Conveying device and storage device

Abstract

The invention relates to a conveying device and a storage device. A transfer mechanism is thinned in the vertical direction. The conveying device (1) is provided with a traveling trolley (5), a stand column (6) vertically arranged on the traveling trolley (5), and a transfer mechanism (4) arranged on the stand column (6) and used for transferring articles (OB). The transfer mechanism (4) has a base (20) that moves up and down along a column (6), a first arm (21) rotatably supported by the base (20), a second arm (22) rotatably supported by the first arm (21), an article holding unit (23) that holds an article (OB) and is supported by the second arm (22), a first drive unit (31) that rotates the first arm (21), and a second drive unit (32) that rotates the second arm (22). The rotation center (P2) of the second arm (22) is disposed on the first arm (21) on the first end portion (21a) side of the first arm (21), and the second drive portion (32) is disposed on the upper surface (21c) of the first arm (21) on the second end portion (21b) side of the first arm (21) and at a position separated from the rotation trajectory (R2) of the second arm (22).

Description

Technical Field

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

[0002] There is known a storage device for storing articles on a plurality of shelves arranged in the up-down direction and the left-right direction. The storage device is provided with a conveying device for transferring articles. The conveying device uses, for example, a stacker crane, and is provided with a traveling trolley that travels along the shelves, a column erected on the traveling trolley, and a transfer mechanism that is arranged on the column and transfers articles. Regarding the transfer mechanism, a structure is disclosed, which includes a base that is raised and lowered along the column, a first arm that is rotatably supported on the base, a second arm that is rotatably supported on the first arm, and an article holding portion that is rotatably supported on the second arm (for example, refer to patent document 1). In the stacker crane, in the transfer mechanism, a first drive portion that rotationally drives the first arm and a second drive portion that rotationally drives the second arm are respectively provided in a state of protruding downward from the base.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent No. 6024720 Summary of the invention

[0006] Problems to be solved by the invention

[0007] In the method in which the first drive unit and the second drive unit are arranged protruding downward from the base, the transfer mechanism is enlarged in the vertical direction, and it is difficult to arrange the lowest shelf at a lower position, which becomes an important factor that reduces the storage efficiency of the items. In addition, it is also possible to consider arranging the second drive unit on the first arm. In this case, when the second drive unit is arranged to hang down from the lower surface of the first arm, the second drive unit interferes with the base when the first arm rotates, and the rotation range of the first arm is limited, so it is not preferred. In addition, even in the case where the second drive unit is arranged protruding on the upper surface of the first arm, the second drive unit also interferes with the second arm, so it is not preferred. In this way, when the second drive unit is arranged on the first arm, in order to avoid interference between the second drive unit and the base, or interference between the second drive unit and the first arm, it is necessary to expand the interval between the base and the first arm, and the interval between the first arm and the second arm in the vertical direction. As a result, the transfer mechanism is enlarged in the vertical direction, which becomes an important factor that reduces the storage efficiency of the items.

[0008] An object of the present invention is to provide a conveying device and a storage device in which a transfer mechanism can be thinned in the vertical direction.

[0009] Means for solving problems

[0010] The conveying device of the scheme of the present invention comprises a traveling trolley, a column erected on the traveling trolley, and a transferring mechanism arranged on the column to transfer articles, the transferring mechanism having a base raised and lowered along the column, a first arm rotatably supported on the base, a second arm rotatably supported on the first arm, an article holding portion that holds articles and is supported on the second arm, a first driving portion that rotates the first arm, and a second driving portion that rotates the second arm, the rotation center of the second arm being arranged on the upper surface of the first arm on one end side as viewed from the rotation center of the first arm, and the second driving portion being arranged on the first arm on the other end side as viewed from the rotation center of the first arm, and being at a position detached from the rotation track of the second arm.

[0011] A storage device according to an aspect of the present invention includes a shelf for storing articles, and the transport device according to the above aspect for transferring articles between the shelves.

[0012] Effects of the Invention

[0013] According to the conveying device and storage device of the above scheme, the second driving unit is arranged on the first arm at the other end side viewed from the rotation center of the first arm and at a position separated from the rotation track of the second arm, so that the second arm can avoid interference with the second driving unit when rotating. Therefore, it is possible to realize a thin transfer mechanism in the vertical direction without increasing the vertical distance between the first arm and the second arm. In addition, the second driving unit is arranged on the first arm, so compared with the case where the second driving unit is arranged on the base, it is possible to avoid the enlargement of the base.

[0014] In addition, in the conveying device of the above scheme, the upper surface of the second driving unit may be higher than the lower surface of the second arm. According to this structure, at least a part of the height position of the second driving unit and the second arm overlap, so the thinning of the transfer mechanism can be achieved. In addition, in the conveying device of the above scheme, the article holding part may have a loading surface for loading articles, and the upper surface of the second driving unit may be lower than the loading surface of the article holding part. According to this structure, it is possible to avoid interference between the articles held on the loading surface and the second driving unit. In addition, in the conveying device of the above scheme, the second driving unit may be stored inside a cover provided by the first arm, and the upper surface of the cover may be lower than the loading surface. According to this structure, it is possible to avoid interference between the cover in which the second driving unit is stored and the articles held on the loading surface.

[0015] In addition, the conveying device of the above scheme may also be provided with a second reducer near the second drive unit that reduces the speed of rotation transmitted from the second drive unit to the second arm. According to this structure, it is possible to avoid the second reducer from becoming an obstacle to the rotation of the second arm. In addition, the conveying device of the above scheme may also be provided with a first drive unit and a first reducer that reduces the speed of rotation transmitted from the first drive unit to the first arm below the first arm. According to this structure, when the first arm rotates, it is possible to avoid the first drive unit and the first reducer from interfering with the first arm. In addition, in the conveying device of the above scheme, it is also possible that the first drive unit and the first reducer are arranged on the base at a position separated from the column. According to this structure, the first drive unit and the first reducer that become the heat source are separated from the column, so that the thermal influence on the column can be reduced.

[0016] In addition, in the conveying device of the above scheme, the base may have ribs along the up-down direction between the first driving part and the column. According to this structure, the rigidity of the base can be easily improved. In addition, in the conveying device of the above scheme, the transfer mechanism can transfer articles to the left and right sides relative to the travel direction of the traveling trolley. According to this structure, the range in which articles can be transferred can be expanded compared to a structure in which articles can only be transferred to one side of the left or right. In addition, in the conveying device of the above scheme, the article holding portion may rotate relative to the second arm synchronously with the rotation of the second arm. According to this structure, the article holding portion can be oriented in an appropriate direction when the second arm is rotated. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a front view showing an example of a transport device and a storage device according to an embodiment.

[0018] Figure 2 It is a side view showing an example of the transport device and the storage device according to the embodiment.

[0019] Figure 3 This is a front view showing an example of a transfer mechanism.

[0020] Figure 4 This is a plan view showing a state in which the articles are arranged above the base in the transfer mechanism.

[0021] Figure 5 It is a top view showing the state of transferring articles in the transfer mechanism.

[0022] Figure 6 It shows the relationship between the base and the first arm in the transfer mechanism, (A) is the front view, and (B) is the top view.

[0023] Figure 7 It is a top view showing the relationship between the first arm and the second arm in the transfer mechanism.

[0024] Figure 8 This is a front view showing a state in which an article is held by an article holding portion in the transfer mechanism.

[0025] Fig. 9 This is a diagram schematically showing a transmission path of driving force with respect to the first arm, the second arm, and the article holding portion.

[0026] Fig.10 Yes Fig. 9 A diagram showing an enlarged portion of a portion.

[0027] Fig.11 This is a plan view showing another example of placing the article above the base in the transfer mechanism.

[0028] Fig.12 It is a plan view showing another example of transferring articles in the transfer mechanism.

[0029] Fig.13 This is a diagram of the base viewed from the back side. DETAILED DESCRIPTION

[0030] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, the present invention is not limited to the contents described below. In addition, in order to illustrate the embodiments in the accompanying drawings, a portion is sometimes enlarged or emphasized, and the scale is appropriately changed to express the dimensions or shapes, etc., which are different from the actual products. In the following figures, the directions in the figures are described using the XYZ coordinate system. In the XYZ coordinate system, the vertical direction is set to the Z direction, one of the horizontal directions is set to the X direction, and the direction orthogonal to the X direction is set to the Y direction. In each of the X direction, the Y direction, and the Z direction, the direction indicated by the arrow in the figure is set to the + direction, and the direction opposite to the direction indicated by the arrow is set to the - direction for description.

[0031] Figure 1 It is a front view showing an example of the transport device 1 and the storage device 2 according to the embodiment. Figure 2 1 is a side view showing an example of the conveying device 1 and the storage device 2 of the present embodiment. In the present embodiment, the traveling direction of the conveying device 1 is set to the X direction, and the conveying device 1 and the storage device 2 are viewed from the Y direction orthogonal to the X direction as the front side. In addition, the conveying device 1 and the storage device 2 are viewed from the Y direction as the side side. Figure 1 as well as Figure 2 As shown, the storage device 2 includes a conveyor device 1 for conveying an article OB, and a plurality of shelves 3 for placing and storing the article OB.

[0032] The object OB is, for example, a storage container such as a front opening unmanned unit (FOUP) storing glass substrates, semiconductor wafers, etc. In addition, when the object OB is a front opening unmanned unit, the weight of the object OB may be more than 25 kg depending on the size of the stored glass substrates and the number of stored sheets. In addition, the object OB may be other storage containers such as a mask box in addition to the front opening unmanned unit. Even when the object OB is a heavy object such as several tens of kilograms, the present embodiment can be applied.

[0033] The conveying device 1 conveys the article OB and transfers the article OB to any one of the plurality of shelves 3. The conveying device 1 includes a transfer mechanism 4, a traveling trolley 5, and a column 6. In addition, the details of the transfer mechanism 4 will be described later. The traveling trolley 5 includes a base 7 and a driving wheel 8. The base 7 includes a driving drive unit (not shown) such as an electric motor for driving the driving wheel 8 to rotate. The driving wheel 8 is rotatably arranged on the base 7 and is driven to rotate by a driving drive unit (not shown). The driving wheel 8 rotates on a track 9 arranged on the floor F. In the present embodiment, the driving wheel 8 is a single wheel, but a plurality of driving wheels 8 may be provided, and a driven wheel may be provided in addition to the driving wheel 8. The track 9 is laid on the floor F along the X direction. The traveling trolley 5 drives the driving wheel 8 to rotate by a driving drive unit (not shown), thereby traveling in the X direction. That is, the conveying device 1 travels along the track 9 in the +X direction or the -X direction. In addition, the traveling carriage 5 may include a pair of rollers 8a that sandwich the side surfaces of the rail 9 on the lower surface of the base 7. By including the pair of rollers 8a, it is possible to prevent the driving wheel 8 from falling off the rail 9.

[0034] The column 6 is erected on the traveling trolley 5. The column 6 is arranged to extend upward (in the +Z direction) from the upper surface of the base 7. The column 6 is set to a height at which the transfer mechanism 4 can transfer the article OB to the uppermost shelf 3, for example. An upper frame 10 is provided at the upper end of the column 6. The upper frame 10 has a pair of rollers 11 on the upper surface side. The pair of rollers 11 is configured to clamp the side surfaces of a ceiling rail 12 provided on the ceiling C. The ceiling rail 12 is provided on the ceiling C along the X direction. The roller 11 is driven to rotate synchronously with the driving wheel 8 by a driving device not shown in the figure, so that the upper end of the column 6, i.e., the upper frame 10, moves in the travel direction of the traveling trolley 5. The driving of the driving wheel 8 and the driving of the roller 11 are controlled by a control device not shown in the figure. In addition, the roller 11 is not limited to a driving roller driven by a driving device, but can also be a driven roller.

[0035] The plurality of shelves 3 are arranged in a plurality in the X direction and the vertical direction (Z direction) along the rail 9. The plurality of shelves 3 store the articles OB respectively. Each shelf 3 is formed to be able to carry the articles OB, and a space capable of storing the articles OB is formed on the upper surface side of each shelf 3. Each shelf 3 has a cutout portion 3a and a pin 3b. The cutout portion 3a is set to a size that the article holding portion 23 of the transfer mechanism 4 described later can pass through in the vertical direction. The pin 3b is, for example, three pins provided on the upper surface of the shelf 3, and the articles OB placed on the shelf 3 are positioned by entering the groove provided on the bottom surface of the articles OB. In addition, a positioning guide member for guiding the side of the articles OB may be provided instead of the pin 3b. In addition, the following method may be adopted: the shelf plate 3 is separated into left and right, and one pin 3b is provided on each of the left and right shelf plates 3, and the articles OB are positioned by the two pins 3b. In this case, a cutout 3a is formed between the left and right shelf boards 3, and the article holding section 23 can pass through the cutout 3a in the vertical direction. In addition, each shelf 3 may also be provided with a gas supply device for supplying an inert gas into the loaded articles OB. Figure 2 The figure shows a mode in which a plurality of shelves 3 are arranged on both sides of the conveyor 1 in the Y direction, but the present invention is not limited to this mode. For example, a plurality of shelves 3 may be arranged only on the +Y side or only on the -Y side of the conveyor 1.

[0036] In addition, the conveying device 1 of the present embodiment shows a method in which a transfer mechanism 4 is provided on the -X side of one column 6. That is, the transfer mechanism 4 is supported by one column 6. However, the conveying device 1 is not limited to the above method. For example, it may be the following method: the transfer mechanism 4 is provided between two columns 6 separated in the X direction, and the transfer mechanism 4 is supported by the two columns 6. In addition, in the present embodiment, the transfer mechanism 4 is provided on one column 6, so that the total length of the conveying device 1 in the X direction can be shortened. As a result, when the conveying device 1 accesses the shelf 3 at the most -X side end or the shelf 3 at the most +X side end among a plurality of shelves 3, it is not necessary to extend the track 9 in the X direction, and the expansion of the installation area of ​​the storage device 2 can be avoided.

[0037] Figure 3 4 is a front view showing an example of the transfer mechanism 4. Figure 3 4 shows a front view of the transfer mechanism 4 viewed from a direction (Y direction) perpendicular to the travel direction (X direction) of the conveyor device 1. Figure 3 As shown, the transfer mechanism 4 includes a base 20 , a first arm 21 , a second arm 22 , an article holding portion 23 , a first drive portion 31 , and a second drive portion 32 .

[0038] The base 20 is formed into an L-shape having a horizontal portion 20a and a vertical portion 20b extending upward from one end of the horizontal portion 20a. A guided portion 20c having a concave cross-section and in a vertical direction is provided on the +X plane of the vertical portion 20b. The guided portion 20c is engaged with a linear guide 26 having a convex cross-section and in a vertical direction and provided on the -X plane of the column 6. The vertical portion 20b is guided in the vertical direction along the linear guide 26. That is, the base 20 can be raised and lowered along the column 6. The conveying device 1 is provided with a lifting device (not shown) for raising and lowering the base 20. The base 20 (transfer mechanism 4) is raised and lowered along the column 6 by driving the lifting device.

[0039] The lifting device, for example, has a driving unit such as an electric motor, a sprocket driven by the driving unit, and a chain hung on the outer periphery of the sprocket. The chain is set up from the upper end portion of the column 6 to the lower end portion, and moves (or circles) as the sprocket rotates. The base 20 is connected to the chain, and rises or falls along the linear guide 26 as the chain moves. In addition, the lifting device is not limited to the above-mentioned structure, and an endless belt can be used instead of the chain. In addition, it is not limited to raising and lowering the base 20 by a chain or a belt. For example, a rack gear arranged along the column 6 and a pinion arranged on the base 20 can be used, and the pinion can be rotated to raise and lower the base 20. In addition, the lifting action and height position of the base 20 are controlled by a control device not shown.

[0040] The first arm 21 is supported on the upper surface 20d side of the base 20 so as to be rotatable. The first arm 21 uses a rod-shaped body extending in a straight direction. A first rotation axis 27 extending downward is provided in the middle part (e.g., the central part) in the longitudinal direction of the first arm 21. The first arm 21 is connected to the base 20 via the first rotation axis 27. The first arm 21 can rotate around the first rotation axis 27 relative to the base 20. The vertical direction passing through the center of the first rotation axis 27 is the rotation center P1 of the first arm 21. The first arm 21 has a first end 21a and a second end 21b. In the first arm 21, one end observed from the rotation center P1 is the first end 21a, and the other end observed from the rotation center P1 is the second end 21b.

[0041] The second arm 22 is supported rotatably on the upper surface 21c side of the first arm 21. The second arm 22 is supported by the first end 21a of the first arm 21. The second arm 22 uses a rod-shaped body extending in a straight line direction. The length direction of the second arm 22 is shorter than that of the first arm 21. One end of the second arm 22 in the length direction is the base end 22a, and the other end is the front end 22b. A second rotation axis 28 extending downward is provided at the base end 22a of the second arm 22. The second arm 22 is connected to the first arm 21 via the second rotation axis 28. The second arm 22 can rotate around the second rotation axis 28 relative to the first arm 21. The vertical direction passing through the center of the second rotation axis 28 is the rotation center P2 of the second arm 22. The rotation center P2 of the second arm 22 is arranged on the upper surface 21c of the first arm 21 on the first end 21a side as viewed from the rotation center P1 of the first arm 21.

[0042] The first arm 21 and the second arm 22 can make the front end 22b of the second arm 22 be located at any position within a specified range by the respective rotation angles. The specified range is defined by the lengths of the first arm 21 and the second arm 22 and the rotation angles of the two. In addition, the first arm 21 and the second arm 22 are configured so that the moving direction of the front end 22b of the second arm 22 can be controlled by synchronizing the driving of each driving unit described later.

[0043] The article holding portion 23 is supported rotatably on the upper surface 22c side of the second arm 22. It is supported by the front end portion 22b of the second arm 22. The article holding portion 23 uses a plate-like body that can carry the article OB. The article holding portion 23 has a loading surface 23a on the upper surface side. The article holding portion 23 supports the lower surface of the article OB on the loading surface 23a. For example, three pins 23b are provided on the loading surface 23a of the article holding portion 23. The pins 23b enter the groove portion provided on the bottom surface of the article OB, thereby enabling the article OB to be positioned. The article holding portion 23 is provided with a third rotating shaft 29 extending downward. The article holding portion 23 is connected to the second arm 22 via the third rotating shaft 29. The article holding portion 23 can rotate around the third rotating shaft 29 relative to the second arm 22. The vertical direction passing through the center of the third rotating shaft 29 is the rotation center P3 of the article holding portion 23. The rotation center P3 of the article holding portion 23 is disposed on the upper surface 22 c of the second arm 22 on the side of the front end portion 22 b of the second arm 22 .

[0044] In addition, if Figure 3As shown, the transfer mechanism 4 includes a first drive unit 31 and a second drive unit 32. The first drive unit 31 and the second drive unit 32 use, for example, an electric motor. The first drive unit 31 drives the first arm 21 to rotate. The first drive unit 31 is arranged below the first arm 21 and is a horizontal portion 20a of the base 20. The first drive unit 31 is provided on the horizontal portion 20a of the base 20 at the front end side viewed from the rotation center P1 of the first arm 21, that is, on the side opposite to the vertical portion 20b. In addition, the first drive unit 31 may also be configured to include a first reducer 33 described later.

[0045] The second drive unit 32 drives the second arm 22 to rotate. The second drive unit 32 is provided on the first arm 21. The second drive unit 32 is provided on the second end portion 21b side as viewed from the rotation center P1 on the first arm 21. The second drive unit 32 is configured in a state where a portion protrudes upward from the upper surface 21c of the first arm 21. The second arm 22 includes a cover 25 for covering the protruding portion of the second drive unit 32. Therefore, the cover 25 is provided in a state where it protrudes upward from the upper surface 21c of the first arm 21. In addition, whether or not to provide the cover 25 is arbitrary. Therefore, the second arm 22 may also be in a state where there is no cover 25. In addition, the second drive unit 32 may also be configured to include a second speed reducer 34 described later.

[0046] Next, the operation of the transfer mechanism 4 will be described. Figure 4 4 is a top view showing a state where the article OB is arranged above the base 20 in the transfer mechanism 4. Figure 4 As shown, by making the first arm 21 and the second arm 22 respectively become a predetermined angle position (standby position or article holding position), the article holding part 23 can be located above the base 20. At this time, the article holding part 23 is separated from the shelf 3. In this state, when an article OB is placed on the placement surface 23a, the article OB is arranged above the base 20. Figure 4 In the state shown, the transport device 1 can be moved in the X direction by the travel carriage 5 , and the transfer mechanism 4 can be raised and lowered.

[0047] Figure 5 FIG. 4 is a top view showing the state in which the article OB is transferred in the transfer mechanism 4. Figure 5As shown, by driving the first drive unit 31 and the second drive unit 32 so that the first arm 21 and the second arm 22 are respectively at a predetermined angle position (intersection position), the article holding unit 23 can be inserted above or below the shelf 3. The shelf 3 is provided with a cutout portion 3a that allows the article holding unit 23 to pass in the vertical direction. When delivering an article OB to the shelf 3, the article holding unit 23 is arranged at a position higher than the shelf 3, and in this state, the article holding unit 23 (transfer mechanism 4) is lowered, so that the article OB is delivered from the article holding unit 23 to the shelf 3. After the article OB is placed on the shelf 3, the article holding unit 23 is returned to the shelf 3. Figure 4 The position shown (standby position) thereby completes the action of delivering the article OB to the shelf 3.

[0048] When receiving an article OB from the shelf 3, the article holding unit 23 is arranged at a position lower than the shelf 3 on which the article OB is placed, and the article holding unit 23 (transfer mechanism 4) is raised in this state, so that the article OB is transferred from the shelf 3 to the article holding unit 23. After the article OB is placed on the article holding unit 23, the article holding unit 23 is returned to the position of the shelf 3. Figure 4 The transfer mechanism 4 reaches the position shown (article holding position), whereby the transfer mechanism 4 completes the receiving operation of the article OB.

[0049] As described above, the operations of the first arm 21 and the second arm 22 when the article OB is delivered by the transfer mechanism 4 will be described. Figure 6 The figure shows the relationship between the base 20 and the first arm 21 in the transfer mechanism 4, (A) is a front view, and (B) is a top view. Figure 6 In order to make the description easier, some parts are omitted. Figure 6 As shown in (A), the second drive unit 32 is stored inside the cover 25 of the first arm 21. The cover 25 is arranged on the upper surface 21c of the first arm 21 and protrudes upward relative to the first arm 21. On the other hand, the second drive unit 32 is arranged not to protrude downward relative to the first arm 21, and the cover 25 and the like are not provided on the lower surface side of the first arm 21. That is, no protruding portion is provided on the lower surface side of the first arm 21.

[0050] Therefore, if Figure 6 As shown in (B), no matter whether the first arm 21 rotates clockwise or counterclockwise on the paper with the rotation center P1 as the center, the second drive unit 32 does not interfere with the base 20. As a result, the rotation range of the first arm 21 is not limited, and the first arm 21 can be rotated to any angular position.

[0051] Figure 7 FIG. 4 is a top view showing the relationship between the first arm 21 and the second arm 22 in the transfer mechanism 4. Figure 7In order to make the description easier, some parts are omitted. Figure 7 As shown, the rotation center P2 of the second arm 22 is arranged on the first arm 21 on the first end 21a side as viewed from the rotation center P1 of the first arm 21. In addition, the second drive unit 32 is arranged on the first arm 21 on the second end 21b side as viewed from the rotation center P1 of the first arm 21. Moreover, the second arm 22 is set to a length from the base end 22a to the front end 22b that does not reach the cover 25 (the second drive unit 32 in the case of no cover 25). That is, the cover 25 is in a state where a distance L1 is set between the cover 25 and the front end 22b of the second arm 22.

[0052] Therefore, if Figure 7 As shown, no matter whether the second arm 22 rotates in the clockwise direction or the counterclockwise direction on the paper with the rotation center P2 as the center, the second arm 22 will not interfere with the second drive unit 32. As a result, the rotation range of the second arm 22 is not limited, and the second arm 22 can be rotated to any angle position. In addition, as long as the front end 22b of the second arm 22 does not reach the cover 25 (the second drive unit 32 in the case of no cover 25), the distance L1 can be set arbitrarily.

[0053] Figure 8 4 is a front view showing a state where the article OB is held by the article holding portion 23 in the transfer mechanism 4. Figure 8 As shown, the upper surface 25a of the cover 25 (the upper surface 32c of the second drive unit 32 when there is no cover 25) is set at a position higher than the lower surface 22d of the second arm 22. That is, the height positions of the cover 25 (second drive unit 32) and the second arm 22 are formed to overlap at least partially. Therefore, the transfer mechanism 4 can be made thinner.

[0054] In addition, the upper surface 25a of the cover 25 is arranged at a position lower than the placement surface 23a of the article holding portion 23. Specifically, the upper surface 25a of the cover 25 is arranged at a distance L2 downward from the placement surface 23a of the article holding portion 23. Therefore, even when the first arm 21 and the second arm 22 are rotated in a state where the article OB is placed on the article holding portion 23, the interference between the article OB and the cover 25 can be avoided. Therefore, the rotation angle of the first arm 21 and the second arm 22 can be arbitrarily set in a state where the article OB is placed on the article holding portion 23. In addition, even in the absence of the cover 25, the upper surface 32c of the second drive portion 32 is arranged at a position lower than the placement surface 23a by more than the distance L2. Therefore, similarly to the above, the interference between the article OB and the second drive portion 32 can be avoided, so the rotation angle of the first arm 21 and the second arm 22 can be arbitrarily set in a state where the article OB is placed on the article holding portion 23.

[0055] Next, a driving system (a transmission path of driving force) for rotating each of the first arm 21 , the second arm 22 , and the article holding portion 23 will be described. Fig. 9 This is a diagram schematically showing a transmission path of driving force for the first arm 21 , the second arm 22 , and the article holding unit 23 . Fig.10 Yes Fig. 9 A diagram showing a portion of the image enlarged. Fig. 9 as well as Fig.10 In order to facilitate the description, some parts are omitted.

[0056] First, the drive system of the first arm 21 is described. The first drive unit 31 includes, for example, an electric motor and an encoder for detecting the rotation of the electric motor. The electric motor uses an electric motor that generates the torque required to rotate the first arm 21. The first drive unit 31 drives the first arm 21 to rotate via the first reducer 33, so that the first arm 21 rotates relative to the base 20. The first drive unit 31 is controlled to rotate by a control device not shown in the figure. The control device uses the detection result of the encoder to servo-control the electric motor. In addition, the control device may be the same as the control device that controls the travel drive unit of the travel trolley 5, or it may be a different control device.

[0057] The output of the first driving unit 31 is transmitted to the first rotating shaft 27. The output shaft 31a of the first driving unit 31 is provided in a state protruding downward from the first driving unit 31. A pulley 31b is provided on the output shaft 31a. In addition, a pulley 27a is provided on the first rotating shaft 27. The first rotating shaft 27 is supported on the first arm 21 so as to be rotatable. An endless transmission belt 35 is provided between the pulley 31b and the pulley 27a, and the rotation of the pulley 31b is transmitted to the pulley 27a via the transmission belt 35. The first speed reducer 33 is provided on the first rotating shaft 27. The first speed reducer 33 reduces the rotation of the pulley 27a and transmits it to the rotation of the first arm 21. The first speed reducer 33 is provided on the first rotating shaft 27, thereby, compared with the case where the first driving unit 31 and the first speed reducer 33 are overlapped in the vertical direction, space saving can be achieved in the upper direction, and as a result, the base 20 can be made thinner in the vertical direction.

[0058] The first drive unit 31 and the first speed reducer 33 are arranged below the first arm 21. With this configuration, when the first arm 21 rotates, interference between the first drive unit 31 and the first speed reducer 33 and the first arm 21 can be avoided. In addition, the first drive unit 31 and the first speed reducer 33 are provided at a position separated from the column 6 on the base 20. According to this configuration, the first drive unit 31 and the first speed reducer 33, which are heat sources, are separated from the column 6, so that the heat influence on the linear guide 26 of the column 6, the guided portion 20c of the base 20, and the like can be reduced.

[0059] When the first drive unit 31 is driven, the output shaft 31a is rotated by the first speed reducer 33. The pulley 31b rotates together with the output shaft 31a, and the transmission belt 35 moves (circularly moves). The pulley 27a is rotated by the movement of the transmission belt 35, and the first rotating shaft 27 integrated with the pulley 27a is rotated. As a result, the first arm 21 integrated with the first rotating shaft 27 rotates relative to the base 20 around the axis of the rotation center P1. In addition, the rotation position of the first arm 21 can be maintained by the servo control of the first drive unit 31 (electric motor).

[0060] In addition, the rotation amount of the pulley 27a relative to the rotation amount of the pulley 31b is set by the diameter ratio of the pulley 31b and the pulley 27a. Therefore, by making the diameter of the pulley 27a larger than the diameter of the pulley 31b, the rotation of the pulley 31b can be decelerated and transmitted to the rotation of the pulley 27a. Therefore, if Fig. 9 As shown, it is possible to replace the first speed reducer 33 in the first drive unit 31 and to function as a speed reducer by appropriately setting the diameters of the pulley 31b and the pulley 27a. In addition, it is also possible to use a sprocket instead of the pulley 31b and the pulley 27a, and to use an endless chain instead of the transmission belt 35.

[0061] Next, the drive system of the second arm 22 will be described. Similar to the first drive unit 31, the second drive unit 32 includes, for example, an electric motor and an encoder that detects the rotation of the electric motor. The electric motor uses an electric motor that generates the torque required to rotate the second arm 22. In addition, the electric motor of the first drive unit 31 and the electric motor of the second drive unit 32 may be the same or different. The second drive unit 32 rotationally drives the second arm 22 via the second reducer 34, so that the second arm 22 rotates relative to the first arm 21. The second drive unit 32 is controlled to rotate by the above-mentioned control device (not shown). In addition, the control device uses the detection result of the encoder to servo-control the electric motor, which is the same as described above.

[0062] The output of the second drive unit 32 is output to the output shaft 32a in a state of being decelerated by the second speed reducer 34. The second speed reducer 34 decelerates the rotation transmitted from the second drive unit 32 to the output shaft 32a. The second speed reducer 34 is arranged near the second drive unit 32. With this configuration, it is possible to avoid interference between the second speed reducer 34 and the second arm 22, and the second arm 22 can be rotated without hindrance.

[0063] The output shaft 32a is provided in a state of protruding downward from the second speed reducer 34. A pulley 32b is provided on the output shaft 32a. In addition, a pulley 28a is provided on the second rotating shaft 28. The second rotating shaft 28 is supported on the first arm 21 so as to be rotatable. An endless transmission belt 36 is provided between the pulley 32b and the pulley 28a, and the rotation of the pulley 32b is transmitted to the pulley 28a via the transmission belt 35.

[0064] When the second drive unit 32 is driven, the output shaft 32a is rotated by decelerating the speed through the second reducer 34. The pulley 32b rotates together with the output shaft 32a, causing the transmission belt 36 to move (circularly move). The pulley 28a is rotated by the movement of the transmission belt 36, causing the second rotating shaft 28 that is integrated with the pulley 28a to rotate. As a result, the second arm 22 that is integrated with the second rotating shaft 28 rotates relative to the first arm 21 around the axis of the rotation center P2. In addition, the rotation position of the second arm 22 can be maintained by servo control of the second drive unit 32 (electric motor). In addition, the drive timing of the second drive unit 32 and the drive timing of the first drive unit 31 can be simultaneous or different timings.

[0065] In addition, the rotation amount of the pulley 28a relative to the rotation amount of the pulley 32b is set by the diameter ratio of the pulley 32b and the pulley 28a. Therefore, by making the diameter of the pulley 28a larger than the diameter of the pulley 32b, the rotation of the pulley 32b can be decelerated and transmitted to the rotation of the pulley 28a. Fig. 9 As shown, the second reducer 34 can be replaced by the second drive unit 32, and the diameters of the pulley 32b and the pulley 28a can be appropriately set to function as a reducer. In addition, a sprocket can be used instead of the pulley 32b and the pulley 28a, and an endless chain can be used instead of the transmission belt 36.

[0066] Next, the driving system of the article holding portion 23 will be described. Fig. 9 as well as Fig.10 As shown in FIG. 1 , the second rotating shaft 28 is formed in a cylindrical shape. The support shaft 37 is provided inside the second rotating shaft 28 in a state of being inserted relative to the second rotating shaft 28. The support shaft 37 is fixed to the first arm 21 so as not to rotate around the axis of the rotation center P2. That is, the support shaft 37 is configured so that even if the second rotating shaft 28 rotates relative to the first arm 21, the support shaft 37 does not rotate relative to the first arm 21.

[0067] A pulley 37a is provided at the upper end of the support shaft 37. The pulley 37a is arranged in the second arm 22. A pulley 29a is provided on the third rotating shaft 29 which is integral with the article holding portion 23. The third rotating shaft 29 is rotatably supported on the second arm 22. An endless transmission belt 38 is provided between the pulley 37a and the pulley 29a, and the rotation of the pulley 37a is transmitted to the pulley 29a via the transmission belt 38.

[0068] When the second drive unit 32 is driven to rotate the second arm 22, as described above, the second arm 22 and the second rotating shaft 28 rotate relative to the first arm 21 around the axis of the rotation center P2. At this time, the support shaft 37 is fixed to the first arm 21, so the support shaft 37 and the pulley 37a rotate relative to the second arm 22. That is, when the second arm 22 rotates, the second rotating shaft 28 rotates relative to the support shaft 37. The transmission belt 38 moves (circles) due to the rotation of the pulley 37a, and the pulley 29a and the third rotating shaft 29 rotate. As a result, the article holding portion 23 integrated with the third rotating shaft 29 rotates relative to the second arm 22 around the axis of the rotation center P3. That is, the article holding portion 23 rotates relative to the second arm 22 in synchronization with the rotation of the second arm 22.

[0069] The rotational position of the second arm 22 relative to the first arm 21 is maintained, and thereby the rotational position of the article holding portion 23 is maintained. The orientation of the article holding portion 23 is set so that when the first arm 21 and the second arm 22 are rotated to a state where the article OB is delivered to the shelf 3, the front end portion of the article holding portion 23 is stored in the cutout portion 3a of the shelf 3 in a plan view (see FIG. Figure 5 ). The direction of the article holding portion 23 is set by the rotation ratio of the pulley 37a and the pulley 29a. In order to make the pulley 37a and the pulley 29a have a desired rotation ratio, it is achieved by appropriately setting the diameter of the pulley 37a and the diameter of the pulley 29a. In addition, a sprocket wheel can be used instead of the pulley 37a and the pulley 29a, and an endless chain can be used instead of the transmission belt 38.

[0070] In this embodiment, the above method is applied to rotate the article holding portion 23 relative to the second arm 22, but it is not limited to this method. In order to rotate the article holding portion 23, for example, a driving unit such as an electric motor can also be used. In this case, the following method can be applied: the driving unit (electric motor, etc.) is arranged on the second end 21b side of the first arm 21, similarly to the second driving unit 32, and the support shaft 37 is rotated around the axis of the rotation center P2 by a transmission belt, thereby rotating the article holding portion 23 relative to the second arm 22.

[0071] In the above description, the case where the article holding portion 23 is moved in the +Y direction for delivering the article OB is described, but the same is true for the case where the article holding portion 23 is moved in the -Y direction. Figure 2 When the shelf 3 is arranged on the -Y side of the conveyor 1 as shown, when the article OB is transferred to the shelf 3 on the -Y side, the operation of the transfer mechanism 4 is the same as described above. Fig.11 It is a plan view showing another example in which the article OB is arranged above the base 20 in the transfer mechanism 4 .

[0072] like Fig.11 As shown in FIG. 1 , by making the first arm 21 and the second arm 22 respectively become predetermined angular positions (standby positions or article holding positions), the article holding portion 23 can be located above the base 20. At this time, the first arm 21 becomes Figure 4 The position shown is rotated 180 degrees. The article holding portion 23 faces the -Y direction. The article OB is placed on the placement surface 23a and arranged above the base 20. Fig.11 In the illustrated state, the transport device 1 can be moved in the X direction by the travel carriage 5 , and the transfer mechanism 4 can be raised and lowered.

[0073] Fig.12 FIG. 4 is a top view showing another example of transferring the article OB in the transfer mechanism 4. Fig.12 As shown, by driving the first drive unit 31 and the second drive unit 32 to make the first arm 21 and the second arm 22 respectively reach a predetermined angular position (handover position), the article holding unit 23 can be moved in the -Y direction and inserted above or below the shelf 3. The handover operation of the article OB relative to the shelf 3 is similar to the above-mentioned Figure 4 as well as Figure 5 Thus, the transfer mechanism 4 of this embodiment can transfer the articles OB to and from the shelves 3 on the +Y side and the -Y side.

[0074] Fig.13 This is a diagram showing the base 20 as viewed from the back side. Fig.13 As shown, in the horizontal portion 20a of the base 20, the first driving unit 31 is provided at the front end side of the horizontal portion 20a (the side opposite to the vertical portion 20b). On the other hand, no driving unit or the like is provided on the side opposite to the first driving unit 31 across the first rotation axis 27 in the horizontal portion 20a. Although this portion can also be used as a space portion to achieve lightweighting of the base 20, when the object OB becomes heavy, the rigidity of the base 20 (particularly the horizontal portion 20a) may be insufficient.

[0075] Therefore, in the horizontal portion 20a of the base 20, ribs 41 are provided along the up-down direction between the first drive portion 31 and the column 6. In the present embodiment, in the horizontal portion 20a, a plurality of ribs 41 are provided in the space portion between the first rotation axis 27 and the vertical portion 20b. The load of the object OB etc. acts on the first rotation axis 27. Therefore, the ribs 41 are provided so as to extend in the X direction, the Y direction, the direction combining the X direction and the Y direction, and the direction of the curve surrounding the first rotation axis 27 in consideration of the situation where a large load acts on the first rotation axis 27. By providing the ribs 41 on the base 20, it is possible to improve the rigidity of the base 20 while achieving the lightweight of the base 20. In addition, Fig.13 The form of the rib 41 shown is just an example, and the form of the rib 41 is arbitrary as long as the rigidity of the base 20 can be improved.

[0076] Thus, according to the present embodiment, the second drive unit 32 is provided in the first arm 21 at the second end portion 21b side viewed from the rotation center P1 of the first arm 21 and at a position separated from the rotation track R2 of the second arm 22, so that when the second arm 22 rotates, interference with the second drive unit 32 can be avoided. Therefore, it is possible to realize a transfer mechanism 4 that is thinner in the vertical direction without increasing the vertical distance between the first arm 21 and the second arm 22. In addition, since the second drive unit 32 is provided in the first arm 21, it is possible to avoid enlarging the base 20.

[0077] The embodiments of the present invention are described above, but the technical scope of the present invention is not limited to the above-mentioned embodiments. It is obvious that a person skilled in the art can make various changes or improvements to the above-mentioned embodiments. In addition, the method in which such changes or improvements are made is also included in the technical scope of the present invention. One or more of the elements described in the above-mentioned embodiments is sometimes omitted. In addition, the elements described in the above-mentioned embodiments can be appropriately combined. Furthermore, the disclosure of Japanese Patent Application No. 2022-153344 and all the documents cited in the above-mentioned embodiments are referenced as part of the text to the extent permitted by law.

[0078] In the above embodiment, the first drive unit 31 is configured on the base 20 as an example, but the present invention is not limited to this method. For example, the first drive unit 31 may be provided on the first arm 21. In this case, the first drive unit 31 may be configured on the second end 21b side of the first arm 21 in the same manner as the second drive unit 32, and may be stored in the cover 25 together with the second drive unit 32.

[0079] In addition, in the above embodiment, the storage device 2 is described as an example in which one conveyor device 1 is provided, but the present invention is not limited to this example. For example, the storage device 2 may be provided with two or more conveyor devices 1. In addition, in the above embodiment, the conveyor device 1 and the shelf 3 of the storage device 2 are described as an example in which they are installed on the floor F, but the present invention is not limited to this example. The conveyor device 1 and the shelf 3 may be suspended from the ceiling C or both.

[0080] Explanation of symbols

[0081] OB: Items

[0082] P1, P2, P3: Center of rotation

[0083] 1: Conveying device

[0084] 2: Storage device

[0085] 3: Shelves

[0086] 4: Transfer mechanism

[0087] 5: Driving trolley

[0088] 6: Column

[0089] 20: Abutment

[0090] 21: First Arm

[0091] 21a: First end (one end)

[0092] 21b: Second end (other end)

[0093] 21c: Upper surface

[0094] 22: Second Arm

[0095] 22a: Base end

[0096] 22b: Front end

[0097] 22c: Upper surface

[0098] 22d: Lower surface

[0099] 23: Item holding unit

[0100] 23a: Loading surface

[0101] 25: Hood

[0102] 25a: Upper surface

[0103] 27: First rotation axis

[0104] 28: Second rotation axis

[0105] 29: Third rotation axis

[0106] 27a, 28a, 29a, 31b, 32b, 37a: Pulley

[0107] 31: First drive unit

[0108] 32: Second drive unit

[0109] 32c: Upper surface

[0110] 33: First reducer

[0111] 34: Second reducer

[0112] 35, 36, 38: Transmission belt

[0113] 41: Rib

Claims

1. A conveying device, wherein: The invention comprises a traveling trolley, a column erected on the traveling trolley, and a transfer mechanism arranged on the column to transfer articles. The transfer mechanism comprises: a base that is raised and lowered along the column, a first arm that is rotatably supported on the base, a second arm that is rotatably supported on the first arm, an article holding portion that holds an article and is supported on the second arm, a first driving portion that rotates the first arm, and a second driving portion that rotates the second arm. The rotation center of the second arm is arranged on one end side of the first arm when viewed from the rotation center of the first arm. The second driving unit is provided on the upper surface of the first arm at the other end side as viewed from the rotation center of the first arm and at a position deviated from the rotation track of the second arm.

2. The conveying device according to claim 1, wherein: An upper surface of the second driving portion is higher than a lower surface of the second arm.

3. The conveying device according to claim 1, wherein: The article holding portion has a placing surface for placing articles. The upper surface of the second driving unit is lower than the placement surface of the article holding unit.

4. The conveying device according to claim 3, wherein: The second driving unit is stored inside a cover provided to the first arm. The upper surface of the cover is lower than the placement surface.

5. The conveying device according to claim 1, wherein: A second speed reducer is provided near the second drive unit to reduce the speed of rotation transmitted from the second drive unit to the second arm.

6. The conveying device according to claim 1, wherein: The first drive unit and a first speed reducer that reduces the speed of rotation transmitted from the first drive unit to the first arm are provided below the first arm.

7. The conveying device according to claim 6, wherein: The first driving unit and the first speed reducer are provided in the base at positions separated from the column.

8. The conveying device according to claim 7, wherein: The base has a rib along the up-down direction between the first driving portion and the column.

9. The conveying device according to claim 1, wherein: The transfer mechanism can transfer articles to the left and right sides with respect to the traveling direction of the traveling vehicle.

10. The delivery device according to claim 1, wherein: The article holding portion rotates relative to the second arm in synchronization with the rotation of the second arm.

11. A storage device comprising: Shelves for storing items; and The conveying device according to any one of claims 1 to 10 for transferring articles between the shelves.

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