; the first pressing portion is configured to be connected to a position away from the third axis of the first arm portion, rotate about the third axis together with the first arm portion, and slide relative to the connection support portion, thereby pressing the connection support portion; the second pressing portion is configured to be connected to a position away from the fourth axis of the second arm portion, rotate about the fourth axis together with the second arm portion, and slide relative to the article support portion, thereby pressing the article support portion; the first drive source rotationally drives the first arm portion so that the first pressing portion slides relative to the connection support portion in a direction approaching the first axis support portion; the second drive source rotationally drives the second arm portion so that the second pressing portion slides relative to the article support portion in a direction approaching the second axis support portion; the third axis and the fourth axis are a common axis; the common axis is disposed between the first axis and the second axis when viewed in the vertical direction. The foregoing first arm portion and the foregoing second arm portion are connected so as to rotate integrally about the foregoing common axis, and are arranged to extend in mutually different directions from the foregoing common axis. The foregoing first drive source and the foregoing second drive source are a common drive source. When the foregoing connection support portion swings about the foregoing first axis and when the foregoing article support portion swings about the foregoing second axis, the foregoing common drive source rotationally drives the foregoing first arm portion and the foregoing second arm portion in mutually opposite directions about the foregoing common axis.

2. The article carrier according to claim 1, wherein a first sliding portion on which the foregoing first pressing portion of the foregoing connection support portion slides forms a first bulging portion that bulges downward as it approaches the foregoing first axis support portion. The foregoing transmission portion is a second sliding portion. The foregoing second sliding portion on which the foregoing second pressing portion of the foregoing article support portion slides forms a second bulging portion that bulges downward as it approaches the foregoing second axis support portion.

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