Conveying device

Abstract

A conveying device having a traveling mechanism, a lifting mechanism, and a swing mechanism is miniaturized. A transport device (1) is provided with: a trolley (4) on which a lifting rotary table (2) is mounted; a travel motor (10) for traveling the trolley (4); a lifting motor (20) for lifting the lifting rotary table (2); and a turning motor (30) for turning the lifting rotary table (2). The driving motor (10) and the lifting motor (20) are arranged such that the rotating shafts thereof are arranged in the same horizontal direction, and the rotating shafts are arranged in a row in the axial direction. The rotation motor (30) is disposed such that the rotation shaft of the rotation motor (30) and the rotation shaft (8) of the lifting rotary table (2) are at different positions, and the rotation motor (30) does not overlap the travel motor (10) and the lifting motor (20).

Description

Technical Field

[0001] The invention relates to a conveying device. Background Art

[0002] In factories, a traveling trolley is sometimes used as a transport device for transferring items between workstations and shelves. Such a traveling trolley has a lifting mechanism for lifting and lowering the held items, and a rotating mechanism for rotating the held items. Patent document 1 discloses a transport robot having a traveling motor, a rotating motor, and a lifting motor.

[0003] (Prior art literature)

[0004] Patent Document 1: Japanese Patent Application Publication No. 2017-109256 Summary of the invention

[0005] (Problems to be solved by the invention)

[0006] It is desirable to reduce the size of such a transport device. An object of one embodiment of the present invention is to reduce the size of a transport device having three mechanisms: a traveling mechanism, a lifting mechanism, and a rotating mechanism.

[0007] (Technical means to solve the problem)

[0008] In order to solve the above-mentioned problem, a conveying device according to one embodiment of the present invention comprises: a lifting turntable for lifting and rotating a conveying object placed thereon; a trolley on which the lifting turntable is mounted; a travel motor for providing a driving force for moving the trolley; a lifting motor for providing a driving force for moving the lifting turntable in a lifting direction relative to the trolley; and a rotating motor for providing a driving force for rotating the lifting turntable relative to the trolley. The travel motor and the lifting motor are arranged such that the rotating shaft of the travel motor and the rotating shaft of the lifting motor are in the same horizontal direction, and the rotating shaft of the travel motor and the rotating shaft of the lifting motor are arranged in a row in the axial direction in a plan view. The rotating motor is arranged such that the position of the rotating shaft of the rotating motor is different from the position of the rotating shaft of the lifting turntable, and the rotating motor does not overlap with the travel motor and the lifting motor in a plan view.

[0009] (Effects of the Invention)

[0010] According to one embodiment of the present invention, it is possible to achieve miniaturization of a transport device including three mechanisms, namely, a traveling mechanism, a lifting mechanism, and a rotating mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a perspective view of the conveying device according to the embodiment of the present invention.

[0012] Figure 2 It is a perspective view of the conveying device viewed from another angle.

[0013] Figure 3 It is a perspective view of the conveying device viewed from another angle.

[0014] Figure 4 It is a top view of the conveying device.

[0015] Figure 5 yes Figure 1 A diagram showing the state of the lifting turntable after it has been lowered.

[0016] <Description of Reference Numerals>

[0017] 1Conveying device

[0018] 2 lifting turntable

[0019] 4 cars

[0020] 8 rotary axes

[0021] 10 Travel motor

[0022] 11Rotating shaft of driving motor

[0023] 12 Driving circuit for driving

[0024] 20 Lifting motor

[0025] 21 Rotating shaft of lifting motor

[0026] 22 Lifting drive circuit

[0027] 30-turn motor

[0028] 31-turn motor shaft

[0029] 32-turn drive circuit

[0030] 42 front wheel

[0031] 42a Front wheel shaft

[0032] 43 rear wheel

[0033] 43a Rear wheel shaft

[0034] 50 Guide DETAILED DESCRIPTION

[0035] An embodiment of the present invention is described in detail below. However, the following description is only an example of the conveying device 1 of the present invention, and the technical scope of the present invention is not limited to the example shown in the figure. Figure 1The description will be given with the travel direction D1 of the conveying device 1 being the X-axis direction, the height direction of the conveying device 1 being the Z-axis direction, and the width direction of the conveying device 1 perpendicular to the X-axis direction and the Z-axis direction being the Y-axis direction.

[0036] (Overview of the conveying device)

[0037] Figure 1 It is a perspective view of the conveying device 1 according to the embodiment of the present invention. Figure 1 2 shows the state after the lifting turntable 2 is raised. Figure 1 As shown, the conveying device 1 is provided with a travel motor 10, a lift motor 20 and a rotation motor 30 in order to perform the three functions of walking, lifting and rotating. The conveying device 1 is a device that has been miniaturized through the following schemes after creative research and development. (1) The travel motor 10 and the lift motor 20 are arranged so that the rotating shaft 11 of the travel motor 10 and the rotating shaft 21 of the lift motor 20 are in the same horizontal direction, and the rotating shaft 11 and the rotating shaft 21 are arranged in a row in the axial direction D2 when viewed from above. (2) The rotation motor 30 is arranged so that the position of the rotating shaft 31 of the rotation motor 30 is different from the position of the rotating shaft 8 of the lifting turntable 2, and the rotation motor 30 does not overlap with the travel motor 10 and the lift motor 20 when viewed from above.

[0038] (Conveying device)

[0039] Figure 2 and Figure 3 It is from Figure 1 A perspective view of the transport device 1 as seen from a different angle. Figure 4 It is a top view of the conveying device 1, and the lifting turntable 2 is omitted from the conveying device 1 in the figure. Figure 5 yes Figure 1 Figure 2 shows the state of the lifting turntable 2 after it has been lowered. Figures 1 to 5 , the conveying device 1 is described.

[0040] The transport device 1 moves a trolley 4 having a lifting turntable 2 for carrying a transport object, and also lifts and turns the lifting turntable 2. Thus, the transport object is moved between the inside and outside of a shelf (not shown) having a storage portion for storing the transport object. The transport object is used to store semiconductors or liquid crystal panels, for example, a FOUP (Front Opening Unified Pod: front-opening universal wafer box).

[0041] like Figure 1 and Figure 2 As shown, the transport device 1 includes a lifting turntable 2, a carriage 4, a travel motor 10, a travel drive circuit 12, a lifting motor 20, a lifting drive circuit 22, a rotation motor 30, a rotation drive circuit 32, and a guide unit 50 (see Figure 4 The upper surface 2a of the lifting turntable 2 is used to place the transport object, and the lifting turntable 2 lifts and lowers and turns the placed transport object.

[0042] (Trolley)

[0043] The lifting turntable 2 is mounted on the carriage 4. Each structure of the transport device 1 is supported in the vertical direction (gravity direction) by the carriage support 41. The carriage 4 is driven by the travel motor 10 to travel in a channel-shaped moving path (not shown) formed in the travel direction D1.

[0044] like Figure 3 As shown, the trolley 4 has a pair of front wheels 42 and a pair of rear wheels 43 on the lower surface of its trolley support portion 41. The pair of front wheels 42 are arranged on the trolley support portion 41 at a position on the forward side of the travel direction D1, and the pair of rear wheels 43 are arranged on the trolley support portion 41 at a position on the backward side of the travel direction D1. The rotation axes of the front wheels 42 and the rear wheels 43 are roughly parallel to the Y-axis direction. The front wheels 42 and the rear wheels 43 are in contact with the walking surface of the moving path and support the conveying device 1 in the vertical direction. In addition, the front wheels 42 and the rear wheels 43 are not driven by the travel motor 10 and the travel drive circuit 12, but are driven by the conveying device 1 that travels through the travel toothed belt described later to roll.

[0045] The trolley 4 has a pair of travel guide rollers 44 on the lower surface of its trolley support portion 41, with the axial direction being in the Z-axis direction. As viewed from the travel direction D1, the pair of travel guide rollers 44 are located at a position further outward (in the Y direction) than the front wheel 42 and the rear wheel 43 located on one side (for example, in the Y direction) of the travel direction D1. In the moving path, a travel guide rail (not shown) is laid along the travel direction D1, and the pair of travel guide rollers 44 abut against the travel guide rail in a manner of clamping the travel guide rail from the left and right.

[0046] (Motor for driving)

[0047] The travel motor 10 provides a driving force for moving the carriage 4. The travel motor 10 is driven by a travel drive circuit 12. The travel motor 10 is arranged on the carriage support portion 41 in such a manner that its rotation shaft 11 is both horizontal and perpendicular to the travel direction D1. That is, the travel motor 10 is arranged on the carriage support portion 41 in such a manner that its rotation shaft 11 is parallel to the Y-axis direction. With reference to the travel direction D1, the travel motor 10 is arranged on the side where the travel guide roller 44 is located, and the output shaft of the travel motor 10 is arranged to face the outside (Y-direction side).

[0048] like Figure 1As shown in the figure, a toothed drive pulley 45a is provided on the output shaft of the travel motor 10. A guide pulley 45b is provided at a position from the toothed drive pulley 45a to the forward side of the travel direction D1, and the rotation axis of the guide pulley 45b is substantially parallel to the rotation axis of the toothed drive pulley 45a. A tension pulley 45c is provided at a position from the toothed drive pulley 45a to the backward side of the travel direction D1, and the rotation axis of the tension pulley 45c is substantially parallel to the rotation axis of the toothed drive pulley 45a. In addition, a toothed belt for travel (not shown) with both ends fixed is provided along the travel direction D1 of the travel path.

[0049] The travel drive circuit 12 drives the travel motor 10 to rotate the toothed drive pulley 45a. As a result, the travel toothed belt is wound toward the inside of the conveying device 1 and sent out from the conveying device 1 through the guide pulley 45b and the tension pulley 45c. As a result, the carriage 4 travels along the moving path while being guided by the travel guide rails through the travel guide rollers 44.

[0050] (Motor for lifting)

[0051] The lifting motor 20 provides a driving force for moving the lifting turntable 2 in the lifting direction relative to the carriage 4. The lifting motor 20 is driven by a lifting drive circuit 22.

[0052] like Figure 1 and Figure 2 As shown, the lifting motor 20 has a cylindrical lifting shaft 3 extending in the vertical direction (Z-axis direction). Figure 4 ) and the second support portion 5B (refer to Figure 3 , Figure 4 ) is provided with a lifting turntable 2.

[0053] The lifting motor 20 is arranged on the carriage support part 41 in such a manner that its rotating shaft 21 is both horizontal and perpendicular to the travel direction D1. That is, the lifting motor 20 is arranged on the carriage support part 41 in such a manner that its rotating shaft 21 is parallel to the Y-axis direction. The lifting motor 20 converts the rotational motion of the horizontally arranged output shaft into an upward or downward motion of the lifting shaft 3 in the vertical direction. That is, the lifting shaft 3 moves in the up-and-down direction by driving the lifting motor 20. Accompanying this, the lifting turntable 2 also moves in the up-and-down direction.

[0054] The lifting motor 20 and the lifting shaft 3 are realized by a gear-rack transmission structure. Specifically, for example, on the lifting shaft 3, a series of teeth of uniform shape are formed at equal intervals along the extension direction of the lifting shaft 3. In addition, a cylindrical gear meshing with the teeth formed on the lifting shaft 3 is installed on the output shaft of the lifting motor 20. The lifting motor 20 rotates while the cylindrical gear meshes with the teeth on the lifting shaft 3. Thus, the lifting motor 20 converts the rotational motion of the lifting motor 20 into the lifting motion of the lifting shaft 3. As the lifting motor 20, for example, a commercially available linear motor product can be used.

[0055] In the lifting turntable 2 Figure 5 If the Figure 3 As shown, the lifting shaft 3 extends from an opening 60 provided at a position corresponding to the lifting shaft 3 on the carriage support 41. Thus, the vertical dimension of the conveying device 1 can be suppressed, and the lifting distance of the lifting turntable 2 can be extended.

[0056] like Figure 1 and Figure 2 As shown, the travel motor 10 and the lifting motor 20 are arranged such that the rotating shaft 11 of the travel motor 10 and the rotating shaft 21 of the lifting motor 20 are horizontal and in the same direction relative to the upper surface of the carriage support portion 41. Specifically, the travel motor 10 and the lifting motor 20 are arranged such that the rotating shafts 11 and 21 of each are aligned with the axial direction D2 (Y-axis direction). Thus, for example, compared with the case where the rotating shaft 21 of the lifting motor 20 is arranged in the vertical direction, the height of the conveying device 1 can be suppressed, thereby relatively lowering the center of gravity of the conveying device 1.

[0057] In addition, the travel motor 10 and the lifting motor 20 are arranged so that the rotating shafts 11 and 21 of the travel motor 10 and the lifting motor 20 are arranged in a row in the axial direction D2 in a plan view. Specifically, the travel motor 10 is arranged so that its rotating shaft 11 is substantially parallel to the Y-axis direction, and the travel motor 10 is arranged on the side (the side) where the travel guide roller 44 is set as viewed in the travel direction D1 (when the travel direction D1 is the neutral position). In addition, the lifting motor 20 is arranged in a row with the travel motor 10 and the rotating shaft 21 of the lifting motor 20 is substantially consistent with the axial direction D2 of the rotating shaft 11, and the lifting motor 20 is arranged on the side opposite to the side where the travel guide roller 44 is set as viewed in the travel direction D1 (when the travel direction D1 is the neutral position). In addition, the output shaft of the lifting motor 20 is arranged to face the travel motor 10 side.

[0058] Thus, the travel motor 10 and the lifting motor 20 do not overlap in the vertical direction, thereby being able to suppress the size of the conveying device 1 in the vertical direction. The travel motor 10 causes the trolley 4 to travel as a whole together with the conveying object, and the lifting motor 20 lifts the lifting turntable 2 and the like together with the conveying object. Therefore, depending on the weight of the conveying object, etc., these motors sometimes require a larger driving force. In this case, these motors, which are components used in the trolley 4, will be enlarged, and the weight of each motor will also become heavier. In contrast, since the conveying device 1 has the travel motor 10 and the lifting motor 20 configured as described above, even if a large motor with a large driving force is used as the travel motor 10 and the lifting motor 20, it can be compactly mounted in the conveying device 1. In addition, since the lifting shaft 3 can be arranged in the central part of the conveying device 1, the stability of the lifting turntable 2 during lifting and lowering can be improved.

[0059] In addition, the axial direction of the rotating shaft 11 of the travel motor 10 and the axial direction of the rotating shaft 21 of the lifting motor 20 are the axial direction D2, and the axial direction D2 is orthogonal to the travel direction D1 of the carriage 4. The arrangement positions of the travel motor 10 and the lifting motor 20 with respect to the travel direction D1 are adjusted. Therefore, the balance in the direction orthogonal to the travel direction D1 is easily maintained, and the travel stability of the conveying device 1 can be improved.

[0060] The rotating shaft 11 of the travel motor 10 and the rotating shaft 21 of the lifting motor 20 are arranged between the rotating shaft 42a of the front wheel 42 and the rotating shaft 43a of the rear wheel 43. In this way, the rotating shaft 11 of the travel motor 10 and the rotating shaft 21 of the lifting motor 20 are located between the rotating shaft 42a of the front wheel 42 and the rotating shaft 43a of the rear wheel 43. Therefore, the center of gravity of the vehicle 4 is stable, and the vehicle 4 has high stability even when it is driven with rapid acceleration or rapid deceleration.

[0061] like Figure 1 , 2 , 4 and Figure 5 As shown, the travel motor 10 and the lifting motor 20 are arranged below the lifting turntable 2 and overlap the lifting turntable 2 in a plan view. By arranging the travel motor 10 and the lifting motor 20 below the lifting turntable 2, space saving can be achieved. In addition, gears (driving gear 6 and driven gear 7 described later) can be provided between the lifting turntable 2 and the travel motor 10 and the lifting motor 20. Through the gears, the driving force from the rotating motor 30 for rotating the lifting turntable 2 can be transmitted to the rotating shaft 8 of the lifting turntable 2. As a result, the conveying device 1 can be further miniaturized.

[0062] (Swing motor)

[0063] The turning motor 30 provides a driving force for turning the lifting turntable 2 relative to the carriage 4. The turning motor 30 is driven by a turning drive circuit 32.

[0064] like Figure 4 As shown, the first support portion 5A for supporting the lifting turntable 2 is an annular member, which is arranged around the upper end of the lifting shaft 3 with the lifting shaft 3 as the center. The second support portion 5B is a substantially quadrilateral member, which is arranged around the first support portion 5A with the first support portion 5A as the center.

[0065] A driven gear 7 described later is provided on the lower surface of the second support portion 5B, and the lifting turntable 2 is provided on the upper surface of the second support portion 5B. In addition, the first support portion 5A and the second support portion 5B are connected in a manner that they can rotate freely relative to each other. As a result, when the lifting shaft 3 is raised or lowered, the first support portion 5A, the second support portion 5B and the lifting turntable 2 are raised or lowered simultaneously as a whole. On the other hand, when the driven gear 7 rotates, the first support portion 5A does not rotate, and only the second support portion 5B and the lifting turntable 2 rotate.

[0066] In addition, a driving gear 6 is provided on the output shaft of the rotation motor 30, and the driving gear 6 and the driven gear 7 are provided so that their outer peripheral tooth surfaces mesh with each other. Thus, by the driving of the rotation motor 30, the driven gear 7 rotates via the driving gear 6, so that the lifting turntable 2 can rotate.

[0067] The rotation motor 30 is raised and lowered together with the driving gear 6, the driven gear 7 and the lifting turntable 2. Specifically, both ends of the rotation motor 30 in the Y-axis direction are connected to the third support portion 5C, and the upper surface of the third support portion 5C is connected to the lower surface of the second support portion 5B. Therefore, when the lifting motor 20 is driven to raise the lifting shaft 3, the third support portion 5C and the second support portion 5B are raised together, and the rotation motor 30 is also raised. Therefore, the lifting turntable 2 can be rotated regardless of the height at which the lifting turntable 2 is located.

[0068] The wiring connecting the turning motor 30 and the turning drive circuit 32 provided on the carriage support 41 is arranged in the cable bracket 9 that moves following the movement of the turning motor 30. Thus, even if the turning motor 30 is raised and lowered together with the raising and lowering turntable 2, the wiring can be protected.

[0069] like Figure 1 and Figure 4As shown, the swivel motor 30 is arranged so as not to overlap with the travel motor 10 and the lifting motor 20 in a plan view. Specifically, in a plan view, the swivel motor 30 is arranged at a position spaced apart from the arrangement line of the travel motor 10 and the lifting motor 20 in the travel direction D1. In addition, the swivel motor 30 is arranged so that the position of the rotating shaft 31 of the swivel motor 30 is different from the position of the rotating shaft 8 of the lifting turntable 2, and the rotating shaft 31 of the swivel motor 30 is parallel to the rotating shaft 8 of the lifting turntable 2.

[0070] The position of the rotating shaft 31 of the rotating motor 30 is different from the position of the rotating shaft 8 of the lifting turntable 2. Therefore, the following configuration can be achieved: the rotating motor 30 does not overlap with the travel motor 10 and the lifting motor 20 in a plan view. As a result, the size of the conveying device 1 in the vertical direction can be suppressed. In addition, since the rotating motor 30 is arranged in a manner that its rotating shaft 31 is parallel to the rotating shaft 8 of the lifting turntable 2, the rotating motor 30 can efficiently transmit its driving force to the lifting turntable 2.

[0071] (Drive Circuit)

[0072] like Figure 1 As shown, when viewed from the forward side of the driving direction D1 to the backward side of the driving direction D1, the driving circuit 12 for driving, the driving circuit 22 for lifting, and the driving circuit 32 for rotating are sequentially arranged in a row on the upper surface of the carriage support 41. Thus, compared with the case where each driving circuit is arranged outside the conveying device 1, the wiring distance can be shortened.

[0073] In addition, in a plan view, the driving circuit 12 for driving, the driving circuit 22 for lifting, and the driving circuit 32 for turning are arranged on the side opposite to the side where the turning motor 30 is arranged, relative to the arrangement line of the driving motor 10 and the lifting motor 20 (when the arrangement line is regarded as a neutral position). Specifically, relative to the arrangement line of the driving motor 10 and the lifting motor 20, the turning motor 30 is arranged on the forward side of the driving direction D1, and each driving circuit is arranged on the backward side of the driving direction D1. As a result, the balance between one side (the forward side of the driving direction D1) and the opposite side (the backward side of the driving direction D1) viewed from the axial direction D2 of the rotating shafts 11 and 21 of the driving motor 10 and the lifting motor 20 is good, so that the driving performance is stable.

[0074] (Guide)

[0075] The guide part 50 guides the lifting and lowering of the lifting turntable 2. Figure 4 As shown, the guide portion 50 is a pair. In a plan view, one guide portion 50, the turning motor 30, and the other guide portion 50 are arranged in a row.

[0076] By providing the guide part 50 as a pair instead of a single one, the thickness of the guide part 50 can be designed to be thinner. Thus, the rotation motor 30 can be arranged between the pair of guide parts, so that the distance between the rotation shaft 8 of the lifting turntable 2 and the rotation shaft 31 of the rotation motor 30 can be shortened (see Figure 1 In addition, since the guide portion 50 can be provided near the lifting shaft 3 of the lifting turntable 2 , the lifting shaft 3 can be assisted by the guide portion 50 .

[0077] The guide portion 50 includes a guide rail 51 and a slider 52. The guide rail 51 is provided in the vertical direction (Z-axis direction), the slider 52 is engaged with the guide rail 51, and the third support portion 5C is provided in connection with the slider 52. Thus, when the third support portion 5C is lifted and lowered in the vertical direction, the third support portion 5C is guided by the guide portion 50. As described above, since the upper surface of the third support portion 5C is connected to the lower surface of the second support portion 5B, when the lifting motor 20 is driven to lift the lifting shaft 3, the third support portion 5C guided by the guide portion 50 is also lifted together with the second support portion 5B. Therefore, the lifting turntable 2 is also guided by the guide portion 50 via the third support portion 5C and the second support portion 5B.

[0078] (Summarize)

[0079] The transport device (1) according to the first aspect of the present invention comprises: a lifting turntable (2) for lifting and rotating a transport object placed thereon; a trolley (4) on which the lifting turntable (2) is mounted; a travel motor (10) for providing a driving force for moving the trolley (4); a lifting motor (20) for providing a driving force for moving the lifting turntable (2) in a lifting direction relative to the trolley (4); and a rotating motor (30) for providing a driving force for rotating the lifting turntable (2) relative to the trolley (4). The travel motor (10) and the lifting motor (20) are arranged such that their respective rotation axes are in the same horizontal direction and, in a plan view, their respective rotation axes are arranged in a row in the axial direction (D2). The rotary motor (30) is configured such that the position of the rotary shaft (31) of the rotary motor (30) is different from the position of the rotary shaft (8) of the lifting turntable (2), and the rotary motor (30) does not overlap with the travel motor (10) and the lifting motor (20) in a plan view.

[0080] According to the above scheme, the rotating shaft of the travel motor and the rotating shaft of the lifting motor are in the same horizontal direction, and the motors are arranged in a row in the motor axial direction. Therefore, the travel motor and the lifting motor do not overlap in the vertical direction, so that the size in the vertical direction can be suppressed. As a result, even if the travel motor and the lifting motor are large motors with large driving force, they can be compactly mounted in the conveying device. In addition, compared with the case where the rotating shaft of the lifting motor is arranged in the vertical direction, for example, the height can be suppressed, thereby lowering the center of gravity of the conveying device.

[0081] Furthermore, the slewing motor is arranged at a position where the rotation axis of the slewing motor is different from the rotation axis of the lifting turntable and does not overlap with the travel motor and the lifting motor in a plan view. Thus, the slewing motor does not overlap with the travel motor and the lifting motor in the vertical direction, thereby reducing the size in the vertical direction.

[0082] As a result, the transport device including the three mechanisms of the traveling mechanism, the lifting mechanism, and the rotating mechanism can be miniaturized.

[0083] The conveying device (1) involved in mode 2 of the present invention can also be based on the following structure of mode 1: it also has a driving circuit (12) for driving the driving motor (10), a lifting driving circuit (22) for driving the lifting motor (20), and a rotating driving circuit (32) for driving the rotating motor (30); when viewed from above, the driving circuit (12), the lifting driving circuit (22) and the rotating driving circuit (32) are arranged on the side opposite to the arrangement side of the rotating motor (30) relative to the arrangement line of the driving motor (10) and the lifting motor (20).

[0084] According to the above configuration, the balance between one side and the opposite side, viewed from the axial direction of the rotating shafts of the travel motor and the lifting motor, is good, and the travel performance is stable.

[0085] The conveying device (1) involved in mode 3 of the present invention can also be based on the following structure of mode 1 or 2: it has a pair of guide parts (50) for guiding the lifting and lowering of the lifting turntable (2); when viewed from above, the guide part (50) on one side, the rotation motor (30), and the guide part (50) on the other side are arranged in a row.

[0086] According to the above scheme, the guide part is provided as a pair instead of a single one, so the thickness of the guide part can be designed to be thinner. As a result, the rotary motor can be arranged between the pair of guide parts, so that the distance between the rotary shaft of the lifting turntable and the rotary shaft of the rotary motor can be shortened. In addition, since the guide part can be arranged near the lifting shaft of the lifting turntable, the lifting shaft can be assisted by the guide part.

[0087] The conveying device (1) involved in mode 4 of the present invention can also be the following structure based on any one of modes 1 to 3: the rotating motor (30) is configured so that the rotating shaft of the rotating motor (30) is parallel to the rotating shaft (8) of the lifting turntable (2).

[0088] According to the above configuration, the rotating motor is arranged so that the rotating shaft thereof is parallel to the rotating shaft of the elevating turntable. Therefore, the driving force of the rotating motor can be efficiently transmitted to the elevating turntable.

[0089] The conveying device (1) involved in mode 5 of the present invention can also be the following structure based on any one of the modes 1 to 4: the axial direction (D2) of the rotating shaft (11) of the traveling motor (10) and the axial direction (D2) of the rotating shaft (21) of the lifting motor (20) are orthogonal to the traveling direction (D1) of the trolley (4); when viewed from above, the rotating motor (30) is arranged at a position separated from the arrangement line of the traveling motor (10) and the lifting motor (20) toward the traveling direction (D1).

[0090] According to the above scheme, the axial direction of the rotating shaft of the driving motor and the axial direction of the rotating shaft of the lifting motor are orthogonal to the driving direction of the trolley. Therefore, by adjusting the configuration positions of the driving motor and the lifting motor relative to the driving direction, it is easy to maintain the balance in the direction orthogonal to the driving direction. As a result, the driving stability of the transport device can be improved.

[0091] Furthermore, by arranging the turning motor at a position spaced apart from the arrangement line of the travel motor and the lifting motor in the travel direction, the turning motor can be arranged so as not to overlap with the travel motor and the lifting motor in the vertical direction. Therefore, the vertical dimension can be suppressed.

[0092] The conveying device (1) involved in mode 6 of the present invention can also be the following structure based on any one of modes 1 to 5: the trolley (4) has a pair of front wheels (42) and a pair of rear wheels (43); the rotating shaft (11) of the driving motor (10) and the rotating shaft (21) of the lifting motor (20) are arranged between the rotating shaft (42a) of the front wheel (42) and the rotating shaft (43a) of the rear wheel (43).

[0093] According to the above aspect, since the travel motor and the lifting motor are located between the front wheel shaft and the rear wheel shaft, the center of gravity of the vehicle is stabilized and the travel stability is improved.

[0094] The present invention is not limited to the aforementioned embodiments, and various changes can be made within the technical concept described in the specification. The embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. In addition, by combining the technical means disclosed in each embodiment, new technical features can be formed.

Claims

1. A conveying device comprising: A lifting and rotating table, which is used to lift and rotate the transported object; A trolley, on which the lifting and rotating table is mounted; A travel motor that provides a driving force for moving the trolley; A lifting motor that provides a driving force for moving the lifting turntable relative to the carriage in a lifting direction; as well as a rotation motor which provides a driving force for rotating the lifting turntable relative to the carriage, The conveying device is characterized in that The travel motor and the lifting motor are arranged such that: the rotating shaft of the travel motor and the rotating shaft of the lifting motor are in the same horizontal direction, and in a plan view, the rotating shaft of the travel motor and the rotating shaft of the lifting motor are arranged in a row in the axial direction, The rotating motor is arranged such that the position of the rotating shaft of the rotating motor is different from the position of the rotating shaft of the lifting turntable and the rotating motor does not overlap with the traveling motor and the lifting motor in a plan view.

2. The conveying device according to claim 1, wherein: The conveying device further comprises: a driving circuit for driving the driving motor; a lifting drive circuit that drives the lifting motor; and a rotation drive circuit that drives the rotation motor, In a plan view, the travel drive circuit, the lifting drive circuit, and the rotation drive circuit are arranged on a side opposite to a side where the rotation motor is arranged, relative to an arrangement line of the travel motor and the lifting motor.

3. The conveying device according to claim 1, wherein: The conveying device further comprises: a pair of guide parts, which guide the lifting and lowering of the lifting turntable. In a plan view, the guide portion on one side, the rotation motor, and the guide portion on the other side are arranged in a row.

4. The conveying device according to claim 1, wherein: The rotation motor is arranged such that a rotation shaft of the rotation motor is parallel to a rotation shaft of the lifting turntable.

5. The conveying device according to claim 1, wherein: The axial direction of the rotating shaft of the travel motor and the axial direction of the rotating shaft of the lifting motor are orthogonal to the travel direction of the carriage. The turning motor is disposed at a position spaced apart from an arrangement line of the traveling motor and the lifting motor in the traveling direction in a plan view.

6. The conveying device according to claim 5, wherein: The trolley has a pair of front wheels and a pair of rear wheels. The rotating shaft of the travel motor and the rotating shaft of the lift motor are arranged between the rotating shaft of the front wheel and the rotating shaft of the rear wheel.

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