Carrier device

Abstract

To facilitate wiring of a cable to a movable holding part.SOLUTION: A carrier device (carriage main part 100) comprises a link mechanism (130) having a pair of articulated arms (130A and 130B) that horizontally move a holding part (140) back and forth with respect to a link mechanism support (120) and connect the link mechanism support and the holding part. The carrier device is configured such that a cable (160) extends backward in a back / forth moving direction from a part fixed to the holding part, then is folded forward, and is fixed to the link mechanism support and, as it advances, the holding part also moves forward to a folding position (F) of the cable.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a transport device. [Background technology]

[0002] There is known a conveying device that carries an article on a carriage and conveys it. The carriage is provided with a holding part, e.g., having a fork, that can move forward and backward from the carriage body and protrudes from the carriage body to pick up an article from a storage shelf or the like and place it on the storage shelf, etc. The carriage is also provided with a link mechanism for moving the holding part forward and backward. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5590411 Summary of the Invention [Problem to be solved by the invention]

[0004] In such a conveying device, a sensor is provided in the holding part for the purpose of detecting an object or detecting the attitude of the holding part. Therefore, a cable (electric wire) is required to transmit a signal to the movable holding part. When manufacturing the carriage, it is required to be able to easily wire such a cable. One aspect of the present disclosure aims to realize a conveying device in which it is possible to easily wire a cable to the movable holding part. [Means for solving the problem]

[0005] In order to solve the above problems, a conveying device according to one embodiment of the present disclosure comprises a base, a link mechanism support part provided on the base, a holding part for holding an object to be conveyed, and a link mechanism for moving the holding part horizontally back and forth relative to the link mechanism support part, the link mechanism having a pair of multi-joint arms each connecting the link mechanism support part and the holding part, and a cable fixed to the holding part and the link mechanism support part, the cable extending from a portion fixed to the holding part in a retreating direction in the advance / retract direction of the holding part, and then folding back in a forward direction in the advance / retract direction and fixed to the link mechanism support part, and configured such that as the holding part advances together with the portion of the cable fixed to the holding part, the folding position of the cable between the portion fixed to the holding part and the portion fixed to the link mechanism support part also advances. Effect of the Invention

[0006] According to one aspect of the present disclosure, a conveying device can be realized that allows easy wiring of cables to a movable holding part. [Brief description of the drawings]

[0007] [Figure 1] 1 is a diagram showing a stacker crane to which a conveying device of the present invention is applied in an embodiment. [Diagram 2] 1 is a perspective view showing a main part of a carriage which is a conveying device according to an embodiment of the present invention, in a state where a holding unit is in a retracted position which is the most retracted position. [Diagram 3] 1 is a perspective view showing a main part of a carriage which is a conveying device according to an embodiment of the present invention, in a state where a holding unit is in a retracted position which is the most retracted position. [Figure 4] 1 is a perspective view showing a main part of a carriage which is a conveying device according to an embodiment of the present invention, in a state where a holding unit is in an advanced position which is the most advanced position. [Diagram 5] 1 is a side view showing a main part of a carriage which is a conveying device according to an embodiment of the present invention, showing a state in which a holding part is in a retracted position which is a most retracted position. [Figure 6] 1 is a side view showing a main part of a carriage which is a conveying device according to an embodiment of the present invention, showing a state in which a holding part is in an advanced position which is the most advanced position. [Figure 7] FIG. 2 is a cross-sectional view showing a cable of the conveying device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] [Embodiment] <Stacker Crane Overview> Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings. Fig. 1 is a diagram showing a stacker crane 1 as an example of an apparatus to which the present invention is applied. For convenience of explanation of Fig. 1, the up-down direction, the front-rear direction, and the left-right direction are defined as shown by arrows in the figure. The up-down direction is the vertical direction. The front-rear direction and the left-right direction are directions parallel to a horizontal plane and are each perpendicular to the up-down direction. The front-rear direction is perpendicular to the left-right direction.

[0009] The stacker crane 1 is a device that travels along a traveling rail laid in the left-right direction and transports articles as transport objects. The stacker crane 1 includes a mast 10, a traveling cart 20, a carriage 30, and a control box 40. The control box 40 houses a control unit, which is an information processing device that controls each part of the stacker crane 1.

[0010] The traveling carriage 20 has a carriage frame 21 and a traveling motor unit 25. The carriage frame 21 supports wheels 22 that roll on a traveling rail. The traveling motor unit 25 drives at least a part of the wheels 22, so that the stacker crane 1 travels on the traveling rail by itself.

[0011] The masts 10 are columnar members extending in the vertical direction and erected on the carriage frame 21. The stacker crane 1 is provided with a pair of masts 10, a first mast 10A and a second mast 10B. The first mast 10A and the second mast 10B are disposed on the traveling carriage 20 so as to be spaced apart in the left-right direction, i.e., in the traveling direction of the stacker crane 1.

[0012] A carriage 30 is disposed between the first mast 10A and the second mast 10B. A lift guide rail 11 that guides the carriage 30 along the masts is provided on each of the opposing sides of the first mast 10A and the second mast 10B. An upper frame 14 is provided above the mast 10. The upper frame 14 is provided so as to connect an upper end of the first mast 10A and an upper end of the second mast 10B.

[0013] A lift motor unit 15, which is a drive unit for raising and lowering the carriage 30 relative to the mast 10, is provided below the mast 10. A wire or belt driven by the lift motor unit 15 is connected to the frame of the carriage 30, so that the carriage 30 can rise and fall along the mast 10.

[0014] Although the stacker crane 1 has been shown above as an example of an apparatus to which the present invention can be applied, the apparatus to which the present invention can be applied is not limited to the stacker crane 1. For example, the apparatus to which the present invention can be applied may be a lifter equipped with a carriage 30 as a lifting platform for raising and lowering a mast or a frame, etc.

[0015] The carriage 30 as a lifting platform may be regarded as a device to which the present invention is applied. The device to which the present invention is applied may also be a transport vehicle in which the main part of the carriage 30 (the carriage main part 100 described later) is mounted on a dolly that runs on a predetermined track or runs without a track.

[0016] <Main carriage parts: overview> 2 to 6 are diagrams showing a carriage main part 100, which is a main part of the carriage 30 and is fixed to the frame of the carriage 30. The carriage main part 100 transfers an article P as a transport target. As shown in each figure, an XYZ coordinate system is defined so that the Z axis is vertical and the XY plane is horizontal.

[0017] The carriage main part 100 is provided with a holding part 140 for picking up, placing and holding the article P to be transported. In this embodiment, the holding part 140 has a fork 145 protruding horizontally from a holding part main body 141, and is capable of holding the article P by scooping up the article P placed on a storage shelf or the like with the fork 145.

[0018] However, the method of holding the article by the holder 140 is not limited to using the fork 145, and any suitable known method can be applied. The method of holding the article may be, for example, a method of gripping the article, a method of using an engagement mechanism, a method of adsorbing the article by magnetic force or vacuum, or the like.

[0019] The carriage main part 100 includes a base 110, a link mechanism support part 120, a link mechanism 130, a holder 140, a cable guide 150, and a cable 160. The carriage main part 100 itself, which transfers the article P, may be considered as a conveying device corresponding to one embodiment of the present invention. The bottom surface of the base 110 is a substantially horizontal plane, that is, the main surface of the bottom surface of the base 110 is parallel to the XY plane. The link mechanism support part 120 is supported by the base 110 so as to be rotatable around a vertical axis (an axis parallel to the Z axis).

[0020] <Main carriage part: link mechanism> The link mechanism 130 is supported by the link mechanism support part 120. The link mechanism 130 is a mechanism consisting of a pair of articulated arms 130A, 130B that horizontally moves the holding part 140 forward and backward relative to the link mechanism support part 120. Since the link mechanism support part 120 that supports the link mechanism 130 is rotatable relative to the base part 110, the carriage 30 in the stacker crane 1 can deliver and receive articles in a state where it protrudes from the base part 110 in both the front and rear directions of FIG.

[0021] 2 to 6, the rotation angle of link mechanism support part 120 relative to base part 110 is fixed as a common angle, and the direction of forward and backward movement of holder 140 is parallel to the X-axis. In each drawing, the direction in which holder 140 advances to pick up an article from a storage shelf or the like is set as the positive direction in the X-axis direction, and the direction in which holder 140, having picked up the article from the storage shelf or the like, retreats to hold the article above base part 110 is set as the negative direction in the X-axis direction.

[0022] Figures 2 and 3 are perspective views showing the carriage main part 100 when the holding part 140 is in the retracted position, which is the most rearward position. Figure 4 is a perspective view showing the carriage main part 100 when the holding part 140 is in the advanced position, which is the most forward position. Figure 5 is a side view showing the carriage main part 100 when the holding part 140 is in the retracted position, which is the most rearward position. Figure 6 is a side view showing the carriage main part 100 when the holding part 140 is in the advanced position, which is the most forward position.

[0023] Each of the multi-joint arms 130A and 130B has a first arm 131 rotatably connected to the link mechanism support part 120, and a second arm 132 rotatably connected to the first arm 131 and a holding part main body 141 of the holding part 140. The multi-joint arms 130A and 130B are configured to be mirror symmetrical with respect to a plane parallel to the XZ plane.

[0024] Such multi-joint arm 130A and multi-joint arm 130B are a type of robot arm also called SCARA (Selective Compliance Assembly Robot Arm). Therefore, the link mechanism 130 that enables the forward and backward movement of the holding part 140 is sometimes called a SCARA type forward and backward movement mechanism. Such a SCARA type forward and backward movement mechanism is characterized by less dust generation and grease scattering compared to, for example, a forward and backward movement mechanism using a fork that moves back and forth on a rail.

[0025] The opening angle of the pair of first arms 131 of the link mechanism 130 is defined as the angle between the longitudinal directions of the first arms 131, and is the angle sandwiching the negative direction of the X-axis direction in FIG. 2 and the like. As shown in FIGS. 2 and 3, the opening angle is minimum when the holding part 140 is in the retracted position, and is an angle less than 180 degrees. As shown in FIG. 4, the opening angle is maximum when the holding part 140 is in the advanced position, and is an angle exceeding 180 degrees. The opening angle increases as the link mechanism 130 advances the holding part 140, and decreases as the holding part 140 retreats.

[0026] <Main part of carriage: holding part> The holding part 140 has, in addition to the above-mentioned holding part main body 141 and fork 145, a connection member 142, a cable pull-out part 143, and a cable fastener 144. The connection member 142 is a member that is provided upright on the holding part main body 141 and is used to fix the cable pull-out part 143 to the holding part main body 141.

[0027] 5 and 6, the connecting member 142 also plays a role in preventing collapse of the article P, which is the transport object transported by the carriage main part 100. The cable fixing device 144 is a member that fixes the cable 160 in the cable pull-out part 143. A sensor (not shown) is appropriately provided in the holding part 140 for the purpose of detecting the article or the posture of the holding part, etc.

[0028] Therefore, in order to supply power to the sensor in the holder 140 or to transmit signals between the sensor, as will be described in detail later, a cable 160 fixed to the holder 140 and the link mechanism support part 120 is provided in the carriage main part 100. Note that the holder 140 may further be provided with a mechanism equipped with power for holding an article, in addition to the sensor. In this case, the cable 160 may be used to supply power to the mechanism or transmit signals between the mechanism.

[0029] <Main parts of the carriage: cable, cable guide arrangement, etc.> The cable 160 is fixed to the holding part 140 at a cable lead-out part 143 of the holding part 140. The cable lead-out part 143 is fixed to the holding part main body 141 by a connection member 142, and guides the cable 160 above the holding part main body 141. The cable 160 is fixed onto the cable lead-out part 143 by a cable fixture 144 so as to extend in the retreating direction of the advancing and retreating direction of the holding part 140 (the negative direction in the X-axis direction).

[0030] The cable pull-out portion 143 is curved so as to gradually head downward as it advances in the retreating direction (negative direction in the X-axis direction) of the advancing and retreating direction of the holding portion 140. Therefore, as shown in Fig. 2, Fig. 3, and Fig. 5, when the holding portion 140 is in the retreated position, the cable 160 is guided by the cable pull-out portion 143 to gradually head downward (negative direction in the Z-axis direction) as it advances in the retreating direction (negative direction in the X-axis direction) of the advancing and retreating direction of the holding portion 140, which is a direction away from the cable fastener 144.

[0031] As the cable 160 moves further away from the cable fixture 144, the cable 160 reverses its orientation to the forward direction of the advancing and retreating direction of the holding part 140 (positive direction in the X-axis direction) without coming into contact with the cable pull-out part 143 or the cable guide 150. That is, the cable 160 is pulled out from the cable pull-out part 143 in the backward direction of the advancing and retreating direction of the holding part 140 (negative direction in the X-axis direction), and then turns back to the forward direction of the advancing and retreating direction of the holding part 140 (positive direction in the X-axis direction). The turn-back position of the cable 160 in the advancing and retreating direction of the holding part 140 (X-axis direction) is indicated by the symbol F in FIG. 5.

[0032] Cable 160 folded back in the forward direction of holding unit 140 is in a state where a part of it is placed on cable guide 150 located below cable pull-out unit 143 (in the negative direction of the Z axis) as shown in Figures 2, 3 and 5, when holding unit 140 is in the retracted position, cable 160 folded back at position F is kept horizontally in a state where it is placed on cable guide 150 at a location further away from cable pull-out unit 143.

[0033] The cable guide 150 is a long and thin member extending in the forward and backward direction (X-axis direction) of the holding part 140. The cable guide 150 is fixed to the link mechanism support part 120 via a connecting member 121. The cable guide 150 is a plate material with a horizontal surface (a surface parallel to the XY plane) as the upper surface so that the cable 160 can be placed thereon in a releasable manner. In order to prevent the cable 160 from shifting out of placement, it is preferable that the plate material is bent upward around the horizontal surface of the cable guide 150, as shown in Figs. 3 and 4. The arrangement of the cable guide 150 will be described later.

[0034] The cable 160 is fixed to the cable guide 150 by a cable fixture 151 near the end of the cable guide 150 in the forward / backward direction of the holding portion 140 (positive direction in the X-axis direction). The cable 160 is not fixed from the point at which the cable 160 is fixed to the cable pull-out portion 143 by the connection member 142 to the point at which the cable 160 is fixed to the cable guide 150 by the cable fixture 151.

[0035] Therefore, the portion of cable 160 from the point fixed to cable pull-out portion 143 by connecting member 142 to the point fixed to cable guide 150 by cable fastener 151 can deform. When holding portion 140 is advanced by link mechanism 130, the portion of cable 160 fixed to holding portion 140 also advances together with holding portion 140 (moves in the positive direction of the X-axis).

[0036] 4 and 6, a portion of cable 160 is pulled by holding part 140 in the direction in which the portion extends, and position F of cable 160 that folds back moves in the forward direction (positive direction in the X-axis direction) of the advancing and retracting direction of holding part 140. Also, as holding part 140 is moved forward by link mechanism 130, the portion of cable 160 placed on cable guide 150 moves away from cable guide 150 in order from the backward direction (negative direction in the X-axis direction) of the advancing and retracting direction.

[0037] Conversely, when holding unit 140 is moved backward by link mechanism 130 from the advanced position, which is the most advanced position, the portion of cable 160 fixed to holding unit 140 also moves backward together with holding unit 140 (moves in the negative X-axis direction). Then, a portion of cable 160 is pushed out by holding unit 140 in the direction in which the portion extends, and position F of cable 160 that folds back moves in the backward direction of holding unit 140 (negative X-axis direction).

[0038] Furthermore, as the holding portion 140 is moved backward by the link mechanism 130, the portion of the cable 160 that was separated from above the cable guide 150 is placed on the cable guide 150 in order from the forward direction of the forward / backward direction (positive direction in the X-axis direction).

[0039] 2 and other drawings, the cable fixing device 151 of the cable guide 150 may be configured to fix the cable 160 at the base of the loop by making a part of the cable 160 form a loop. As the looped cable 160 moves further away from the holding part 140 side, it again faces backward in the advancing and retreating direction of the holding part 140 (negative direction in the X-axis direction), and then proceeds to the link mechanism support part 120 and is connected to a required circuit inside the base part 110.

[0040] In order to realize the above-described movement of cable 160, it is preferable that cable guide 150 is disposed as follows: The end of cable guide 150 on the retreating side of holding part 140 in the advancing / retreating direction (negative direction in the X-axis direction) is located further toward the retreating side of holding part 140 in the advancing / retreating direction (negative direction in the X-axis direction) than holding part 140 in the retracted position.

[0041] This is to enable the cable guide 150 to guide the cable 160 even when the holding part 140 is at the most retreated position. That is, the folding back position F of the cable 160 when the holding part 140 is at the retreated position is located further on the retreating direction side (negative direction in the X-axis direction) of the advancing and retreating direction of the holding part 140 than the holding part 140.

[0042] The end of the cable guide 150 on the forward direction side (positive direction in the X-axis direction) of the advancing / retracting direction of the holding part 140 is located on the forward direction side (positive direction in the X-axis direction) of the advancing / retracting direction of the holding part 140 from the rotation axis of the first arm 131 rotatably connected to the link mechanism support part 120. In other words, the position of the cable fixing tool 151 of the cable guide 150 is located further on the forward direction side (positive direction in the X-axis direction) of the advancing / retracting direction of the holding part 140 from the rotation axis. This is so that the cable 160 is fixed to the cable guide 150 at a portion placed on the cable guide 150 even when the holding part 140 is moved forward to the maximum. Also, this is so that the cable 160 can be sufficiently sent out from the link mechanism support part 120 side to the holding part 140 even when the holding part 140 is moved forward to the maximum.

[0043] The cable guide 150 is disposed in a position sandwiched between the pair of second arms 132 in the vertical direction (Z axis direction) at a height at which the second arms 132 of the link mechanism 130 are disposed. In other words, the cable guide 150 is disposed in a position (position on the positive side of the Z axis direction) higher than a height at which the first arms 131 of the link mechanism 130 are disposed in the vertical direction (Z axis direction) without interfering with the pair of first arms 131.

[0044] Therefore, at the location where the second arms 132 are rotatably connected to the holding portion main body 141 of the holding portion 140, a gap through which the cable guide 150 passes is provided between the pair of second arms 132. In other words, the pair of second arms 132 are rotatably connected to the holding portion main body 141 of the holding portion 140 with a gap provided for arranging the cable guide 150.

[0045] In other words, the cable 160 drawn out so as to extend in the negative X-axis direction from the holding part 140 above the holding part main body 141 is folded back in the positive X-axis direction, and then disposed at a position sandwiched between the pair of second arms 132 at a height at which the second arms 132 of the link mechanism 130 are disposed. Also, at a location where the second arms 132 are rotatably connected to the holding part main body 141 of the holding part 140, a gap through which the cable 160 passes is provided between the pair of second arms 132.

[0046] As described above, the cable guide 150 is fixed onto the link mechanism support part 120 by the three connection members 121 erected on the link mechanism support part 120. Of the three connection members 121, two are connected to the cable guide 150 near both ends of the cable guide 150. In addition, the remaining one is connected to the cable guide 150 near the center of the cable guide 150.

[0047] In order for the cable 160 to move with the forward and backward movement of the holding unit 140 without interfering with each part of the link mechanism 130, the cable 160 is arranged in a vertical plane in the center of the link mechanism 130 along the forward and backward direction of the holding unit 140. In the link mechanism 130, the connection mechanism between the first arm 131 and the link mechanism support unit 120 needs to be configured more robustly than the connection mechanism between the holding unit main body 141 and the second arm 132 in order to support the load of the link mechanism 130. Note that these connection mechanisms are rotatable connection mechanisms and include, for example, a gear box. Therefore, it is difficult to make the connection mechanism between the first arm 131 and the link mechanism support unit 120 compact compared to the connection mechanism between the holding unit main body 141 and the second arm 132.

[0048] Therefore, in the carriage main part 100 of this embodiment, the cable 160 and the cable guide 150 are configured to pass through the gap between the pair of second arms 132 at the connection part between the holding part main body 141 and the second arms 132 at the center of the link mechanism 130. On the other hand, if an attempt is made to secure a gap between the first arms 131 at the connection part between the first arms 131 and the link mechanism support part 120 to pass the cable 160 and the cable guide 150 through, a problem occurs in that the load-bearing capacity of the link mechanism 130 decreases.

[0049] <Main carriage part: cable structure> As described above, cable 160 performs a bending motion within a vertical plane in the center of link mechanism 130 along the advancing and retreating direction of holding part 140. For this reason, it is desirable that cable 160 is configured so as not to deviate from the vertical plane. Fig. 7 is a cross-sectional view showing an example of the configuration of cable 160 for this purpose.

[0050] 7, cable 160 is configured horizontally by connecting a plurality of unit cables 161 to each other so that they are aligned in a row. That is, cable 160 has a horizontally elongated cross-sectional structure in which a plurality of unit cables 161 are arranged in parallel. The unit cables 161 can be connected to each other by, for example, welding.

[0051] This configuration makes it difficult for the cable 160 to deform in the Y direction. In this way, in the carriage main part 100, the direction in which the unit cables 161 are lined up is the horizontal direction (Y direction), and the cable 160 is prevented from bending in the Y direction and deviating from the vertical plane.

[0052] 7 also shows an example of a detailed structure of unit cable 161. Unit cable 161 incorporates multiple twisted pair wires 162. Multiple twisted pair wires 162 are wound with tape 164 together with filler material 163, and are further covered with a sheath made of polyvinyl chloride (PVC) or the like.

[0053] <Action and effect> Conventionally, the wiring of the cable from the link mechanism support part to the holding part has been done so as to connect the inside of each arm constituting the link mechanism. However, this wiring work is extremely time-consuming and has been an issue in terms of efficiency in manufacturing the conveying device.

[0054] Furthermore, in order to pass a cable through the rotatable connection part of the link mechanism, it was necessary to provide a hollow shaft inside along the rotation axis. However, providing such a structure at the connection part poses the problem that it is difficult to achieve both compactness and load resistance of the link mechanism. However, according to this embodiment, a shaft for passing a cable through the connection part of the link mechanism is not necessary. According to this embodiment, a conveying device that can solve these problems is realized.

[0055] 〔summary〕 A conveying device according to aspect 1 of the present disclosure comprises a base, a link mechanism support part provided on the base, a holding part for holding an object to be conveyed, and a link mechanism for moving the holding part horizontally back and forth relative to the link mechanism support part, the link mechanism having a pair of multi-joint arms each connecting the link mechanism support part and the holding part, and a cable fixed to the holding part and the link mechanism support part, the cable extending from a portion fixed to the holding part in a retreating direction in the advance / retract direction of the holding part, and then folding back in a forward direction in the advance / retract direction and fixed to the link mechanism support part, and configured such that as the holding part advances together with the portion of the cable fixed to the holding part, the folding position of the cable between the portion fixed to the holding part and the portion fixed to the link mechanism support part also advances.

[0056] A conveying device according to aspect 2 of the present disclosure, in accordance with the above-mentioned aspect 1, further comprises a cable guide fixed to the link mechanism support portion and extending in the forward / backward direction, on which at least a portion of the cable is placed so as to be capable of being moved toward or away from the cable guide, and is configured such that as the holding portion advances together with the portion of the cable fixed to the holding portion, the portion of the cable placed on the cable guide moves away from the cable guide in order from the backward side in the forward / backward direction.

[0057] A conveying device according to aspect 3 of the present disclosure is similar to aspect 2 above, in that the cable is fixed to the cable guide at a portion that remains on the cable guide even when the holding portion is moved all the way forward.

[0058] A conveying device according to aspect 4 of the present disclosure is the same as aspect 2 or 3 above, in which the multi-joint arm has a first arm rotatably connected to the link mechanism support portion and a second arm rotatably connected to the first arm and the holding portion, respectively, and the cable guide is positioned at a position sandwiched between the pair of second arms.

[0059] A fifth aspect of the present disclosure relates to a conveying device according to the fourth aspect, wherein the pair of second arms are rotatably connected to the holding portion with a gap provided for positioning the cable guide.

[0060] A conveying device according to a sixth aspect of the present disclosure is any one of the first to fifth aspects, wherein the cable has a cross-sectionally elongated structure in which a plurality of unit cables are arranged in parallel.

[0061] A conveying device according to aspect 7 of the present disclosure, in any of aspects 1 to 6 above, further includes a mast, a lifting mechanism that raises and lowers the base along the mast, and a running carriage on which the mast is erected.

[0062] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. [Explanation of symbols]

[0063] 1 Stacker crane (transport device) 10 Mast 11 Lifting guide rail 14 Upper frame 15 Lifting motor unit 20 Travelling cart 21 Truck frame 22 wheels 25 Travel motor unit 30 Carriage 40 Control Box 100 Carriage main part (transport device) 110 Base 120 Link mechanism support part 121 Connection member 130 Link mechanism 130A, 130B Articulated Arm 131 First Arm 132 Second Arm 140 Holding part 141 Holding unit body 142 Connection parts 144 Cable Fixture 145 Fork 150 Cable guide 151 Cable Fixture 160 Cable 161 Unit Cable 162 twisted pair wire 163 Filling material 164 Tape P Goods (transported items) F Cable fold position

Claims

1. A base and A link mechanism support portion provided on the base portion; A holding unit that holds the object to be transported; a link mechanism for horizontally moving the holding portion forward and backward relative to the link mechanism support portion, the link mechanism including a pair of articulated arms each connecting the link mechanism support portion and the holding portion; a cable fixed to the holding portion and the link mechanism support portion, the cable extends from a portion fixed to the holding portion in a retreating direction of the advance / retract direction of the holding portion, and then turns back in a forward direction of the advance / retract direction and is fixed to the link mechanism support portion; A conveying device configured so that as the holding portion advances together with the portion of the cable fixed to the holding portion, a fold position of the cable between the portion fixed to the holding portion and the portion fixed to the link mechanism support portion also advances.

2. a cable guide fixed to the link mechanism support portion and extending in the forward / backward direction, on which at least a portion of the cable is placed so as to be movable toward or away from the cable; 2. The conveying device according to claim 1, wherein as the holding portion advances together with the portion of the cable fixed to the holding portion, the portion of the cable placed on the cable guide moves away from the cable guide in order from the retreating side of the advance / retract direction.

3. 3. The conveying device according to claim 2, wherein the cable is fixed to the cable guide at a portion that remains on the cable guide even when the holding portion is moved forward to the maximum extent.

4. the articulated arm includes a first arm rotatably connected to the link mechanism support portion, and a second arm rotatably connected to the first arm and the holding portion, The conveying device according to claim 2 , wherein the cable guide is disposed at a position sandwiched between the pair of second arms.

5. The conveying device according to claim 4 , wherein the pair of second arms are rotatably connected to the holding portion with a gap provided therebetween for arranging the cable guide.

6. The conveying device according to claim 1 , wherein the cable has a cross-sectional elongated structure in which a plurality of unit cables are arranged in parallel.

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