Conveyance device

Abstract

To realize downsizing of a conveyance device having three mechanisms consisting of a travel mechanism, a lifting mechanism, and a turning mechanism.SOLUTION: A conveyance device (1) comprises: a carriage (4) equipped with a lifting-turning base (2); a travel motor (10) for making the carriage (4) travel; a lifting motor (20) for lifting the lifting-turning base (2); and a turning motor (30) for turning the lifting-turning base (2). The travel motor (10) and the lifting motor (20) whose rotation axes are horizontally in the same direction are arranged in such a manner that the rotation axes are arranged side by side in an axial direction thereof. The turning motor (30) whose rotation axis of the turning motor (30) is located different from a turning axis (8) of the lifting-turning base (2) is arranged in such a manner that the travel motor (10) is not overlapped with the lifting motor (20).SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] In a factory or the like, for example, a traveling cart having a lifting mechanism for lifting and lowering an article held therein and a turning mechanism for turning the article held therein may be used as a transport device for delivering an article between a station or a rack. Patent Document 1 discloses a transport robot equipped with a traveling motor, a turning motor, and a lifting motor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-109256 A Summary of the Invention [Problem to be solved by the invention]

[0004] It is desirable to reduce the size of such a transport device. One aspect of the present invention aims to realize a reduction in the size of a transport device having three mechanisms, namely, a traveling mechanism, a lifting mechanism, and a turning mechanism. [Means for solving the problem]

[0005] In order to solve the above problems, a conveying device according to one embodiment of the present invention comprises a lifting and swivel platform for lifting, lowering, and rotating an object to be conveyed placed on it, a cart on which the lifting and swivel platform is mounted, a running motor that provides driving force to run the cart, a lifting motor that provides driving force to move the lifting and swivel platform in a lifting and lowering direction relative to the cart, and a swivel motor that provides driving force to rotate the lifting and swivel platform relative to the cart, wherein the running motor and the lifting motor have their respective rotation axes horizontal and in the same direction, and are arranged so that their respective rotation axes are aligned in the axial direction in a planar view, and the swivel motor has its rotation axis located at a different position from the swivel axis of the lifting and swivel platform, and is arranged so that the running motor and the lifting motor do not overlap in a planar view. Effect of the Invention

[0006] According to one aspect of the present invention, it is possible to reduce the size of a transport device having three mechanisms, namely, a travel mechanism, a lift mechanism, and a turning mechanism. [Brief description of the drawings]

[0007] [Figure 1] 1 is a perspective view showing a conveying device according to an embodiment of the present invention; [Diagram 2] FIG. 4 is a perspective view of the conveying device as seen from another angle. [Diagram 3] FIG. 4 is a perspective view of the conveying device as seen from still another angle. [Figure 4] FIG. [Diagram 5] FIG. 2 is a diagram showing a state in which the lifting and rotating platform in FIG. 1 is lowered. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] [Embodiment] An embodiment of the present invention will be described in detail below. However, the following description is an example of the conveying device 1 according to the present invention, and the technical scope of the present invention is not limited to the illustrated example. In the following description, the running direction D1 of the conveying device 1 in FIG. 1 is the X-axis direction, the height direction of the conveying device 1 is the Z-axis direction, and the width direction of the conveying device 1 perpendicular to the X-axis and Z-axis directions is the Y-axis direction.

[0009] [Outline of the conveying device] FIG. 1 is a perspective view showing a transport device 1 according to an embodiment of the present invention. FIG. 1 shows a state in which a lifting and swivel table 2 is raised. As shown in FIG. 1, the transport device 1 is equipped with a travel motor 10, a lifting motor 20, and a swivel motor 30 to perform three functions of travel, lifting, and swivel. The transport device 1 is ingeniously designed to achieve a compact size by (1) arranging the travel motor 10 and the lifting motor 20 so that their respective rotation axes 11 and 21 are horizontal and in the same direction, and are aligned in the axial direction D2 in a plan view, and (2) arranging the swivel motor 30 so that the rotation axis 31 of the swivel motor 30 is in a position different from the swivel axis 8 of the lifting and swivel table 2, and so that the travel motor 10 and the lifting motor 20 do not overlap in a plan view.

[0010] (Transportation device) Figures 2 and 3 are perspective views of the transport device 1 as viewed from an angle different from that of Figure 1. Figure 4 is a top view of the transport device 1, with the lifting and rotating table 2 removed from the transport device 1. Figure 5 is a view showing the state in which the lifting and rotating table 2 has been lowered in Figure 1. The transport device 1 will be described with reference to Figures 1 to 5.

[0011] The conveying device 1 places an object to be conveyed on the lifting and rotating platform 2, runs a dolly 4, and moves the object, for example, between the inside and outside of a stocker (not shown) having a storage section for storing the object, by raising and lowering and rotating the lifting and rotating platform 2. The object to be conveyed is used for storing semiconductors, liquid crystal panels, etc., and is, for example, a FOUP (Front Opening Unified Pod).

[0012] 1 and 2, the transport device 1 includes a lifting and swivel platform 2, a cart 4, a travel motor 10, a travel drive circuit 12, a lifting and swivel motor 20, a lifting and swivel drive circuit 22, a swivel motor 30, a swivel drive circuit 32, and a guide unit 50 (see FIG. 4). The lifting and swivel platform 2 has an object to be transported placed on its upper surface 2a, and lifts and swivels the object placed thereon.

[0013] (Trolley) The carriage 4 is equipped with a lifting and rotating platform 2. Each component of the transport device 1 is supported in the vertical direction by a carriage support part 41. The carriage 4 travels by a traveling motor 10 within a moving path (not shown) formed in a groove shape along a traveling direction D1.

[0014] As shown in FIG. 3, the dolly 4 has a pair of front wheels 42 and a pair of rear wheels 43 on the underside of the dolly support part 41. The pair of front wheels 42 are arranged on the front side of the dolly support part 41 in the running direction D1, and the pair of rear wheels 43 are arranged on the rear side of the dolly support part 41 in the running direction D1. The rotation axes of the front wheels 42 and the rear wheels 43 are approximately parallel to the Y-axis direction. The front wheels 42 and the rear wheels 43 are in contact with the running surface of the moving path and support the conveying device 1 in the vertical direction. Note that the front wheels 42 and the rear wheels 43 are not driven by the traveling motor 10 and the traveling drive circuit 12, but rotate following the conveying device 1 traveling by a traveling toothed belt described later.

[0015] The dolly 4 has a pair of travel guide rollers 44, the axial direction of which is in the Z-axis direction, on the outer sides of the front wheel 42 and the rear wheel 43 on one side in the traveling direction D1 on the underside of the dolly support part 41. A travel guide rail (not shown) is laid along the traveling direction D1 in the movement path, and the pair of travel guide rollers 44 abut against the travel guide rail so as to sandwich it from the left and right.

[0016] (Traction motor) The traveling motor 10 provides driving force for traveling the bogie 4. The traveling motor 10 is driven by a traveling drive circuit 12. The traveling motor 10 is disposed on the bogie support part 41 so that the rotation shaft 11 is horizontal and perpendicular to the traveling direction D1, and parallel to the Y-axis direction. The traveling motor 10 is disposed so that the output shaft faces outward on the side where the traveling guide rollers 44 are installed with respect to the traveling direction D1.

[0017] As shown in Fig. 1, a toothed drive pulley 45a is provided on the output shaft of the traveling motor 10. A guide pulley 45b is provided on the front side of the toothed drive pulley 45a in the traveling direction D1 so that its rotation axis is approximately parallel to the toothed drive pulley 45a. A tension pulley 45c is provided on the rear side of the toothed drive pulley 45a in the traveling direction D1 so that its rotation axis is approximately parallel to the toothed drive pulley 45a. In addition, a toothed belt for traveling (not shown) is provided on the side surface of the moving path facing the toothed drive pulley 45a along the traveling direction D1, with both ends connected above and below the side surface.

[0018] The traveling drive circuit 12 drives the traveling motor 10 to rotate the toothed drive pulley 45a, thereby pulling the traveling toothed belt from the side to the conveyor device 1 side using the guide pulley 45b and the tension pulley 45c, and sending the traveling toothed belt from the conveyor device 1 side to the side. As a result, the cart 4 travels along the movement path while being guided by the guide rail by the traveling guide rollers 44.

[0019] (Lifting motor) The lift motor 20 provides a driving force for moving the lift swivel platform 2 in the lift direction relative to the cart 4. The lift motor 20 is driven by a lift drive circuit 22.

[0020] 1 and 2, the lift motor 20 has a cylindrical lift shaft 3 extending in the vertical direction (Z-axis direction). The lift swivel base 2 is installed on the upper end of the lift shaft 3 via a first support portion 5A (see FIG. 4) and a second support portion 5B (see FIG. 3 and FIG. 4).

[0021] The lift motor 20 is disposed on the carriage support part 41 so that the rotation shaft 21 is horizontal and perpendicular to the travel direction D1, and parallel to the Y-axis direction. The lift motor 20 converts the rotation of the output shaft, which is disposed horizontally, into the vertical upward movement of the lift shaft 3 or the vertical downward movement of the lift shaft 3. In other words, the lift motor 20 is driven, so that the lift shaft 3 moves up and down. Accordingly, the lift swivel table 2 also moves up and down.

[0022] The lift motor 20 and the lift shaft 3 are realized by a rack-and-pinion configuration. Specifically, for example, a series of teeth of the same shape are formed at equal intervals on the lift shaft 3 along the extension direction of the lift shaft 3, and a cylindrical gear that meshes with the teeth formed on the lift shaft 3 is attached to the output shaft of the lift motor 20. The lift motor 20 rotates the cylindrical gear while meshing it with the teeth of the lift shaft 3, so that the lift motor 20 converts the rotational motion of the lift motor 20 into the lifting motion of the lift shaft 3. The lift motor 20 can be, for example, a commercially available product known as a linear motor.

[0023] As shown in Fig. 5, when the lifting and swivel platform 2 is lowered, the lifting and swivel platform 3 protrudes from an opening 60 provided at a position corresponding to the lifting and swivel platform 3 of the cart support part 41 shown in Fig. 3. This makes it possible to extend the lifting distance of the lifting and swivel platform 2 while keeping the vertical size of the transport device 1 small.

[0024] 1 and 2, the traveling motor 10 and the lifting motor 20 are arranged such that their respective rotation shafts 11 and 21 are horizontal and in the same direction on the upper surface of the cart support part 41. Specifically, the traveling motor 10 and the lifting motor 20 are arranged such that their respective rotation shafts 11 and 21 are in the axial direction D2 (Y-axis direction). This makes it possible to reduce the height of the transport device 1 and prevent the center of gravity of the transport device 1 from becoming high, compared to a case in which the rotation shaft 21 of the lifting motor 20 is arranged in the vertical direction, for example.

[0025] The traveling motor 10 and the lifting motor 20 are arranged such that their respective rotation shafts 11 and 21 are aligned in the axial direction D2 in a plan view. Specifically, the traveling motor 10 is arranged such that the rotation shaft 11 of the traveling motor 10 is approximately parallel to the Y-axis direction on the side where the travel guide rollers 44 are installed with respect to the traveling direction D1. The lifting motor 20 is arranged to be aligned with the traveling motor 10 on the opposite side to the side where the travel guide rollers 44 are installed with respect to the traveling direction D1, so that the rotation shaft 21 of the lifting motor 20 approximately coincides with the axial direction D2 of the rotation shaft 11. The output shaft of the lifting motor 20 is arranged to face the traveling motor 10 side.

[0026] As a result, the traveling motor 10 and the lifting motor 20 do not overlap in the vertical direction, and the size of the conveying device 1 in the vertical direction can be reduced. The traveling motor 10 moves the entire cart 4 together with the object to be conveyed, and the lifting motor 20 lifts the lifting swivel base 2 together with the object to be conveyed. Therefore, depending on the weight of the object to be conveyed, each motor may require a large driving force. In that case, each motor becomes large as a component used in the cart 4, and the weight of each motor also becomes heavy. In contrast, since the traveling motor 10 and the lifting motor 20 are arranged as described above in the conveying device 1, even if the traveling motor 10 and the lifting motor 20 are large motors with large driving forces, they can be mounted compactly in the conveying device 1. In addition, since the lifting shaft 3 can be positioned in the center of the conveying device 1, the stability of the lifting swivel base 2 when it rises and falls is improved.

[0027] In addition, the axial direction of the rotating shaft 11 of the traveling motor 10 and the axial direction of the rotating shaft 21 of the lifting motor 20 are axial directions D2, which are perpendicular to the traveling direction D1 of the cart 4. As a result, by adjusting the arrangement positions of the traveling motor 10 and the lifting motor 20 with respect to the traveling direction D1, it becomes easier to maintain balance in the direction perpendicular to the traveling direction D1, and the traveling stability of the conveyance device 1 is improved.

[0028] The rotating shaft 11 of the traveling motor 10 and the rotating shaft 21 of the lifting motor 20 are disposed between the rotating shaft 42a of the front wheel 42 and the rotating shaft 43a of the rear wheel 43. By disposing the rotating shaft 11 of the traveling motor 10 and the rotating shaft 21 of the lifting motor 20 between the rotating shaft 42a of the front wheel 42 and the rotating shaft 43a of the rear wheel 43 in this way, the center of gravity of the cart 4 is stabilized, and stability is improved even during sudden acceleration and deceleration during travel.

[0029] As shown in Figures 1, 2, 4 and 5, the travel motor 10 and the lift motor 20 are disposed below the lift swivel platform 2 in a position overlapping the lift swivel platform 2 in a plan view. By disposing the travel motor 10 and the lift motor 20 below the lift swivel platform 2, space can be saved. In addition, gears (a drive gear 6 and a driven gear 7, described below) that transmit driving force from the swivel motor 30 to rotate the lift swivel platform 2 can be disposed between the lift swivel platform 2 and the travel motor 10 and the lift motor 20 to the swivel shaft 8 of the lift swivel platform 2. This allows the transport device 1 to be further miniaturized.

[0030] (Rotation motor) The swivel motor 30 provides a driving force for swiveling the lifting and swivel platform 2 relative to the cart 4. The swivel motor 30 is driven by a swivel drive circuit 32.

[0031] 4, the first support part 5A supporting the lifting swivel table 2 is an annular member and is installed at the upper end of the lifting shaft 3 around the lifting shaft 3. The second support part 5B is a substantially rectangular member and is installed around the first support part 5A around the first support part 5A.

[0032] A driven gear 7 (described later) is provided on the underside of the second support part 5B, and the lifting and swivel base 2 is provided on the upper surface of the second support part 5B. The first support part 5A and the second support part 5B are connected so as to be freely rotatable relative to each other. As a result, when the lifting shaft 3 moves up and down, the first support part 5A, the second support part 5B, and the lifting and swivel base 2 move up and down together as a unit, but when the driven gear 7 rotates, the first support part 5A does not rotate, and only the second support part 5B and the lifting and swivel base 2 rotate.

[0033] A drive gear 6 is attached to the output shaft of the swivel motor 30, and the drive gear 6 and the driven gear 7 are installed so that their outer circumferential surfaces mesh with each other. As a result, when the swivel motor 30 is driven, the driven gear 7 rotates via the drive gear 6, enabling the lifting and swivel platform 2 to rotate.

[0034] The swivel motor 30 rises and falls together with the drive gear 6, the driven gear 7, and the lifting and swivel base 2. Specifically, both ends of the swivel motor 30 in the Y-axis direction are connected to the third support part 5C, and the upper surface of the third support part 5C is connected to the lower surface of the second support part 5B. As a result, when the lifting motor 20 is driven and the lifting shaft 3 rises, the third support part 5C rises together with the second support part 5B, and the swivel motor 30 also rises accordingly. This allows the lifting and swivel base 2 to rotate regardless of the height at which the lifting and swivel base 2 is located.

[0035] The wiring connecting the swivel motor 30 and the swivel drive circuit 32 installed on the cart support part 41 is laid inside the cable carrier 9 that moves following the movement of the swivel motor 30. This makes it possible to protect the wiring even if the swivel motor 30 moves up and down together with the lifting and rotating table 2.

[0036] 1 and 4, the swivel motor 30 is disposed so as not to overlap with the travel motor 10 and the lift motor 20 in a plan view. Specifically, the swivel motor 30 is disposed in a position spaced apart in the travel direction D1 from the line on which the travel motor 10 and the lift motor 20 are aligned in a plan view. Also, the swivel motor 30 is disposed so that the rotation shaft 31 of the swivel motor 30 is in a position different from the rotation shaft 8 of the lift swivel base 2 and is parallel to the rotation shaft 8 of the lift swivel base 2.

[0037] By having the rotation shaft 31 of the swivel motor 30 in a position different from the rotation shaft 8 of the lifting and swivel table 2, it is possible to arrange the swivel motor 30 so that it does not overlap with the travel motor 10 and the lifting and swivel motor 20 in a plan view. This makes it possible to reduce the size of the transport device 1 in the vertical direction. Also, since the swivel motor 30 is arranged so that the rotation shaft 31 of the swivel motor 30 is parallel to the rotation shaft 8 of the lifting and swivel table 2, the driving force of the swivel motor 30 can be efficiently transmitted to the lifting and swivel table 2.

[0038] (Drive circuit) 1, the traveling drive circuit 12, the lifting drive circuit 22, and the turning drive circuit 32 are arranged in this order from the front side in the traveling direction D1 to the rear side in the traveling direction D1 on the upper surface of the carriage support part 41. This makes it possible to shorten the wiring distance compared to the case where each drive circuit is arranged outside the conveyance device 1.

[0039] In addition, the traveling drive circuit 12, the lifting drive circuit 22, and the turning drive circuit 32 are arranged on the opposite side of the line on which the traveling motor 10 and the lifting motor 20 are aligned from the side on which the turning motor 30 is arranged in a plan view. Specifically, the turning motor 30 is arranged on the front side in the traveling direction D1 of the line on which the traveling motor 10 and the lifting motor 20 are aligned, and each drive circuit is arranged on the rear side in the traveling direction D1. This provides a good balance between one side (the front side in the traveling direction D1) and the opposite side (the rear side in the traveling direction D1) in the axial direction D2 of the rotation shafts 11 and 21 of the traveling motor 10 and the lifting motor 20, and stabilizes the running performance.

[0040] (Guide section) The guide portion 50 guides the elevation and lowering of the lifting and swivel platform 2. As shown in Fig. 4, the guide portion 50 is a pair, and one guide portion 50, the swivel motor 30, and the other guide portion 50 are arranged side by side in a plan view.

[0041] By using two sets of guide parts 50 instead of one set, the thickness of the guide parts 50 can be made thinner. This allows the swivel motor 30 to be placed between the two sets of guide parts, thereby shortening the distance between the swivel shaft 8 of the lifting and swivel base 2 and the rotation shaft 31 of the swivel motor 30 (see FIG. 1). In addition, since the guide parts 50 can be installed near the lifting and swivel base 2 lifting and swivel shaft 3, the guide parts 50 can support the lifting and swivel shaft 3.

[0042] The guide unit 50 has a guide rail 51 and a block 52. The guide rail 51 is installed in the vertical direction (Z-axis direction), and the third support portion 5C is installed on the block 52 that engages with the guide rail 51. As a result, when the third support portion 5C moves up and down, the third support portion 5C is guided by the guide unit 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 and the lifting shaft 3 moves up, the third support portion 5C guided by the guide unit 50 together with the second support portion 5B also moves up. Therefore, the lifting swivel table 2 is also guided by the guide unit 50 via the third support portion 5C and the second support portion 5B.

[0043] 〔summary〕 A conveying device (1) according to a first aspect of the present invention includes a lifting and rotating platform (2) for lifting and rotating an object to be conveyed that is placed on the platform, a carriage (4) on which the lifting and rotating platform (2) is mounted, a traveling motor (10) that provides a driving force for moving the carriage (4), a lifting motor (20) that provides a driving force for moving the lifting and rotating platform (2) in a lifting and lowering direction relative to the carriage (4), and a rotating motor (30) that provides a driving force for rotating the lifting and rotating platform (2) relative to the carriage (4). ), the traveling motor (10) and the lifting motor (20) have their respective rotation axes horizontal and in the same direction, and are arranged so that their respective rotation axes are aligned in an axial direction (D2) in a planar view, and the rotation motor (30) has a rotation axis (31) located at a position different from the rotation axis (8) of the lifting swivel base (2), and is arranged so that the traveling motor (10) and the lifting motor (20) do not overlap in a planar view.

[0044] According to the above configuration, the rotation shaft of the travel motor and the rotation shaft of the lift motor are horizontal and in the same direction, and each motor is arranged to be aligned in the axial direction of each motor, so that the travel motor and the lift motor do not overlap in the vertical direction, and the size in the vertical direction can be reduced. As a result, even if the travel motor and the lift motor are large motors with large driving force, they can be mounted compactly on the transport device. In addition, compared to, for example, a case in which the rotation shaft of the lift motor is arranged vertically, the height can be reduced, and the center of gravity of the transport device can be prevented from becoming high.

[0045] Furthermore, the swivel motor is disposed in a position where the rotation axis of the swivel motor is different from the rotation axis of the lifting / lowering platform and where the traveling motor and the lifting motor do not overlap in a plan view. This allows the swivel motor to be kept vertically small because the traveling motor and the lifting motor do not overlap in the vertical direction.

[0046] As a result, it is possible to reduce the size of a transport device having three mechanisms, namely, a travel mechanism, a lift mechanism, and a rotation mechanism.

[0047] The conveying device (1) according to aspect 2 of the present invention is the same as in aspect 1 above, and further includes a traveling drive circuit (12) that drives the traveling motor (10), a lifting drive circuit (22) that drives the lifting motor (20), and a rotation drive circuit (32) that drives the rotation motor (30), and the traveling drive circuit (12), the lifting drive circuit (22) and the rotation drive circuit (32) may be arranged, in a plan view, on the side opposite the side on which the rotation motor (30) is arranged with respect to the line on which the traveling motor (10) and the lifting motor (20) are aligned.

[0048] According to the above-mentioned configuration, the balance between one side and the other side in the axial direction of the rotation shafts of the travel motor and the lift motor is improved, and the travelling performance is stabilized.

[0049] The conveying device (1) according to a third aspect of the present invention is the conveying device (1) according to the first or second aspect, further comprising a pair of guide parts (50) for guiding the elevation and lowering of the lifting and lowering swivel base (2), and in a plan view, one of the guide parts (50), the swivel motor (30), and the other guide part (50) are arranged side by side. According to the above configuration, by using two sets of guide parts instead of one set, the thickness of the guide parts can be reduced. This allows the rotation motor to be placed between the two sets of guide parts, making it possible to shorten the distance between the rotation axis of the lifting and rotating table and the rotation axis of the rotation motor. In addition, since the guide parts can be installed near the lifting and rotating axis of the lifting and rotating table, the lifting and rotating axis can be supported by the guide parts.

[0050] The conveying device (1) according to aspect 4 of the present invention, in any one of aspects 1 to 3 above, may be arranged so that the rotation axis of the rotation motor (30) is parallel to the rotation axis (8) of the lifting and lowering table (2).

[0051] According to the above configuration, the swivel motor is positioned so that the rotation axis of the swivel motor is parallel to the rotation axis of the lifting and lowering platform, so that the driving force of the swivel motor can be efficiently transmitted to the lifting and lowering platform.

[0052] The conveying device (1) according to aspect 5 of the present invention may be such that, in any one of aspects 1 to 4 above, 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 perpendicular to the traveling direction (D1) of the cart (4), and the turning motor (30) is arranged in a position spaced apart in the traveling direction (D1) from a line on which the traveling motor (10) and the lifting motor (20) are aligned in a plan view.

[0053] According to the above configuration, the axial direction of the rotation shaft of the travel motor and the axial direction of the rotation shaft of the lift motor are perpendicular to the traveling direction of the carriage. Therefore, by adjusting the position of the travel motor and the lift motor relative to the traveling direction, it becomes easier to maintain balance in the direction perpendicular to the traveling direction. This improves the traveling stability of the conveyor.

[0054] In addition, by positioning the rotation motor at a position separated in the travel direction from the line on which the travel motor and the lifting motor are aligned, the rotation motor, the travel motor, and the lifting motor can be positioned so that they do not overlap in the vertical direction, thereby reducing the size in the vertical direction.

[0055] A conveying device (1) according to a sixth aspect of the present invention is any one of the first to fifth aspects above, wherein the cart (4) has a pair of front wheels (42) and a pair of rear wheels (43), and the rotating shaft (11) of the traveling motor (10) and the rotating shaft (21) of the lifting motor (20) may be disposed between the rotating shaft (42a) of the front wheels (42) and the rotating shaft (43a) of the rear wheels (43).

[0056] According to the above configuration, since the running motor and the lifting motor are located between the rotation shaft of the front wheels and the rotation shaft of the rear wheels, the center of gravity of the cart is stabilized, and running stability is improved.

[0057] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. The technical scope of the present invention also includes embodiments obtained by appropriately combining the technical means disclosed in the different embodiments. Furthermore, new technical features can be formed by combining the technical means disclosed in the respective embodiments. [Explanation of symbols]

[0058] 1. Conveyor device 2 Lifting and rotating platform 4 Carts 8 Swivel Axis 10. Driving motor 11 Rotating shaft of the driving motor 12 Driving circuit 20 Lifting motor 21 Rotating shaft of lift motor 22 Lifting drive circuit 30 Swing motor 31 Rotating shaft of the rotation motor 32 Swing drive circuit 42 Front wheel 42a Front wheel axle 43 Rear wheel 43a Rear wheel pivot 50 Guide part

Claims

1. a lifting and rotating platform for lifting and rotating the placed object to be transported; A carriage carrying the lifting and rotating platform; A driving motor that provides a driving force for driving the carriage; a lifting motor that provides a driving force for moving the lifting swivel platform in a lifting direction relative to the carriage; a rotation motor that provides a driving force for rotating the lifting and rotating platform relative to the carriage, The travel motor and the lift motor are Each rotation axis is horizontal and in the same direction, In a plan view, the rotation shafts are arranged to be aligned in the axial direction, The turning motor is The rotation shaft of the rotation motor is located at a position different from the rotation shaft of the lifting and rotating table, In a plan view, the traveling motor and the lifting motor are arranged so as not to overlap each other. Conveying device.

2. The vehicle further includes a drive circuit for driving the drive motor, a drive circuit for lifting the lift motor, and a drive circuit for turning the vehicle, The conveying device according to claim 1, wherein the traveling drive circuit, the lifting drive circuit, and the turning drive circuit are arranged, in a plan view, on the opposite side of the line on which the traveling motor and the lifting motor are aligned from the side on which the turning motor is arranged.

3. A pair of guide parts for guiding the elevation and lowering of the lifting and lowering platform are provided, The conveying device according to claim 1 , wherein, in a plan view, one of the guide sections, the turning motor, and the other of the guide sections are arranged side by side.

4. The transport device according to claim 1 , wherein the swivel motor is disposed so that a rotation axis of the swivel motor is parallel to the swivel axis of the lifting and lowering platform.

5. an axial direction of a rotation shaft of the travel motor and an axial direction of a rotation shaft of the lift motor are perpendicular to a traveling direction of the carriage, The transport device according to claim 1 , wherein the rotation motor is disposed at a position separated in the travel direction from a line on which the travel motor and the lifting motor are aligned in a plan view.

6. The bogie has a pair of front wheels and a pair of rear wheels, 6. The transport device according to claim 5, wherein the rotation shaft of the travel motor and the rotation shaft of the lift motor are disposed between the rotation shaft of the front wheels and the rotation shaft of the rear wheels.

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