Article handling device

Abstract

An article transport device (1) includes a mobile body (2), a cover portion (3), a transfer mechanism (4), and a control portion (5). The transfer mechanism includes a holding portion (10), a rotation portion, and a lifting portion. The holding portion is capable of changing between a holding state in which an article is held and a release state in which holding of the article is released. The rotation portion rotates the holding portion about a rotation axis along a vertical direction. The lifting portion moves the holding portion between an inner position in a housing area and an outer position outside the housing area. In a maintenance mode, when an operation instruction for the transfer mechanism is received from an operation terminal, the control portion determines whether a lifting height is within an interference height range. When the lifting height is outside the interference height range, the control portion performs an operation of the transfer mechanism according to the operation instruction. When the lifting height is within the interference height range, the control portion prohibits a rotation operation of the holding portion by the rotation portion in the operation of the transfer mechanism according to the operation instruction.

Description

Technical Field

[0001] This invention relates to a goods handling device for transporting goods. Background Technology

[0002] For example, International Publication No. 2019 / 035286 (Patent Document 1) discloses a conveying system. In the following description of the background art, the names and figures from Patent Document 1 will be referenced in parentheses.

[0003] The transport system (SYS) includes an item transport device (ceiling transport vehicle 10), which comprises a moving body (traveling section 11), a cover section (main body 12), a transfer mechanism (transfer section 13), and a control unit (14). The moving body (traveling section 11) travels along a track, and the cover section (main body 12) is mounted on the moving body (traveling section 11) to accommodate items (M). The transfer mechanism (transfer section 13) includes a holding section (15) for holding the items (M), a rotating section (rotating mechanism 19) for rotating the holding section (15) about a rotation axis (AX), and a moving section (moving mechanism 16) for moving the holding section (15) and the rotating section (rotating mechanism 19) relative to the cover section (main body 12). The control unit (14) controls the operation of each part of the moving body (traveling section 11) and the transfer mechanism (transfer section 13). The rotating part (rotating mechanism 19) of the item handling device (canopy transporter 10) is allowed to rotate when the item (M) held by the holding part (15) is in the disengaged position away from the cover part (main body part 12), preventing the item (M) from contacting the inner wall (23a) of the cover part (main body part 12).

[0004] In situations such as maintenance or repair of the material handling device, or in the event of a malfunction, the material handling device may be activated based on an operation command from the operator's control terminal. Furthermore, the cover may have a protrusion extending towards the receiving area on its inner surface facing the object being received. In such cases, for example, if the holding part is housed within the receiving area covered by the cover, and the transfer mechanism is activated according to an operation command to transition to a predetermined posture, there is a possibility that the holding part may interfere (contact) with the protrusion depending on the rotation angle of the holding part at the moment the operation command is present. Summary of the Invention

[0005] Therefore, it is desirable to realize an article handling device that can avoid interference between the holding part and the protrusion and enable the transfer mechanism to operate properly.

[0006] The technical solution of the article handling device described above is as follows: an article handling device for handling articles, characterized in that it comprises a movable body, a cover, a transfer mechanism, and a control unit. The movable body moves for handling the articles. The cover is supported on the movable body and covers at least a portion of the periphery of the receiving area containing the articles being handled. The transfer mechanism holds the articles and transfers them between the receiving area and the receiving part. The control unit controls the movable body and the transfer mechanism. The transfer mechanism comprises a holding part, a rotating part, and a lifting part. The holding part is supported on the movable body and its state can be changed to a holding state that holds the articles and a releasing state that releases the holding of the articles. The rotating part causes the holding part to rotate about a rotation axis along the vertical direction. The lifting part causes the holding part to move vertically between an internal position in the receiving area and an external position outside the receiving area. The cover has an inner surface structure facing the receiving area, and the inner surface structure includes a protrusion, which is formed as a specific part in the vertical direction. The aforementioned transfer mechanism protrudes towards the aforementioned receiving area. When the lifting height of the aforementioned holding part achieved by the aforementioned lifting part is within the specified interference height range, there is a possibility that the aforementioned holding part may be rotated by the aforementioned rotating part, thus interfering with the aforementioned protrusion. When the lifting height of the aforementioned holding part achieved by the aforementioned lifting part is outside the aforementioned interference height range, even if the aforementioned holding part is rotated by the aforementioned rotating part, it will not interfere with the aforementioned inner surface structure. The aforementioned control unit can execute a maintenance mode that operates the aforementioned transfer mechanism according to the instructions from the operator's operating terminal. In the aforementioned maintenance mode, when the aforementioned control unit receives the operation instruction of the aforementioned transfer mechanism from the aforementioned operating terminal, it determines whether the aforementioned lifting height is within the aforementioned interference height range. If the aforementioned lifting height is outside the aforementioned interference height range, it executes the operation of the aforementioned transfer mechanism according to the aforementioned operation instruction. If the aforementioned lifting height is within the aforementioned interference height range, it prohibits the rotation of the aforementioned holding part by the aforementioned rotating part in the operation of the aforementioned transfer mechanism according to the aforementioned operation instruction.

[0007] According to this technical solution, even if the operator issues an incorrect operation command for the transfer mechanism during maintenance mode, the rotation of the holding part can be prevented from occurring if there is a possibility of interference between the holding part and the protrusion due to the rotation of the holding part. Otherwise, the transfer mechanism can operate according to the operation command. Thus, interference between the holding part and the protrusion can be avoided, and the transfer mechanism can operate appropriately according to the operation command.

[0008] Further features and advantages of the technology described in this application will become clearer from the following illustrative and non-limiting description of embodiments with reference to the accompanying drawings. Attached Figure Description

[0009] Figure 1 It is a diagram showing the utilization form of a material handling device.

[0010] Figure 2 This is a side view of the goods handling device.

[0011] Figure 3 It is a diagram representing the range of interference heights.

[0012] Figure 4 It is a diagram showing the state of items contained within a containment area.

[0013] Figure 5 This is a control block diagram showing the control of the transfer mechanism performed by the control department.

[0014] Figure 6 This is a flowchart illustrating the control process of the transfer mechanism performed by the control department.

[0015] Figure 7 This is a diagram illustrating a notification example of interference. Detailed Implementation

[0016] 1. Implementation method of the goods handling device The embodiments of the goods handling device will be described with reference to the accompanying drawings. Figure 1 As shown, the item handling device 1 is installed, for example, between multiple handling locations 90 in a factory or workshop, and is configured to move along a movement path R to handle items W, and to change the posture of items W when handling items W.

[0017] Hereinafter, the direction in which the item handling device 1 travels along the movement path R will be defined as the "movement direction X", and the direction orthogonal to the movement direction X when viewed from above will be defined as the "width direction Y". Furthermore, the direction orthogonal to both the movement direction X and the width direction Y will be defined as the "vertical direction Z". Here, the front side of the movement direction X will be defined as "front side X1" and the rear side as "rear side X2". Furthermore, the left and right sides will be defined based on the state of the front side X1 facing the movement direction X. Specifically, for the front side X1 facing the movement direction X, the left side in the width direction Y will be defined as "left side Y1" and the right side as "right side Y2".

[0018] Article W is equivalent to the object being transported by article transport device 1. In this embodiment, article W is a container for storing semiconductor substrates, formed into a cuboid shape, configured to store multiple semiconductor substrates in multiple layers. The upper and lower surfaces of article W are sealed off. In particular, a flange W1 (see reference) is provided on the upper surface for the article W to be held by article transport device 1 during transport. Figure 2Furthermore, an opening for inserting and removing a semiconductor substrate is provided on one of the four sides of the article W. The remaining three sides of the article W are sealed off.

[0019] The location 90 for the transported item is the location that serves as both the source and destination for transporting item W. For example... Figure 1 As shown, the transport object location 90 is provided at multiple locations along the movement path R. At the transport object location 90, for example, the article W is processed. The transport object location 90 includes a processing device 90a for processing a semiconductor substrate and a transfer section 90b for transferring the article W between the transport object location 90 and the article transport device 1. The transfer section 90b is a so-called loading port. When the semiconductor substrate of the article W received at the transfer section 90b is removed by a removal device or the like provided in the processing device 90a, processes such as substrate washing, baking, resist coating, and peeling are performed at the processing device 90a.

[0020] The movement path R refers to the path along which the goods handling device 1 moves. In this embodiment, the movement path R is supported by a track 99 suspended from the ceiling of the building utilizing the goods handling device 1 (see reference). Figure 2 According to regulations, in this embodiment, the goods handling device 1 is configured as a so-called overhead conveyor.

[0021] Figure 2 This is a side view of the moving device 1 in the state of moving item W. (Example) Figure 2 As shown, the article handling device 1 includes a moving body 2, a cover 3, a transfer mechanism 4, a control unit 5, and a height detection unit 15. The moving body 2 moves for the handling of article W. In this embodiment, the moving body 2 is located above the track 99 and has a driving motor 2M that drives the wheels 2A. The driving motor 2M drives the wheels 2A to rotate, thereby applying a propulsive force relative to the direction of travel X to the moving body 2. Movement for the handling of article W means traveling along a movement path R from the handling source of article W to the handling destination of article W. Therefore, the moving body 2 travels along the movement path R from the handling source of article W to the handling destination of article W.

[0022] The cover 3 is supported by the movable body 2 and covers at least a portion of the periphery of the receiving area S of the article W being transported. "Supported by the movable body 2" means that the cover 3 is fixedly connected to the movable body 2 and moves integrally with the movement of the movable body 2. In this embodiment, the cover 3 is suspended and supported by the movable body 2 in a position lower than the track 99. The receiving area S of the article W being transported refers to the area of ​​the article transport device 1 where the article W is arranged during transport along the transport path R from the transport source of the article W to the transport destination of the article W, and is the area covered by the cover 3. This area where the article W is arranged is covered from the side by the cover 3, and is therefore called the receiving area S. The coverage (covering) of the receiving area S by the cover 3 can be the entire side (the entire periphery) of the article W, or only a portion of the entire side.

[0023] In this embodiment, the cover 3 is configured to have a pair of side cover portions 3B that cover the article W from the side (horizontal direction) and an upper cover portion 3C that covers the article W from above. Figure 2 In this example, each of the pair of side covers 3B is connected to the upper cover 3C to form a cover 3. Furthermore, each of the side covers 3B extends downward from both ends of the upper cover 3C in the direction of the movement path R (the direction of travel X). Thus, each of the pair of side covers 3B from both sides of the direction of travel X, covering the article W held in the holding part 10. Moreover, the cover 3 is open on both sides and downward in the width direction Y, and when viewed from the outside in the width direction Y, it is formed into an inverted U-shape with angles. Therefore, the receiving area S is in a state where it communicates with the outside of the cover 3 on both sides and downward in the width direction Y.

[0024] The transfer mechanism 4 holds the item W and transfers the item W between the transfer mechanism 4 and the transfer target area. Holding the item W means that the item W is held in a way that prevents it from falling as the moving body 2 moves along the movement path R. For example, such holding is preferably performed by gripping the flange W1 provided at the item W. The transfer target area corresponds to the transport source of the item W, the transport destination of the item W, and the transport target location 90. The transfer of the item W is equivalent to the handover of the item W. Therefore, when the moving body 2 moves along the movement path R, the transfer mechanism 4 grips the flange W1 provided at the item W from above in a way that prevents the item W from falling, and performs the handover of the item W between the transfer mechanism 4 and the transport source and the transport destination of the item W, i.e., the transport target location 90.

[0025] In this embodiment, the transfer mechanism 4 includes a holding part 10, a rotating part 20, a lifting part 31, and a sliding part 32. The holding part 10 is supported on the moving body 2, and its state can be changed to a holding state that holds the article W and a releasing state that releases the holding of the article W. Similar to the cover part 3, "supported on the moving body 2" means that the holding part 10 is connected to the moving body 2 and moves in response to the movement of the moving body 2. The holding state that holds the article W refers to the state of gripping the flange part W1 provided at the article W. The releasing state that releases the holding of the article W refers to the state of not gripping the flange part W1 provided at the article W. In this embodiment, the holding part 10 includes a gripping motor 10M and a pair of gripping claws 10C. The pair of gripping claws 10C are driven by the gripping motor 10M, and their posture can be changed between a gripping posture and a releasing posture. The pair of gripping claws 10C are in a gripping posture by moving in a direction that approaches each other, and in a releasing posture by moving in a direction that moves away from each other. A pair of gripping claws 10C grip the flange W1 of an article W in a gripping posture, thereby holding the article W in a holding state by the retaining part 10. When the pair of gripping claws 10C changes from the gripping state of the flange W1 to the releasing state, the retaining part 10 releases the article W from the holding state. The retaining part 10 grips the flange W1, so it is equivalent to a clamp.

[0026] The rotating part 20 causes the holding part 10 to rotate about a rotation axis 4b along the vertical direction. In this embodiment, the rotating part 20 is configured to rotate the article W about a rotation axis 4b along the vertical direction Z, thereby changing the posture of the article W. In this embodiment, the rotating part 20 is provided with a rotation axis (not shown in the figure) along the vertical direction Z and a rotation motor 20M that drives the rotation axis. The rotation axis is connected to the holding part 10 and is driven by the rotation motor 20M, rotating together with the holding part 10. Thus, the holding part 10 and the article W held in the holding part 10 can rotate about the rotation axis 4b along the vertical direction Z.

[0027] The lifting part 31 moves the holding part 10 up and down between an inner position within the receiving area S and an outer position outside the receiving area S. As described above, in this embodiment, the receiving area S is covered by the cover part 3 in a state where it is open on both sides and below in the width direction Y. The position within the receiving area S (i.e., the position included by the receiving area S) corresponds to the inner position. Therefore, in Figure 2 The solid line represents the item W, which is supported in an internal position. On the other hand, the position outside the containing area S (i.e., the position not included in the containing area S) corresponds to the external position. Figure 2As shown by the dotted line, when the article W is placed on the junction 90b, the article W is supported in an external position. The lifting part 31 is configured to allow the holding part 10 (the article W held by the holding part 10) to move up and down between such an internal position and an external position.

[0028] In this embodiment, corresponding to the lifting and lowering movement of the holding part 10 performed by the lifting unit 31, the article W held in the holding part 10 moves up and down between its internal position in the receiving area S and the position where the junction 90b is located. In this embodiment, the lifting unit 31 has a lifting belt 30A connected to the holding part 10 and a lifting motor 31M for driving a lifting pulley (not shown in the figure) to wind or unwind the lifting belt 30A. Thus, by driving the lifting motor 31M, the article W held in the holding part 10 can be raised and lowered between its internal position in the receiving area S and the junction 90b. By using the lifting unit 31 to move the article W up and down, the article W can be transferred relative to the transport object location 90, which is at a different position in the vertical direction (the lower side in this example) relative to the movement path R. Furthermore, at this time, by adjusting the lifting height of the holding part 10 achieved by the lifting unit 31, the position of the holding part 10 relative to the transport object location 90 can be adjusted to deviate from the vertical direction Z.

[0029] The sliding part 32 causes the holding part 10 to slide horizontally. In this embodiment, the article W held in the holding part 10 slides in accordance with the sliding movement of the holding part 10 by the sliding part 32. In this embodiment, the sliding part 32 is mounted on the cover part 3 and has a sliding belt (not shown) and a sliding motor 32M for driving the sliding pulley (not shown) to wind or unwind the sliding belt. The sliding part 32 causes the holding part 10 and the article W held in the holding part 10 to slide along the width direction Y as driven by the sliding motor 32M. By using the sliding part 32 to slide the article W along the width direction Y, the positional deviation relative to the transport object location 90 can be adjusted in the width direction Y when the article W is transferred.

[0030] The control unit 5 controls the moving body 2 and the transfer mechanism 4. Controlling the moving body 2 means controlling its movement and stopping along the movement path R. Furthermore, controlling the transfer mechanism 4 means controlling the holding of the item W by the transfer mechanism 4 and the transfer of the item W between the transfer mechanism 4 and the transport source and the transport destination of the item W. Specifically, the control unit 5 controls the holding and releasing of the item W by the holding unit 10, controls the movement and rotation of the item W by the rotating unit 20, the lifting unit 31, and the sliding unit 32, and controls the transfer of the item W between the transport source and the transport destination. Figure 2The control unit 5 is indicated as being located on the cover 3, but the control unit 5 may also be located on other parts different from the cover 3.

[0031] Here, as described above, the receiving area S is formed by the cover 3, but the cover 3 has an inner surface structure facing the receiving area S. "Inner surface structure facing the receiving area S" is equivalent to the surface that divides the outer edge of the receiving area S. This inner surface structure includes the inner wall surface 3A of the cover 3 and all structures disposed on the receiving area S side, which is closer to the inner wall surface 3A than the receiving area S. Specifically, the inner surface structure includes the inner wall surface 3A of the cover 3, a fall-limiting part 6 for limiting the downward fall of the article W, a swing-limiting mechanism 7 for limiting the swing of the article W held by the holding part 10, and a sensor that protrudes into the receiving area S, etc.

[0032] The inner surface structure includes a protrusion 8, which is formed to protrude towards the receiving area S at a specific location in the vertical direction. This specific location in the vertical direction refers to a location in the receiving area S that is lower than the retaining portion 10 in the vertical direction Z (e.g., the retaining portion 10 in the reference posture described later). Protruding towards the receiving area S means protruding from the inner wall surface 3A of the cover 3 towards the receiving area S. Therefore, the inner surface structure has a protrusion 8, which is configured to protrude from the inner wall surface 3A of the cover 3 towards the receiving area S at a location lower than the retaining portion 10 in the vertical direction Z of the receiving area S. In this embodiment, the drop-limiting portion 6 is cited as the protrusion 8.

[0033] The drop limiting part 6 is configured to protrude from the inner wall surface 3A of the cover 3 toward the receiving area S in the vertical direction Z, at a position lower than the item W contained in the receiving area S. This drop limiting part 6 is provided on a pair of facing sides of the inner wall surface 3A of the cover 3, separated by the item W held by the holding part 10. Furthermore, the drop limiting part 6 includes a linkage mechanism (not shown in the figure). When the item W held by the holding part 10 is contained in the receiving area S, each of the pair of limiting body drive parts 6M actuates the linkage mechanism, thereby assuming a protruding posture toward the receiving area S. In this protruding posture, at least a portion of the drop limiting part 6 is configured to overlap with the item W when viewed in the vertical direction Z. Therefore, even when the holding part 10 is released during the transport of the item W, the drop limiting part 6 supports the item W from below, thus preventing the item W from falling to the ground. Furthermore, when the article W is being transferred, the drop limiting part 6 retracts to a position outside the receiving area S when the transfer mechanism 4 moves the article W to such a position. In this retracted position, the drop limiting part 6 is configured such that it does not overlap with the article W when viewed in the vertical direction Z.

[0034] The swing limiting mechanism 7 includes a support portion 7A, an abutment portion 7B, and an abutment drive portion 7M. The support portion 7A supports the abutment portion 7B. The swing limiting portion 7 is provided on a pair of facing sides of the inner wall surface 3A of the cover portion 3, separated by the article W held by the holding portion 10. In this example, the swing limiting mechanism 7 is provided on each of the pair of sides where the drop limiting portion 6 is provided. Furthermore, in this embodiment, the support portion 7A is driven by the abutment drive portion 7M, thereby changing the posture of the abutment portion 7B into a protruding posture that causes it to protrude from the cover portion 3 toward the receiving area S, and into a retracting posture that causes it to retract toward the cover portion 3 compared to the protruding posture. When the article W held by the holding portion 10 is received in the receiving area S, the pair of abutment portions 7B are in a protruding posture, thereby abutting the pair of abutment portions 7B from both sides relative to the sides of the article W. Thus, the swing of the article W is limited during the handling of the article W and during the transfer based on the transfer mechanism 4. On the other hand, when the article W is transferred, and the transfer mechanism 4 moves the article W to a position outside the receiving area S, the pair of abutment parts 7B are in a retracted position, thereby separating the pair of abutment parts 7B from the article W. Thus, the article W can be moved appropriately.

[0035] here, Figure 3 This is an explanatory diagram of the interference height range in this embodiment. Figure 4 This diagram illustrates the state of the article W housed in the housing area S. When the lifting height of the holding part 10 achieved by the lifting part 31 is outside the predetermined interference height range, the transfer mechanism 4 does not interfere with the inner surface structure even when the holding part 10 is rotated back by the rotating part 20. However, when the lifting height of the holding part 10 achieved by the lifting part 31 is within the interference height range, there is a possibility that the transfer mechanism 4 (e.g., the holding part 10) interferes with the protrusion 8 when the holding part 10 is rotated back by the rotating part 20. As described above, the holding part 10 moves up and down in the vertical direction Z by means of the lifting part 31. Therefore, the lifting height of the holding part 10 achieved by the lifting part 31 is equivalent to the height of the holding part 10 moving up and down by means of the lifting part 31. Figure 3 In this context, the lower surface of the holding part 10, excluding the pair of gripping claws 10C, is designated as the reference surface 10D. The position of the reference surface 10D of the holding part 10 when it is raised to its highest position in the vertical direction Z is designated as the reference position RP. The amount of downward movement from this reference position RP is represented as the lifting height h. "Rotating the holding part 10 by means of the rotating part 20" is equivalent to a rotation of the holding part 10 around a predetermined rotation angle by means of the rotating part 20 about the rotation axis 4b along the vertical direction Z. Figure 4In this context, such a rotation angle is represented by θ. The inner surface structure is the surface that constitutes the receiving area S. In this embodiment, this includes the inner wall surface 3A of the cover 3, the drop limiting part 6, the swing limiting mechanism 7, and the sensor that is configured to protrude into the receiving area S. Interference in this embodiment means contact.

[0036] Here, as Figure 4 As shown, when the position of the left edge Y1 of the item W held by the transfer mechanism 4 along the width direction Y and the center of the direction X is set as point Q, and the rotation center when the item W is rotated is set as point O, the rotation angle of line segment OQ parallel to the width direction Y is set to 0 degrees. Furthermore, as... Figure 3 As shown, the upper limit of the interference height range is h1, and the lower limit is h2. At this time, when the reference surface 10D of the holding part 10 is not included in the interference height range, that is, when the lifting height h is smaller than h1 (in this example, the reference surface 10D of the holding part 10 is located above h1), or when the lifting height h is larger than h2 (in this example, the reference surface 10D of the holding part 10 is located below h2), even if the rotating part 20 performs a rotational movement of the article W (a movement with a rotation angle of θ from 0 degrees) or the sliding part 32 performs a sliding movement of the article W, the transfer mechanism 4 does not contact the inner surface structure of the cover part 3 (inner wall surface 3A, drop restriction part 6, swing restriction mechanism 7, sensor provided to protrude into the receiving area S, etc.). However, when the reference surface 10D of the holding part 10 is included in the interference height range (in this example, the reference surface 10D of the holding part 10 is located between h1 and h2), Figure 4 As shown by the double-dotted line, when the rotating part 20 rotates the article W, the transfer mechanism 4 may come into contact with the protrusion 8 (in this example, the drop restriction part 6). Similarly, when the reference plane 10D of the holding part 10 is included in the interference height range, and the sliding part 32 slides the article W, the transfer mechanism 4 may come into contact with the protrusion 8 (in this example, the drop restriction part 6) depending on the rotation angle θ at that time.

[0037] The range of lifting heights where the transfer mechanism 4 does not contact the inner surface structure is outside the interference height range; the range of lifting heights where the transfer mechanism 4 contacts the protrusion 8 (in this example, the drop restriction part 6) is within the interference height range. This interference height range is defined as follows: Figure 3 The Chinese character indicates this. For example... Figure 3As shown, the interference height range is based on the reference position RP, and the lifting height h is set throughout the range from h1 to h2. Therefore, if the lifting height of the reference surface 10D of the holding part 10 is smaller than h1 or larger than h2, even if the rotating part 20 performs the rotational movement of the article W or the sliding part 32 performs the sliding movement of the article W, the transfer mechanism 4 will not interfere with the inner surface structure of the cover part 3.

[0038] The height of the holding unit 10, that is, the lifting height of the holding unit 10, can be configured by the height detection unit 15 (see reference). Figure 2 and Figure 3 The height detection unit 15 is configured to directly detect the lifting height h of the holding part 10 from the reference position RP. For example, it can be configured using a distance sensor that detects the distance from the reference position RP to the holding part 10. Preferably, the change in the detection value of the distance sensor at the reference surface 10D of the holding part 10 at the reference position RP is used as a reference, and the lifting height h is detected as such. Furthermore, if the article handling device 1 is configured to include an encoder that detects the rotation of the lifting motor 31M, the height detection unit 15 can also be configured to calculate the lifting height h of the holding part 10 from the reference position RP based on the encoder's detection result. When the height detection unit 15 calculates the lifting height h using the rotation detected by the encoder, it can include a storage unit that can continue to store the rotation detected by the encoder even when the power supply to the encoder and the height detection unit 15 is stopped. Here, "continue to store" means that the rotation detected by the encoder will not disappear and will be stored even when the power supply to the encoder and the height detection unit 15 is stopped.

[0039] like Figure 5 As shown, the detection result (calculated result) of the lifting height of the holding unit 10 based on the height detection unit 15 is transmitted to the control unit 5. Therefore, the control unit 5 determines whether the lifting height is within the interference height range based on the detection result of the height detection unit 15. Specifically, if the detection result of the height detection unit 15, i.e., the calculated lifting height of the reference plane 10D of the holding unit 10, is h1 or higher and h2 or lower, the control unit 5 determines that the lifting height of the holding unit 10 is within the interference height range.

[0040] like Figure 5As shown, relative to the material handling device 1, the control unit 5 is configured to activate the transfer mechanism 4 according to instructions from the operating terminal 100 operated by the operator. The operator refers to a person who manages and maintains the material handling device 1. The operating terminal 100 is a terminal that is connected to the control unit 5 via a wired or wireless means, capable of remotely operating the various functional units of the material handling device 1, including the transfer mechanism 4. In cases of maintenance or repair of the material handling device 1, or in the event of a malfunction, the operator operates the operating terminal 100 to send operation commands, which activate the moving body 2 of the material handling device 1 and the transfer mechanism 4, which includes the holding part 10, the rotating part 20, the lifting part 31, and the sliding part 32. Specifically, the mode in which the transfer mechanism 4 is activated according to instructions from the operating terminal 100 operated by the operator is called the maintenance mode.

[0041] In this maintenance mode, when the control unit 5 receives an operation command from the operation terminal 100 for the transfer mechanism 4, it determines whether the lifting height is within the interference height range. In this example, the operation command for the transfer mechanism 4 is an instruction to restore the rotation unit 20, the lifting unit 31, and the sliding unit 32 to a predetermined reference posture. The predetermined reference posture refers to a posture that is pre-defined as a reference. For example, the reference posture for the rotation unit 20 is the posture with a rotation angle of 0 degrees. For example, the reference posture for the lifting unit 31 is the posture where the holding unit 10 is located near the upper limit of the lifting movement range. For example, the reference posture for the sliding unit 32 is the posture where the holding unit 10 is located near the center of the sliding movement range. Therefore, in this example, when the rotation unit 20, the lifting unit 31, and the sliding unit 32 are all in reference postures, the entire item W held in the holding unit 10 (the holding unit 10 of the reference posture) is contained within the containing area S. Thus, the reference posture is called the so-called basic position. The command for restoring the posture of the rotating part 20, the lifting part 31, and the sliding part 32 to such a reference posture is equivalent to the command for the reference posture restoration action. When the control unit 5 receives the command for the reference posture restoration action from the operation terminal 100, it determines whether the lifting height of the holding part 10 is within the interference height range. The determination of the lifting height is based on the detection result of the height detection unit 15 described above.

[0042] When the lifting height of the holding unit 10 is outside the interference height range, even if the rotating part 20 performs the rotational movement of the article W or the sliding part 32 performs the sliding movement of the article W, the transfer mechanism 4 will not contact the inner surface structure of the cover part 3. Therefore, when the above determination result is that the lifting height of the holding unit 10 is outside the interference height range, the control unit 5 executes the operation of the transfer mechanism 4 according to the operation command from the operation terminal 100. Specifically, the control unit 5 drives each of the holding motor 10M, the rotating motor 20M, the lifting motor 31M, and the sliding motor 32M. Thus, the transfer mechanism 4 operates according to the command of the operator operating the operation terminal 100.

[0043] On the other hand, if the lifting height of the holding part 10 is within the interference height range, during the rotational movement of the item W performed by the rotating part 20 and the sliding movement of the item W performed by the sliding part 32, there is a possibility that the transfer mechanism 4 will come into contact with the protrusion 8 (in this example, the drop restriction part 6). Therefore, when the lifting height of the holding part 10 is within the interference height range, the control part 5 prohibits the rotational movement of the holding part 10 performed by the rotating part 20 during the operation of the transfer mechanism 4 according to the action command. Here, "the lifting height of the holding part 10 is within the interference height range" means that the result of the above determination is that the lifting height of the holding part 10 is within the interference height range. The operation of the transfer mechanism 4 according to the action command refers to the operation of the moving body 2 of the item handling device 1 and the transfer mechanism 4 (the transfer mechanism 4 equipped with the holding part 10, the rotating part 20, the lifting part 31, and the sliding part 32) corresponding to the action command sent by the operator's operation terminal 100. Therefore, prohibiting the rotation of the holding part 10 by the rotating part 20 in the operation of the transfer mechanism 4 according to the operation command means prohibiting the rotation of the holding part 10 by the rotating part 20 in the operation of the transfer mechanism 4 which has the holding part 10, rotating part 20, lifting part 31 and sliding part 32, while allowing the operation of the holding part 10, lifting part 31 and sliding part 32.

[0044] In this embodiment, when the control unit 5 receives an operation command from the operation terminal 100 for the transfer mechanism 4 and the lifting height of the holding part 10 is within the interference height range, in addition to the rotational movement of the holding part 10 performed by the rotational part 20, the sliding movement of the holding part 10 performed by the sliding part 32 is also prohibited. In this case, the control unit 5 prohibits both the rotational movement of the holding part 10 performed by the rotational part 20 and the sliding movement of the holding part 10 performed by the sliding part 32 in the operation of the transfer mechanism 4 (which includes the holding part 10, the rotational part 20, the lifting part 31, and the sliding part 32) according to the operation command, while allowing the operation of the holding part 10 and the lifting part 31.

[0045] In this way, when the current posture of the transfer mechanism 4 may cause the holding part 10 to come into contact with the inner surface structure of the cover part 3 while the holding part 10 is moving, the control unit 5 prohibits the rotation of the holding part 10 by the rotation unit 20 and the sliding movement of the holding part 10 by the sliding unit 32. As a result, it is possible to prevent the holding part 10 from coming into contact with the inner surface structure of the cover part 3 due to operator error or other reasons.

[0046] Furthermore, the control unit 5 can be configured such that, in maintenance mode, when an operation command for the transfer mechanism 4 is received from the operating terminal 100 and the lifting height of the holding part 10 is within the interference height range, the rotation of the holding part 10 performed by the rotating unit 20 is prohibited. Furthermore, when the lifting action performed by the lifting unit 31 is included in the operation command, the lifting action is executed. When the lifting height is outside the interference height range, the rotation of the holding part 10 performed by the rotating unit 20 is also executed according to the operation command. Maintenance mode refers to a mode in which the transfer mechanism 4 is operated according to a command from the operating terminal 100 operated by the operator. As described above, the control unit 5 prohibits the rotation of the holding part 10 performed by the rotating unit 20 when an operation command for the transfer mechanism 4 is received from the operating terminal 100 and the lifting height of the holding part 10 is within the interference height range. This prevents the holding part 10 from contacting the inner surface of the cover 3. Furthermore, when the operation command includes a lifting action performed by the lifting unit 31, firstly, the lifting action of the lifting unit 31 is executed, so that the reference plane 10D of the holding part 10 is at a height outside the interference height range. Then, the rotation action of the holding part 10 performed by the rotating unit 20 is executed according to the operation command. Thus, even when the rotating unit 20 rotates the holding part 10 according to the operation command, it is possible to perform an operation in which the holding part 10 does not contact the inner surface structure of the cover part 3.

[0047] Figure 6 This is a flowchart illustrating the processing of the control unit 5 as described above. First, when the control unit 5 receives an action command from the operation terminal 100 (step #10: Yes), processing begins. Upon receiving the action command from the operation terminal 100, the control unit 5 determines the lifting height of the holding unit 10. If the lifting height of the holding unit 10 is outside the interference height range (step #11: Yes), the control unit 5 activates the transfer mechanism 4 according to the received action command (step #12). When the action according to the action command is completed, the control unit 5 ends the processing.

[0048] In step #11, if the lifting height of the holding part 10 determined by the control unit 5 is not outside the interference height range (step #11: No), the control unit 5 prohibits the rotation operation of the holding part 10 performed by the rotation unit 20 (step #13). Furthermore, if the operation command received from the operation terminal 100 does not include the sliding movement operation of the holding part 10 performed by the sliding part 32 (step #14: Yes), the control unit 5 also prohibits the sliding movement operation of the holding part 10 performed by the sliding part 32 (step #15).

[0049] If, in step #15, the sliding movement of the holding part 10 performed by the sliding part 32 is prohibited (step #15), or if, in step #14, the operation command received from the operation terminal 100 does not include the sliding movement of the holding part 10 performed by the sliding part 32 (step #14: No), it is determined whether the operation command received from the operation terminal 100 does not include the lifting and lowering movement of the holding part 10 performed by the lifting part 31 (step #16).

[0050] If the operation command received from the operation terminal 100 includes a lifting action of the holding unit 10 performed by the lifting unit 31 (step #16: Yes), the control unit 5 executes the lifting action of the holding unit 10 performed by the lifting unit 31 according to the received operation command (step #17). This lifting action continues until the lifting height of the holding unit 10 is outside the interference height range (step #18: No). When the lifting height of the holding unit 10 is outside the interference height range (step #18: Yes), the control unit 5 terminates the lifting action of the holding unit 10 performed by the lifting unit 31 (step #19). Next, the control unit 5 executes the rotation action of the holding unit 10 performed by the rotation unit 20 according to the operation command received from the operation terminal 100 (step #20). Furthermore, although not shown in the flowchart, if the action command received from the operation terminal 100 in step #14 does not include the sliding movement action of the holding part 10 performed by the sliding part 32 (step #14: No), the sliding movement action of the holding part 10 performed by the sliding part 32 can be executed according to the action command received from the operation terminal 100 after the processing in step #20. When the action according to the action command is completed, the control unit 5 ends the processing.

[0051] On the other hand, in step #16, if the action command received from the operation terminal 100 does not include the lifting action of the holding part 10 performed by the lifting part 31 (step #16: No), the control unit 5 does not activate the transfer mechanism 4 and ends the process. At this time, the control unit 5, for example, Figure 7As shown, the message "(The lifting height of the holding part 10) is within the interference height range" can be displayed on the display screen 100A of the operation terminal 100, along with a graphic indicating the posture of the holding part 10 in contact with the inner surface structure of the cover part 3, or a posture in which contact is possible. Alternatively, the sound "(The lifting height of the holding part 10) is within the interference height range" can be output from the speaker 100B of the operation terminal 100. Of course, other messages can also be displayed or sounds can be output. Furthermore, if the article handling device 1 is equipped with a display device, the above message can be displayed on that display device, and if the article handling device 1 is equipped with a speaker, the above sound can be output from that speaker.

[0052] When the lifting height of the holding part 10 is within the interference height range, the control part 5 performs a lifting action to make the lifting height of the holding part 10 outside the interference height range. Furthermore, the rotation action of the holding part 10 performed by the rotation part 20 and the sliding movement action of the holding part 10 performed by the sliding part 32 are executed. As a result, the transfer mechanism 4 can be prevented from contacting the inner surface structure of the cover part 3, and the transfer mechanism 4 can be operated according to the action command received from the operation terminal 100.

[0053] 2. Other embodiments of the goods handling device Next, other embodiments of the article handling device 1 will be described.

[0054] (1) In the above embodiment, the item handling device 1 is described as a so-called canopy handling vehicle. However, it is not limited to such a structure. For example, the item handling device 1 may also be an unmanned handling vehicle, a rail-guided trolley, or other types of handling vehicles. In addition, it may also be a handling device that does not move along the track 99 (e.g., a drone).

[0055] (2) In the above embodiment, the protrusion 8 is described as the drop restriction part 6. However, it is not limited to this structure. The protrusion 8 may also be the inner wall surface 3A of the cover part 3, the swing restriction mechanism 7, or a sensor that is configured to protrude into the receiving area S.

[0056] (3) In the above embodiments, the case where the transfer mechanism 4 includes the sliding part 32 has been described as an example. However, the structure is not limited to this, and the transfer mechanism 4 may also be configured not to include the sliding part 32. In this case, the control unit 5 may be configured to prohibit the rotation of the holding part 10 performed by the rotating part 20 only when the lifting height of the holding part 10 is within the interference height range.

[0057] (4) In the above embodiments, the inner surface structure is described as the surface constituting the receiving area S, which corresponds to the inner wall surface 3A of the cover 3, the drop limiting part 6, the swing limiting mechanism 7, and the sensor that is provided to protrude into the receiving area S. However, if the inner surface structure does not have the drop limiting part 6, the swing limiting mechanism 7, or the sensor that is provided to protrude into the receiving area S, it only corresponds to the inner wall surface 3A of the cover 3.

[0058] (5) In the above embodiment, it is explained that the control unit 5 can be configured to prohibit the rotation of the holding part 10 performed by the rotating part 20 when the lifting height of the holding part 10 is within the interference height range, and to execute the lifting action when the lifting action performed by the lifting part 31 is included in the action command, and to execute the rotation of the holding part 10 performed by the rotating part 20 according to the action command when the lifting height is outside the interference height range. However, it is not limited to this structure. It is also possible that the control unit 5 prohibits the rotation of the holding part 10 performed by the rotating part 20 when the lifting height of the holding part 10 is within the interference height range, and also prohibits the lifting action of the holding part 10 performed by the lifting part 31.

[0059] (6) In the above embodiment, the position of the reference surface 10D of the holding part 10 when the holding part 10 is raised to its highest position in the vertical direction Z is described as the reference position RP, and the amount of downward movement from the reference position RP is the lifting height h. However, it is not limited to this structure. For example, a position different from the position of the reference surface 10D of the holding part 10 when the holding part 10 is raised to its highest position in the vertical direction Z (excluding the lower surface of the holding part 10 of the pair of gripping claws 10C) (e.g., the position of the upper surface of the holding part 10) may be set as the reference position RP, and the amount of downward movement from the reference position RP may be set as the lifting height h. Alternatively, a predetermined position of the holding part 10 when the holding part 10 is lowered to its lowest position in the vertical direction Z (e.g., the position of the lower surface, the position of the upper surface, etc.) may be set as the reference position RP, and the amount of upward movement from the reference position RP may be set as the lifting height h. Furthermore, the lifting height may be a height from the upper end, the central part, the lower end, or a certain part of the interference height range.

[0060] (7) In the above embodiments, the height detection unit 15 is exemplified by a structure in which a distance sensor is used to construct the height detection unit 15, or the height is detected based on the detection result of an encoder that detects the rotation amount of the lifting motor 31M. However, the structure is not limited to this. For example, it can be configured such that a capacitance sensor is arranged along the moving direction (vertical direction Z) of the holding unit 10, and the height of the holding unit 10 is detected based on the detection result of the capacitance sensor. It can also be configured such that the height of the holding unit 10 is detected based on the change in resistance value or impedance.

[0061] (8) In the above embodiments, the action command is described as an instruction to restore the rotation part 20, the lifting part 31 and the sliding part 32 to the reference posture of the predetermined reference posture. However, it is not limited to such a structure, and the action command may also be a posture other than the predetermined reference posture (e.g., a posture that makes maintenance easier).

[0062] (9) Furthermore, the structures disclosed in the above embodiments can be combined with structures disclosed in other embodiments as long as they do not create contradictions. Regarding other structures, the embodiments disclosed in this specification are merely illustrative in all respects. Therefore, various changes can be appropriately made without departing from the spirit of this application.

[0063] 3. Summary of the above embodiments The following is a summary of the article handling device described above.

[0064] An article handling device is an article handling device for handling articles, characterized by comprising a movable body, a cover, a transfer mechanism, and a control unit. The movable body moves for handling the articles. The cover is supported on the movable body and covers at least a portion of the periphery of a receiving area for handling the articles. The transfer mechanism holds the articles and transfers the articles between the transfer mechanism and a transfer target area. The control unit controls the movable body and the transfer mechanism. The transfer mechanism comprises a holding part, a rotating part, and a lifting part. The holding part is supported on the movable body and its state can be changed to a holding state for holding the articles and a releasing state for releasing the articles. The rotating part causes the holding part to rotate about a rotation axis in the vertical direction. The lifting part causes the holding part to move vertically between an internal position in the receiving area and an external position outside the receiving area. The cover has an inner surface structure facing the receiving area, and the inner surface structure includes a protrusion formed so that a specific portion in the vertical direction faces forward. The aforementioned receiving area protrudes. When the lifting height of the aforementioned holding part achieved by the aforementioned lifting part is within the specified interference height range, the aforementioned transfer mechanism may interfere with the aforementioned protrusion by rotating the aforementioned holding part using the aforementioned rotating part. When the lifting height of the aforementioned holding part achieved by the aforementioned lifting part is outside the aforementioned interference height range, the aforementioned holding part will not interfere with the aforementioned inner surface structure even if it is rotated using the aforementioned rotating part. The aforementioned control unit can execute a maintenance mode that operates the aforementioned transfer mechanism according to the instructions from the operator's operating terminal. In the aforementioned maintenance mode, when the aforementioned control unit receives the operation instruction of the aforementioned transfer mechanism from the aforementioned operating terminal, it determines whether the aforementioned lifting height is within the aforementioned interference height range. If the aforementioned lifting height is outside the aforementioned interference height range, it executes the operation of the aforementioned transfer mechanism according to the aforementioned operation instruction. If the aforementioned lifting height is within the aforementioned interference height range, it prohibits the rotation of the aforementioned holding part by the aforementioned rotating part in the operation of the aforementioned transfer mechanism according to the aforementioned operation instruction.

[0065] According to this structure, even if the operator issues an incorrect operation command for the transfer mechanism during maintenance mode, the rotation of the holding part can be avoided, and the transfer mechanism can still operate according to the operation command in other situations. Thus, interference between the holding part and the protrusion can be avoided, and the transfer mechanism can operate appropriately according to the operation command.

[0066] Here, preferably, in the aforementioned maintenance mode, when the aforementioned control unit receives the operation command of the aforementioned transfer mechanism from the aforementioned operation terminal and the aforementioned lifting height is within the aforementioned interference height range, it prohibits the rotation operation of the aforementioned holding part performed by the aforementioned rotating part. Furthermore, when the lifting operation of the aforementioned holding part performed by the aforementioned lifting part is included in the aforementioned operation command, it executes the lifting operation. When the aforementioned lifting height becomes a height outside the aforementioned interference height range, it also executes the rotation operation of the aforementioned holding part performed by the aforementioned rotating part according to the aforementioned operation command.

[0067] According to this structure, even if the operator issues an incorrect operation command to the transfer mechanism during maintenance mode, prohibiting the rotation of the holding part, the rotation of the holding part will still be performed according to the operation command if the holding part is at a height where it does not interfere with the protrusion due to the lifting operation. Therefore, interference between the holding part and the protrusion can be avoided, and the operation of the transfer mechanism corresponding to the operation command can be performed appropriately.

[0068] Furthermore, preferably, it also includes a height detection unit for detecting the height of the aforementioned holding part, and the aforementioned control unit determines whether the aforementioned lifting height is within the aforementioned interference height range based on the detection result of the aforementioned height detection unit.

[0069] According to this structure, for example, when power is supplied to the item handling device that is not powered, and the control unit cannot determine the lifting height of the holding unit based on the control results so far, the lifting height can be appropriately determined because it has a height detection unit.

[0070] Furthermore, preferably, the aforementioned transfer mechanism also includes a sliding part, which causes the aforementioned holding part to slide and move in the horizontal direction. In the aforementioned maintenance mode, when the aforementioned control unit receives the operation command of the aforementioned transfer mechanism from the aforementioned operation terminal and the aforementioned lifting height is within the aforementioned interference height range, in addition to the rotation operation of the aforementioned holding part performed by the aforementioned rotation part, the aforementioned sliding part is also prohibited from performing the sliding movement operation of the aforementioned holding part.

[0071] In the article handling device, even without the rotation of the holding part, the position of the holding part moves horizontally during sliding movement, which could potentially cause interference between the holding part and the protrusion. Therefore, according to this structure, such interference can be appropriately avoided.

[0072] Industrial availability The technology of this application can be used in a material handling device for transporting goods.

[0073] Explanation of reference numerals in the attached figures 1: Goods handling device 2: Moving body 3: Cover 4: Transfer mechanism 4b: Rotation axis 5: Control Department 8: Protrusion 10: Maintaining section 15: Height Detection Department 20: Rotating section 31: Lifting Unit 32: Sliding part 100: Operating Terminal S: Accommodation area W: Item.

Claims

1. An item handling device, characterized in that, It has a moving body, a cover, a transfer mechanism, and a control unit. The aforementioned moving body moves for the purpose of transporting the aforementioned items. The aforementioned cover is supported by the aforementioned movable body and covers at least a portion of the periphery of the receiving area for receiving the aforementioned article during transport. The aforementioned transfer mechanism holds the aforementioned article and transfers the aforementioned article between the aforementioned transfer mechanism and the transfer target part; the aforementioned control unit controls the aforementioned moving body and the aforementioned transfer mechanism. The aforementioned transfer mechanism includes a holding part, a rotating part, and a lifting part. The holding part is supported on the aforementioned moving body and its state can be changed to a holding state that holds the aforementioned article and a releasing state that releases the holding of the aforementioned article. The rotating part causes the holding part to rotate about a rotation axis along the vertical direction. The lifting part causes the holding part to move up and down between an internal position in the aforementioned receiving area and an external position outside the aforementioned receiving area. The aforementioned cover has an inner surface structure facing the aforementioned receiving area. The aforementioned inner surface structure includes a protrusion, which is formed to protrude toward the aforementioned receiving area at a specific location in the vertical direction. When the lifting height of the aforementioned holding part achieved by the aforementioned lifting part is within a predetermined interference height range, the aforementioned transfer mechanism may cause the aforementioned holding part to rotate by means of the aforementioned rotating part, thereby interfering with the aforementioned protrusion. When the lifting height of the aforementioned holding part achieved by the aforementioned lifting part is outside the aforementioned interference height range, even if the aforementioned holding part is rotated by means of the aforementioned rotating part, it will not interfere with the aforementioned inner surface structure. The aforementioned control unit is capable of executing maintenance modes that cause the aforementioned transfer mechanism to operate based on instructions from the operator's control terminal. In the aforementioned maintenance mode, when the aforementioned control unit receives the operation command of the aforementioned transfer mechanism from the aforementioned operation terminal, it determines whether the aforementioned lifting height is within the aforementioned interference height range. If the aforementioned lifting height is outside the aforementioned interference height range, it executes the operation of the aforementioned transfer mechanism according to the aforementioned operation command. If the aforementioned lifting height is within the aforementioned interference height range, it prohibits the rotation operation of the aforementioned holding part performed by the aforementioned rotating part in the operation of the aforementioned transfer mechanism according to the aforementioned operation command.

2. The article handling device as described in claim 1, characterized in that, In the aforementioned maintenance mode, when the aforementioned control unit receives the operation command of the aforementioned transfer mechanism from the aforementioned operation terminal and the aforementioned lifting height is within the aforementioned interference height range, it prohibits the rotation operation of the aforementioned holding part performed by the aforementioned rotating part. Furthermore, when the lifting operation of the aforementioned holding part performed by the aforementioned lifting part is included in the aforementioned operation command, it executes the lifting operation. When the aforementioned lifting height becomes a height outside the aforementioned interference height range, it also executes the rotation operation of the aforementioned holding part performed by the aforementioned rotating part according to the aforementioned operation command.

3. The article handling device as described in claim 1 or 2, characterized in that, It also has a height detection unit for detecting the height of the aforementioned retaining part. Based on the detection results of the aforementioned height detection unit, the aforementioned control unit determines whether the aforementioned lifting height is within the aforementioned interference height range.

4. The article handling device as described in claim 1 or 2, characterized in that, The aforementioned transfer mechanism also has a sliding part. The aforementioned sliding part causes the aforementioned holding part to slide horizontally. In the aforementioned maintenance mode, when the aforementioned control unit receives the operation command of the aforementioned transfer mechanism from the aforementioned operation terminal and the aforementioned lifting height is within the aforementioned interference height range, in addition to the rotation operation of the aforementioned holding part performed by the aforementioned rotating part, the aforementioned sliding part is also prohibited from performing the sliding movement operation of the aforementioned holding part performed by the aforementioned sliding part.

Images