Conveyance device

Abstract

To provide a conveyance device which can properly transfer an object to be conveyed with a simple structure.SOLUTION: A conveyance device can transfer an object W to be conveyed between a plurality of rollers 31 and a roller conveyor 3 including a support frame. A holding device 2 includes: a support member; a restriction member 21 for restricting the movement of the object W to be conveyed in a conveyance direction X; and an opening / closing mechanism for performing an opening / closing operation of the restriction member 21. The opening / closing mechanism includes a movable member 81 and an interlock mechanism 83. The support member includes an insertion part 13 inserted in a roller gap 6 in a state where the holding device 2 is in a first position T1, and arranged below a conveyance surface 30 of the roller conveyor 3. According to the descending of the holding device 2 from the second position to the first position T1, the movable member 81 is pressed upward by the support frame and comes into a pressed state, and according to the ascending of the holding device 2 from the first position T1 to the second position, the pressing from the support frame is released and the movable member comes into a pressing release state.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a conveying device.

Background Art

[0002] For example, Japanese Patent Application Laid-Open No. 2006-298549 (Patent Document 1) discloses a technique related to a conveying device. Hereinafter, the reference numerals shown in parentheses in the description of the background art are those of Patent Document 1.

[0003] The conveying device of Patent Document 1 includes a holding device (roller conveyor type transfer machine 120) that holds and transfers an object to be conveyed (workpiece W). The holding device includes a conveyor that supports the object to be conveyed and transfers the object to be conveyed to a loading station (300), a regulating member (stopper member 150), and an opening / closing mechanism that opens and closes the regulating member between an open state and a closed state. The regulating member restricts the movement of the object to be conveyed on the conveyor in the conveying direction in the closed state. Therefore, when the holding device holds the object to be conveyed, the regulating member is in the closed state so that the object to be conveyed does not fall from the conveyor. Further, when transferring the object to be conveyed between the conveyor and the loading station (300), the regulating member is set to the open state.

[0004] In the above conveying device, an actuator such as an electric motor is not used as the opening / closing mechanism. Specifically, the opening / closing mechanism includes a movable member (lever member 130) that interlocks with the regulating member. Further, a contact member for pushing up the movable member is provided at a position adjacent to the loading station (300). When the holding device descends and is arranged at a height corresponding to the loading station (300), the movable member contacts the contact member and is pushed up. As a result, the regulating member changes from the closed state to the open state. Further, when the holding device ascends, the pushed-up movable member returns to its original position due to its own weight, so the regulating member changes from the open state to the closed state.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] In the conveying device of Patent Document 1, by adopting a configuration that does not use an actuator such as an electric motor for the opening / closing mechanism, the weight of the conveying vehicle is reduced. On the other hand, in the above-mentioned conveying device, when there are a plurality of locations for transferring the object to be conveyed, it is necessary to provide a plurality of abutting members for pushing up the movable member, and there is a problem that the facilities on the loading station side for transferring the object to be conveyed tend to become complicated and large-sized.

[0007] Therefore, a conveying device that can appropriately transfer the object to be conveyed with a simple configuration is desired.

Means for Solving the Problems

[0008] The conveying device according to the present disclosure is a conveying device configured to be able to transfer an object to be conveyed between a roller conveyor including a plurality of rollers and a support frame that supports the plurality of rollers, comprising a moving body that moves, a holding device that holds the object to be conveyed, and a lifting device that lifts and lowers the holding device while suspending the holding device with respect to the moving body, with the direction in which the object to be conveyed is conveyed by the roller conveyor being defined as the conveying direction, and each of the gaps sandwiched between a pair of the rollers adjacent to each other in the conveying direction in the roller conveyor being defined as a roller gap, the holding device includes a support member that supports the object to be conveyed, a restricting member that restricts the movement of the held object to be conveyed in the conveying direction, and an opening / closing mechanism that performs the opening / closing operation of the restricting member, the lifting device is capable of lifting and lowering the holding device to a first position and a second position in the vertical direction, the first position is a position where the object to be conveyed is carried into and out of the holding device by the roller conveyor. The second position is above the first position and is a position where the support member supports and releases the object to be conveyed. The restricting member is in an open state when the holding device is in the first position and in a closed state when the holding device is in the second position. In the open state, it does not overlap with the movement locus of the object to be conveyed by the roller conveyor when viewed in the conveying direction along the conveying direction, and in the closed state, it overlaps with the movement locus of the object to be conveyed when viewed in the conveying direction. The opening / closing mechanism includes a movable member that changes its state between a pressed state pressed by the support frame and a pressure-release state in which the pressure from the support frame is released according to the lifting of the holding device, and a linkage mechanism that interlocks the movable member and the restricting member such that when the movable member changes from the pressed state to the pressure-release state, the restricting member changes from the open state to the closed state, and when the movable member changes from the pressure-release state to the pressed state, the restricting member changes from the closed state to the open state. The support member includes an insertion portion that is inserted into the roller gap and disposed below the conveying surface of the roller conveyor when the holding device is in the first position. The movable member is attached to the insertion portion, and is configured to be pressed upward by the support frame to enter the pressed state as the holding device descends from the second position to the first position, and to have the pressure from the support frame released to enter the pressure-release state as the holding device ascends from the first position to the second position.

[0009] According to this configuration, by using the pressing force from the support frame acting on the movable member due to the descent of the holding device, the restricting member can be changed from the closed state to the open state. Also, by using the fact that the pressing force from the support frame no longer acts on the movable member due to the ascent of the holding device, the restricting member can be changed from the open state to the closed state. Therefore, since there is no need to provide a dedicated actuator for opening and closing the restricting member, it is easy to simplify the holding device and reduce costs. Also, according to this configuration, since the movable member is attached to the insertion portion, an area where the movable member and the support frame come into contact can be arranged below the conveyance surface of the roller conveyor. In this way, by using the existing support frame, a mechanism for pressing the movable member can be easily provided. Further, compared with the case where a mechanism for pressing the movable member outward with respect to the roller conveyor is configured in a top-down view, it is easier to reduce the size of the holding device and the roller conveyor. As described above, according to this configuration, the object to be conveyed can be appropriately transferred with a simple configuration.

[0010] Further features and advantages of the conveying device will become apparent from the following description of exemplary and non-limiting embodiments with reference to the drawings.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Embodiments for Carrying Out the Invention

[0012] An example of applying the embodiment of the transfer device 1 to the transfer facility 10 will be described with reference to the drawings. As shown in FIG. 1, the transfer facility 10 includes a transfer device 1 and a roller conveyor 3. The transfer device 1 is configured to be able to transfer a transfer object W between itself and a roller conveyor 3 including a plurality of rollers 31 and a support frame 33 that supports the plurality of rollers 31. In the present embodiment, the transfer device 1 moves along the travel path 7 to transfer the transfer object W. In this example, the transfer object W is a single crystal ingot for manufacturing a semiconductor material (silicon wafer), but it is not limited to this. Hereinafter, the direction in which the transfer object W is transferred by the roller conveyor 3 is defined as the transfer direction X. One side of the transfer direction X is defined as the first transfer side X1, and the other side of the transfer direction X is defined as the second transfer side X2. Also, the direction orthogonal to the transfer direction X in a top-down view is defined as the width direction Y.

[0013] Each of the plurality of rollers 31 is arranged along the width direction Y and side by side in the transfer direction X. Each roller 31 rotates around an axis along the width direction Y. The support frame 33 includes side wall portions 35 that support the rotation shafts of the plurality of rollers 31 and a bottom wall portion 34 below the plurality of rollers 31. Here, the side wall portions 35 are supported by the bottom wall portion 34 from below. Also, the side wall portions 35 are provided in a pair divided in the width direction Y. The plurality of rollers 31 are supported by the pair of side wall portions 35. A space is formed between the bottom wall portion 34 and the plurality of rollers 31 in the vertical direction. As shown in FIG. 3, each of the gaps sandwiched between a pair of rollers 31 adjacent to each other in the transfer direction X in the roller conveyor 3 is defined as a roller gap 6.

[0014] As shown in FIGS. 1 and 2, the conveying device 1 includes a moving body 5 that moves, a holding device 2 that holds the object W to be conveyed, and a lifting device 4 that raises and lowers the holding device 2 while suspending the holding device 2 with respect to the moving body 5. The moving body 5 is guided by a traveling rail R provided along a traveling path 7 and travels. Here, the traveling path 7 is arranged along the ceiling, and the traveling rail R is suspended and supported from the ceiling. That is, the conveying device 1 is a ceiling conveying vehicle here, but is not limited thereto. The conveying device 1 may be an article conveying vehicle that travels on the ground, or may be a traveling carriage of a stacker crane or the like. Further, the conveying device 1 may be a rail-guided vehicle, or may be a non-rail-guided vehicle such as an AGV (Automated Guided Vehicle) or an AMR (Autonomous Mobile Robot). In the illustrated example, the traveling rail R is arranged along the width direction Y, and the roller conveyor 3 is arranged along the conveying direction X, but both the traveling rail R and the roller conveyor 3 may be arranged along the same direction.

[0015] The moving body 5 includes traveling wheels 51 (here, a plurality of traveling wheels 51) that roll on the upper surface of the traveling rail R. Further, the moving body 5 includes a traveling motor M1 that rotationally drives at least one of the plurality of traveling wheels 51. By the rotational drive by the traveling motor M1, the moving body 5 can obtain a propulsive force for traveling on the traveling rail R. Further, the moving body 5 includes a pair of guide wheels that freely rotate about an axis along the vertical direction. Each of the pair of guide wheels rolls on the inner side surface of the corresponding traveling rail R.

[0016] The lifting device 4 is supported by the moving body 5. The lifting device 4 is disposed below the traveling rail R (below the moving body 5 with the traveling rail R therebetween). The lifting device 4 suspends and supports the holding device 2 and raises and lowers it in the vertical direction. As shown in FIGS. 3 and 4, the lifting device 4 can raise and lower the holding device 2 between a first position T1 and a second position T2 in the vertical direction. Also, as shown in FIGS. 1 and 2, the lifting device 4 can support the holding device 2 at a storage position T3. That is, the lifting device 4 can raise and lower the holding device 2 between the storage position T3, the first position T1, and the second position T2. The storage position T3 is the position where the holding device 2 is disposed while the moving body 5 is traveling. As shown in FIGS. 1 and 3, the first position T1 is the position where the transfer object W is carried into and out of the holding device 2 by the roller conveyor 3. Also, as shown in FIG. 4, the second position T2 is above the first position T1 and is the position where the transfer object W is supported and released from support by the support member 12. Here, the first position T1 is the position where the holding device 2 descends the most. Also, the second position T2 is the position where the height of the support surface of the transfer object W by the holding device 2 becomes the same as the height of the transfer surface 30 formed by the plurality of rollers 31. The lifting device 4 includes a rotating body (for example, a drum), a wound member (for example, a belt) wound around the rotating body and having the holding device 2 connected to its tip, and a lifting motor M2 (FIG. 2) that rotates the rotating body to drive the wound member (specifically, winds or unwinds it). The lifting device 4 raises and lowers the holding device 2 by rotating the rotating body by driving the lifting motor M2.

[0017] The transfer device 1 includes a storage unit 9. Here, the storage unit 9 includes a storage case 91 that stores the holding device 2 at the storage position T3, the transfer object W held by the holding device 2, and the lifting device 4. The storage case 91 is formed so as to cover these from both outer sides and above in the width direction Y (FIG. 1). At the storage position T3, the holding device 2 and the transfer object W held by the holding device 2 are stored in the storage unit 9.

[0018] As shown in FIGS. 1 to 5, the holding device 2 includes a support member 12 that supports the object W to be conveyed, a restricting member 21 that restricts the movement of the object W to be conveyed in the conveyance direction X during holding, and an opening / closing mechanism 8 that performs the opening / closing operation of the restricting member 21. The support member 12 supports the object W to be conveyed from below. A part of the support member 12 is configured to be inserted into the roller gap 6 in a state where the holding device 2 is in the first position T1 and the second position T2. Here, the support member 12 is connected to the lifting device 4.

[0019] The support member 12 includes a main body portion 14 connected to the lifting device 4, a first support portion 15 provided so as to extend downward from the main body portion 14, and a second support portion 16 that is spaced apart from the first support portion 15 on the second side X2 in the conveyance direction and is provided so as to extend downward from the main body portion 14. The main body portion 14 is a plate-like member formed in a rectangular shape along the conveyance direction X and the width direction Y in a vertical view. The main body portion 14 is fixed to the tip of the wound member of the lifting device 4. The first support portion 15 and the second support portion 16 are supported by the main body portion 14 from above. Further, the first support portion 15 and the second support portion 16 cooperate to support the object W to be conveyed. Here, the first support portion 15 supports a portion of the object W on the first side X1 in the conveyance direction rather than the central portion in the conveyance direction X. The second support portion 16 supports a portion of the object W on the second side X2 in the conveyance direction rather than the central portion in the conveyance direction X.

[0020] The first support portion 15 includes a first contact portion 15a that contacts the object to be conveyed W from below when supporting the object to be conveyed W, and a first connecting portion 15b that connects the first contact portion 15a and the main body portion 14. The first connecting portion 15b is provided in a pair divided in the width direction Y. The first contact portion 15a is a member along the width direction Y, and is arranged so as to connect the lower ends of the pair of first connecting portions 15b to each other. The second support portion 16 includes a second contact portion 16a that contacts the object to be conveyed W from below when supporting the object to be conveyed W, and a second connecting portion 16b that connects the second contact portion 16a and the main body portion 14. The second connecting portion 16b is also provided in a pair divided in the width direction Y. The second contact portion 16a is a member along the width direction Y, and is arranged so as to connect the lower ends of the pair of second connecting portions 16b to each other.

[0021] In the illustrated example, the first contact portion 15a and the second contact portion 16a are arranged so that their vertical positions are the same. The first contact portion 15a and the second contact portion 16a are provided with a space therebetween in the conveyance direction X, and support the object to be conveyed W from below. The pair of first connecting portions 15b are provided so as to extend downward from the end portion on the first side X1 in the conveyance direction of the main body portion 14. The pair of second connecting portions 16b are provided so as to extend downward from the end portion on the second side X2 in the conveyance direction of the main body portion 14. The interval between the pair of first connecting portions 15b and the interval between the pair of second connecting portions 16b are each set to be larger than the dimension of the object to be conveyed W in the width direction Y. Note that the holding device 2 is generally in the shape of a rectangular parallelepiped, but is not limited thereto. In the state where the holding device 2 is in the first position T1, the main body portion 14 is arranged above the movement locus of the object to be conveyed W by the roller conveyor 3 when viewed in the conveyance direction X, and the first contact portion 15a and the second contact portion 16a are arranged below the conveyance surface 30. Also, each of the pair of first connecting portions 15b and each of the pair of second connecting portions 16b are arranged outside the movement locus of the object to be conveyed W (outside in the width direction Y). In the state where the holding device 2 is in the second position T2, the upper surfaces of the first contact portion 15a and the second contact portion 16a are in the same vertical position as the conveyance surface 30 of the roller conveyor 3, whereby they contact the object to be conveyed W on the conveyance surface 30 from below.

[0022] The support member 12 includes an insertion portion 13 that is inserted into the roller gap 6 and disposed below the conveying surface 30 of the roller conveyor 3 in a state where the holding device 2 is in the first position T1. Here, in a state where the holding device 2 is in the first position T1, the portions of the first support portion 15 and the second support portion 16 that are disposed below the conveying surface 30 and excluding the first contact portion 15a and the second contact portion 16a are the insertion portion 13. Here, the first support portion 15 includes a first insertion portion 13a as the insertion portion 13. Further, the second support portion 16 includes a second insertion portion 13b as the insertion portion 13. The first insertion portion 13a is disposed at each of the pair of first connecting portions 15b. The second insertion portion 13b is disposed at each of the pair of second connecting portions 16b. Naturally, the portions of the first connecting portion 15b disposed in the roller gap 6 are also included in the first insertion portion 13a, and the portions of the second connecting portion 16b disposed in the roller gap 6 are also included in the second insertion portion 13b. As shown in FIG. 5, the insertion portion 13 has a hollow structure. In this example, each of the first insertion portion 13a and the second insertion portion 13b has a hollow structure. Here, the entire pair of first connecting portions 15b including the first insertion portion 13a has a hollow structure. Similarly, the entire pair of second connecting portions 16b including the second insertion portion 13b has a hollow structure. In the following, the portion of the support member 12 that is disposed above the conveying surface 30 of the roller conveyor 3 in a state where the holding device 2 is in the first position T1 will be described as the upper disposed portion 17 (FIG. 3). Here, the upper disposed portion 17 is the portion above the conveying surface 30 of the first connecting portion 15b and the second connecting portion 16b at the first position T1, and the main body portion 14.

[0023] As shown in FIG. 1, the restricting member 21 is arranged to cover at least a part of the surface of the object W to be conveyed held by the holding device 2 facing the conveying direction X. Further, the restricting member 21 is attached to the upper arranging portion 17 and is configured to perform an opening and closing operation above the conveying surface 30 of the roller conveyor 3. Here, the restricting member 21 is attached to the main body portion 14. As shown in FIGS. 3 and 4, the restricting member 21 is in an open state when the holding device 2 is in the first position T1, and is in a closed state when the holding device 2 is in the second position T2. In the open state, it does not overlap with the movement locus of the object W to be conveyed by the roller conveyor 3 in the view of the conveying direction X along the conveying direction X, and in the closed state, it overlaps with the movement locus of the object W to be conveyed in the view of the conveying direction X. In the present embodiment, the holding device 2 includes, as the restricting member 21, a first restricting member 23 that restricts the movement of the object W to be conveyed toward the first side X1 in the conveying direction, and a second restricting member 24 that restricts the movement of the object W to be conveyed toward the second side X2 in the conveying direction. The first restricting member 23 in the closed state is arranged to cover at least a part of the object W to be conveyed from the outside on the first side X1 in the conveying direction in a state where the object W to be conveyed is supported by the supporting member 12 (here, the first contact portion 15a and the second contact portion 16a). The second restricting member 24 in the closed state is arranged to cover at least a part of the object W to be conveyed from the outside on the second side X2 in the conveying direction in a state where the object W to be conveyed is supported by the supporting member 12. Thereby, the movement of the object W to be conveyed to both sides in the conveying direction X is restricted. The first restricting member 23 and the second restricting member 24 are arranged above the accommodation space of the object W to be conveyed in the supporting member 12 in the open state (FIG. 3). Thereby, both outer sides in the conveying direction X with respect to the object W to be conveyed are opened in the supporting member 12. That is, at the first position T1, the first restricting member 23 and the second restricting member 24 are configured not to overlap with the movement locus of the object W to be conveyed in the view of the conveying direction X. Therefore, at the first position T1, the roller conveyor 3 can carry in and out the object W to be conveyed with respect to the holding device 2 (supporting member 12).

[0024] In the illustrated example, the first restricting member 23 and the second restricting member 24 have the same structure as each other. The first restricting member 23 includes a first restricting main body portion 23a and a first restricting connecting portion 23b. The first restricting main body portion 23a is arranged to face the object W to be conveyed supported by the supporting member 12 from the first side X1 in the conveying direction in the closed state. The first restricting connecting portion 23b is a member that connects the first restricting main body portion 23a and the opening / closing mechanism 8. The second restricting member 24 includes a second restricting main body portion 24a and a second restricting connecting portion 24b. The second restricting main body portion 24a is arranged to face the object W to be conveyed supported by the supporting member 12 from the second side X2 in the conveying direction in the closed state. The second restricting connecting portion 24b is a member that connects the second restricting main body portion 24a and the opening / closing mechanism 8. The first restricting main body portion 23a and the second restricting main body portion 24a are plate-like members along the vertical direction and the width direction Y in the closed state. On the other hand, when changing from the closed state to the open state, the first restricting main body portion 23a and the second restricting main body portion 24a pivot around the rotation axis along the horizontal direction (width direction Y) by the opening / closing mechanism 8 and are arranged above the accommodation space of the object W in the supporting member 12.

[0025] As shown in FIG. 5, the opening / closing mechanism 8 includes a movable member 81 that changes its state between a pressed state pressed by the supporting frame 33 according to the elevation of the holding device 2 and a pressure release state in which the pressing from the supporting frame 33 is released, and an interlocking mechanism 83 that interlocks the movable member 81 and the restricting member 21 such that when the movable member 81 changes from the pressed state to the pressure release state, the restricting member 21 changes from the open state to the closed state, and when the movable member 81 changes from the pressure release state to the pressed state, the restricting member 21 changes from the closed state to the open state. In the present embodiment, the opening / closing mechanism 8 includes, as the movable member 81, a first movable member 81a and a second movable member 81b. Further, the opening / closing mechanism 8 includes, as the interlocking mechanism 83, a first interlocking mechanism 83a that interlocks the first movable member 81a and the first restricting member 23, and a second interlocking mechanism 83b that interlocks the second movable member 81b and the second restricting member 24.

[0026] The movable member 81 is attached to the insertion portion 13. As the holding device 2 descends from the second position T2 to the first position T1, it is pressed upward by the support frame 33 to be in a pressed state. As the holding device 2 ascends from the first position T1 to the second position T2, the pressing force from the support frame 33 is released to be in a state where the pressing is released. Further, the movable member 81 is supported so as to be movable in the vertical direction with respect to the insertion portion 13, and at least a part thereof is disposed so as to protrude downward from the insertion portion 13, and is configured to be pressed into a pressed state by approaching from above the upper-facing surface 36 of the support frame 33. Here, the first movable member 81a is disposed so as to protrude downward from the lower end of the first insertion portion 13a. Similarly, the second movable member 81b is disposed so as to protrude downward from the lower end of the second insertion portion 13b. Here, a pair of first movable members 81a are provided so as to protrude downward from the lower ends of the respective first connecting portions 15b of the pair. A pair of second movable members 81b are provided so as to protrude downward from the lower ends of the respective second connecting portions 16b of the pair. As shown in FIG. 3, the first movable member 81a and the second movable member 81b are in contact with the upper-facing surface 36 of the bottom wall portion 34 of the roller conveyor 3 in a state where the holding device 2 is in the first position T1. At this time, a part of the first movable member 81a is pushed into the inside of the first insertion portion 13a (inside the first connecting portion 15b) by the pressing force from the bottom wall portion 34 (the pressing force due to the reaction force of the force with which the first insertion portion 13a presses the bottom wall portion 34 through the first movable member 81a). Similarly, a part of the second movable member 81b is also pushed into the inside of the second insertion portion 13b (inside the second connecting portion 16b) by the pressing force from the bottom wall portion 34. In this way, the first movable member 81a and the second movable member 81b are in a pressed state. Then, when the interlocking mechanism 83 (the first interlocking mechanism 83a, the second interlocking mechanism 83b) operates, each of the first restricting member 23 and the second restricting member 24 changes from a closed state to an open state. In the present embodiment, the first movable member 81a and the second movable member 81b are always in a closed state when the vertical position of the holding device 2 is at a position other than the first position T1.

[0027] The first interlocking mechanism 83a is provided in a pair corresponding to the pair of first connecting portions 15b. Similarly, the second interlocking mechanism 83b is provided in a pair corresponding to the pair of second connecting portions 16b. Since the structures of the first interlocking mechanism 83a and the second interlocking mechanism 83b are common to each other, the configuration of the first interlocking mechanism 83a will be described below, and the description of the configuration of the second interlocking mechanism 83b will be omitted.

[0028] As shown in FIG. 5, at least a part of the interlocking mechanism 83 is disposed inside the insertion portion 13. In this example, the first interlocking mechanism 83a is disposed inside the first connecting portion 15b including the first insertion portion 13a. The first interlocking mechanism 83a includes a shaft 85, a rack gear 86, and a pinion gear 87. The shaft 85 is disposed along the vertical direction. A rack gear 86 is provided at the upper end of the shaft 85. In the illustrated example, a biasing member 88 for biasing the shaft 85 downward with respect to the first connecting portion 15b is provided. Also, a first movable member 81a is attached to the lower end of the shaft 85. The pinion gear 87 is attached to the first restricting connection portion 23b. Also, the pinion gear 87 is disposed so as to mesh with the rack gear 86. Then, as shown in FIG. 3, when the first connecting portion 15b descends and the first movable member 81a abuts against the bottom wall portion 34 at the first position T1, a part of the first movable member 81a is pushed into the inside of the first connecting portion 15b (inside the first insertion portion 13a) by the pressing force from the bottom wall portion 34 (in a pressed state). As a result, the shaft 85 and the rack gear 86 rise, so that the pinion gear 87 rotates, and in conjunction therewith, the first restricting connection portion 23b pivots (here, pivots around an axis along the width direction Y). Thereby, the first restricting main body portion 23a changes from the closed state to the open state (FIGS. 3 and 5). Also, when the first connecting portion 15b at the first position T1 rises, due to the torque acting on the pinion gear 87 by the self-weight of the first restricting member 23, the self-weight of the shaft 85 itself, and the biasing force of the biasing member 88, the first movable member 81a, a part of which had been pushed into the inside of the first connecting portion 15b, is pushed out of the first connecting portion 15b and descends (in a state where the pressing is released). Then, as the shaft 85 descends, the pinion gear 87 rotates, and in conjunction therewith, the first restricting connection portion 23b pivots, so that the first restricting main body portion 23a changes from the open state to the closed state. Thus, in this example, a rack and pinion is used as the interlocking mechanism 83, but the present invention is not limited thereto, and for example, a cam mechanism or the like may be used. Also, as the configuration of the opening / closing mechanism 8 changes, the configuration of the restricting member 21 can be appropriately changed as well.

[0029] As shown in FIG. 6, the conveying device 1 further includes a control device H. The control device H is configured to be communicable with a host controller C that controls the moving body 5 and the lifting device 4 and manages the entire conveying facility 10. The control device H and the host controller C include, for example, a processor such as a microcomputer and peripheral circuits such as a memory. And each function is realized by the cooperation of these hardware and a program executed on a processor such as a computer. In the present embodiment, since an electric actuator is not used in the holding device 2, the control device H is configured not to control the holding device 2.

[0030] Here, the control for transferring the object to be conveyed W from the conveying device 1 to the roller conveyor 3 will be described. The control device H causes the moving body 5 to travel to a position corresponding to the transfer target location (here, a location set on the conveying surface 30 of the roller conveyor 3) in accordance with the conveyance command received from the upper controller C. Thereafter, the control device H controls the lifting device 4 to lower the holding device 2 holding the object to be conveyed W from the storage position T3 toward the first position T1. As the holding device 2 descends, the first connecting portion 15b, the second connecting portion 16b, the first contact portion 15a, and the second contact portion 16a are inserted into the roller gap 6 directly below. Thereafter, when the holding device 2 reaches the second position T2, the object to be conveyed W supported by the first contact portion 15a and the second contact portion 16a is transferred onto the conveying surface 30 of the roller conveyor 3. That is, the object to be conveyed W is supported by the conveying surface 30. The control device H continues to lower the holding device 2. Thereafter, when the holding device 2 reaches the first position T1, as described above, the first movable member 81a is pushed into the inside of the first insertion portion 13a (the first connecting portion 15b), and the second movable member 81b is pushed into the inside of the second insertion portion 13b (the second connecting portion 16b). As a result, each of the first restricting member 23 and the second restricting member 24 changes from the closed state to the open state. Thereafter, the upper controller C controls the roller conveyor 3 to convey the object to be conveyed W on the conveying surface 30 in the conveying direction X (here, from the second conveying direction side X2 to the first conveying direction side X1). The object to be conveyed W passes through the space between the pair of first connecting portions 15b and moves to the downstream side (the first conveying direction side X1) in the conveying direction X. Note that the control device H can grasp the vertical position of the holding device 2 by including a distance sensor, an optical sensor, or the like.

[0031] When transferring and conveying the object to be conveyed W from the roller conveyor 3 to the holding device 2, the control device H controls the lifting device 4 and the moving body 5 so as to operate in the reverse order to the above. In this case, the object to be conveyed W on the conveying surface 30 is lifted up by the holding device 2 at the second position T2. First, the control device H controls the lifting device 4 to raise the holding device 2 at the first position T1. Then, a part of the first movable member 81a is pushed out to the outside of the first insertion portion 13a (the first connecting portion 15b) by its own weight and is in a pressure release state, and a part of the second movable member 81b is pushed out to the outside of the second insertion portion 13b (the second connecting portion 16b) and is in a pressure release state. As a result, each of the first restricting member 23 and the second restricting member 24 changes from an open state to a closed state. After that, when the holding device 2 reaches the second position T2, the object to be conveyed W on the conveying surface 30 is transferred to the first contact portion 15a and the second contact portion 16a. That is, the object to be conveyed W is supported by the first contact portion 15a and the second contact portion 16a. When the control device H continues to raise the holding device 2 to the storage position T3, it runs the moving body 5 according to the conveyance command from the upper controller C.

[0032] 〔Other Embodiments〕 Next, other embodiments of the conveying facility will be described.

[0033] (1) In the above embodiment, the holding device 2 has been described by taking as an example the configuration including the first regulating member 23 and the second regulating member 24 which are arranged separately in the conveying direction X, but the present invention is not limited thereto. The holding device 2 may include only one of the first regulating member 23 and the second regulating member 24. Further, when the direction of loading and unloading the object to be conveyed W from the roller conveyor 3 to the holding device 2 is fixed to either side of the conveying direction X, only one of the first regulating member 23 and the second regulating member 24 may change between the open state and the closed state, and the other may be fixed in the closed state. Further, in the above embodiment, the object to be conveyed W has been described by taking as an example the configuration in which it is supported by both the first contact portion 15a and the second contact portion 16a in the holding device 2, but the present invention is not limited thereto. For example, in the holding device 2, the support member 12 may include only the first contact portion 15a, and the object to be conveyed W may be configured to be supported only by the first contact portion 15a. Thus, the configuration of the holding device 2 can be appropriately changed according to the shape and size of the object to be conveyed W, the configuration of the roller conveyor 3, and the like.

[0034] (2) In the above-described embodiment, the holding device 2 has been described by taking as an example a configuration including a support member 12 that supports the object W to be conveyed, a restricting member 21 that restricts the movement of the object W to be conveyed in the conveyance direction X during holding, and an opening / closing mechanism 8 that performs the opening / closing operation of the restricting member 21, but it is not limited thereto. The holding device 2 may further include a locking mechanism 40 that restricts the state change of the restricting member 21 from the closed state to the open state. An example of such is shown in FIG. 7. As shown in FIG. 7, the locking mechanism 40 includes an engaging member 47 provided on the restricting member 21, an engaged member 41 that engages with the engaging member 47, and a moving mechanism 43 that moves the engaged member 41 between an engaging position L1 and a disengaging position L2. The engaging member 47 is fixed to the side surface of the restricting member 21. In this example, the engaging member 47 is provided on each side surface (the surface facing the width direction Y) of the first restricting main body portion 23a and the second restricting main body portion 24a. The engaged member 41 is disposed at the disengaging position L2 when the restricting member 21 is in the open state. The engaged member 41 is disposed at the engaging position L1 when the restricting member 21 is in the closed state. The engaged member 41 engages with the engaging member 47 provided on the restricting member 21 in the closed state at the engaging position L1. In the illustrated example, the engaged member 41 engages with the engaging member 47 from below, but it may engage with the engaging member 47 from above. The engaged member 41 is configured to be rotatable around an axis along the width direction Y by the moving mechanism 43. In this example, the moving mechanism 43 is connected to the interlocking mechanism 83. The moving mechanism 43 preferably includes, as an example, a rack gear provided on the shaft 85, a plurality of pinion gears, and the like. In the illustrated example, at least a part of the moving mechanism 43 is accommodated in a box 46 provided on the first connecting portion 15b. The moving mechanism 43 rotates the engaged member 41 and moves it from the disengaging position L2 to the engaging position L1 in conjunction with the movable member 81 changing from the pressed state to the pressure released state. Here, the proximal end of the engaged member 41 is connected to the moving mechanism 43. In the illustrated example, a turning axis is formed at the proximal end of the engaged member 41. Also, at the disengaging position L2, the engaged member 41 is in a posture along the vertical direction, but it is not limited thereto.Thus, since the moving mechanism 43 is connected to the interlocking mechanism 83, it is not necessary to provide a driving device such as an electric motor for rotating the engaged member 41. Therefore, with a relatively simple configuration, it is possible to avoid the regulating member 21 in the closed state from accidentally changing to the open state, for example, during the conveyance of the object W to be conveyed. Note that the locking mechanism 40 may be provided with a driving device such as an electric motor. Further, the locking mechanism 40 may be an electromagnetic lock, and thereby regulate the state change of the regulating member 21 from the closed state to the open state. In this example, the locking mechanism 40 is provided corresponding to both the first regulating member 23 and the second regulating member 24, but is not limited thereto.

[0035] (3) In the above-described embodiment, the configuration in which at least a part of the interlocking mechanism 83 is disposed inside the insertion portion 13 has been described as an example, but is not limited thereto. For example, the entire interlocking mechanism 83 may be disposed outside the insertion portion 13. For example, by disposing the interlocking mechanism 83 adjacent to the inside in the width direction Y with respect to the insertion portion 13, the interlocking mechanism 83 can pass through the roller gap 6, and thereby an increase in the size of the holding device 2 can be suppressed.

[0036] (4) In the above-described embodiment, the regulating member 21 has been described as an example of a plate-like member (a plate-like member along the vertical direction and the width direction Y in the closed state) attached to the upper placement portion 17, but is not limited thereto. The regulating member 21 may be a member formed in a shape other than a plate shape as long as it can regulate the movement of the object W to be conveyed in the conveyance direction X in the closed state.

[0037] (5) In the above-described embodiment, the movable member 81 is supported so as to be movable in the vertical direction with respect to the insertion portion 13, and at least a part thereof is arranged so as to protrude downward from the insertion portion 13. However, the present invention is not limited to this. The movable member 81 may be supported so as to be movable in the horizontal direction (for example, the width direction Y which is the direction along the roller 31) with respect to the insertion portion 13. In that case, at the first position T1, it is preferable that a mechanism such as the roller conveyor 3 is provided so that the movable member 81 moves in the horizontal direction and a part of it is pushed into the insertion portion 13.

[0038] (6) Note that the configurations disclosed in the above-described embodiments can be applied in combination with the configurations disclosed in other embodiments as long as there is no contradiction. Regarding other configurations as well, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of the present disclosure.

[0039] 〔Summary of the above embodiment〕 Hereinafter, a summary of the conveying device described above will be described.

[0040] The conveying device according to the present disclosure is a conveying device configured to be able to transfer a conveyance object between a roller conveyor including a plurality of rollers and a support frame that supports the plurality of rollers. It includes a moving body that moves, a holding device that holds the conveyance object, and a lifting device that raises and lowers the holding device in a state where the holding device is suspended with respect to the moving body. The direction in which the conveyance object is conveyed by the roller conveyor is defined as the conveyance direction, and each of the gaps sandwiched between a pair of the rollers adjacent to each other in the conveyance direction in the roller conveyor is defined as a roller gap. The holding device includes a support member that supports the conveyance object, a restricting member that restricts the movement of the conveyance object in the conveyance direction during holding, and an opening / closing mechanism that performs the opening / closing operation of the restricting member. The lifting device can lift and lower the holding device between a first position and a second position in the vertical direction. The first position is a position where the transfer object is carried into and out of the holding device by the roller conveyor. The second position is above the first position and is a position where the support member supports and releases the support of the transfer object. The restricting member is in an open state when the holding device is in the first position and in a closed state when the holding device is in the second position. In the open state, it does not overlap with the movement trajectory of the transfer object by the roller conveyor when viewed in the transfer direction along the transfer direction, and in the closed state, it overlaps with the movement trajectory of the transfer object when viewed in the transfer direction. The opening and closing mechanism includes a movable member that changes its state between a pressed state pressed by the support frame and a pressure release state where the pressure from the support frame is released in response to the lifting and lowering of the holding device, and an interlocking mechanism that interlocks the movable member and the restricting member such that when the movable member changes from the pressed state to the pressure release state, the restricting member changes from the open state to the closed state, and when the movable member changes from the pressure release state to the pressed state, the restricting member changes from the closed state to the open state. The support member includes an insertion portion that is inserted into the roller gap and disposed below the conveying surface of the roller conveyor when the holding device is in the first position. The movable member is attached to the insertion portion and is configured to be pressed upward by the support frame to enter the pressed state in response to the holding device descending from the second position to the first position, and to have the pressure from the support frame released to enter the pressure release state in response to the holding device ascending from the first position to the second position.

[0041] According to this configuration, by utilizing the pressing force from the support frame acting on the movable member due to the lowering of the holding device, the regulating member can be changed from the closed state to the open state. Also, by utilizing the fact that the pressing force from the support frame no longer acts on the movable member due to the raising of the holding device, the regulating member can be changed from the open state to the closed state. Therefore, since there is no need to provide a dedicated actuator for opening and closing the regulating member, it is easy to simplify the holding device and reduce costs. Also according to this configuration, since the movable member is attached to the insertion portion, a region where the movable member and the support frame come into contact can be arranged below the conveying surface of the roller conveyor. In this way, by using the existing support frame, a mechanism for pressing the movable member can be easily provided. Also, compared to the case where a mechanism for pressing the movable member outward with respect to the roller conveyor is configured in the vertical view, it is easy to miniaturize the holding device and the roller conveyor. In this way, according to this configuration, the object to be conveyed can be appropriately transferred with a simple configuration.

[0042] Here, the insertion portion has a hollow structure, It is preferable that at least a part of the interlocking mechanism is arranged inside the insertion portion.

[0043] According to this configuration, since at least a part of the interlocking mechanism is arranged inside the insertion portion, the holding device can be miniaturized, and when the insertion portion is inserted into the roller gap, the connecting mechanism can be made less likely to interfere with the rollers of the roller conveyor.

[0044] Also, in the support member, a portion arranged above the conveying surface of the roller conveyor in a state where the holding device is in the first position is defined as an upper arrangement portion, It is preferable that the regulating member is attached to the upper arrangement portion and is configured to perform the opening and closing operation above the conveying surface of the roller conveyor.

[0045] According to this configuration, since the regulating member is attached to the support member above the conveying surface of the roller conveyor and is configured to perform an opening and closing operation above the conveying surface of the roller conveyor, there is no need to consider interference avoidance between the regulating member and the roller conveyor. Therefore, it is easy to increase the degree of freedom in the shape and arrangement of the regulating member.

[0046] Further, it is preferable that the movable member is supported so as to be movable in the vertical direction with respect to the insertion portion, and at least a part thereof is arranged so as to protrude downward from the insertion portion, and is configured to be pressed into the pressed state by approaching from above with respect to the surface facing upward in the support frame.

[0047] According to this configuration, since the movable member can be configured to be difficult to protrude laterally from the insertion portion, it is easy to keep the width of the insertion portion to which the movable member is attached small. Therefore, when the insertion portion is inserted into the roller gap, it is possible to prevent the insertion portion and the movable member from interfering with the rollers of the roller conveyor.

[0048] The conveying device according to the present disclosure only needs to be able to exhibit at least one of the above-described effects.

Explanation of reference numerals

[0049] 2: Holding device 3: Roller conveyor 4: Lifting device 5: Moving body 6: Roller gap 8: Opening and closing mechanism 12: Support member 13: Insertion portion 17: Upper arrangement portion 21: Regulating member 30: Conveying surface 31: Roller 33: Support frame 81: Movable member 83: Link mechanism T1: First position T2: Second position W: Object to be conveyed X: Conveying direction

Claims

1. A conveying device configured to be able to transfer an object to be conveyed between a roller conveyor having a plurality of rollers and a support frame that supports the plurality of rollers, comprising a moving body that moves, a holding device that holds the object to be conveyed, and a lifting device that raises and lowers the holding device while suspending the holding device with respect to the moving body, wherein the direction in which the object to be conveyed is conveyed by the roller conveyor is defined as the conveying direction, and each of the gaps sandwiched between a pair of the rollers adjacent to each other in the conveying direction in the roller conveyor is defined as a roller gap, the holding device includes a support member that supports the object to be conveyed, a restricting member that restricts movement of the object to be conveyed in the conveying direction during holding, and an opening / closing mechanism that performs an opening / closing operation of the restricting member, the lifting device is capable of raising and lowering the holding device to a first position and a second position in the vertical direction, the first position is a position where the object to be conveyed is loaded into and unloaded from the holding device by the roller conveyor, the second position is above the first position and is a position where the object to be conveyed is supported and the support is released by the support member, the restricting member is in an open state when the holding device is in the first position, and is in a closed state when the holding device is in the second position. In the open state, it does not overlap with the movement locus of the object to be conveyed by the roller conveyor when viewed in the conveying direction along the conveying direction, and in the closed state, it overlaps with the movement locus of the object to be conveyed when viewed in the conveying direction, the opening / closing mechanism includes a movable member that changes its state between a pressed state pressed by the support frame and a pressure release state in which the pressure from the support frame is released in accordance with the raising and lowering of the holding device, and an interlocking mechanism that interlocks the movable member and the restricting member such that the restricting member changes from the open state to the closed state in conjunction with the movable member changing from the pressed state to the pressure release state, and the restricting member changes from the closed state to the open state in conjunction with the movable member changing from the pressure release state to the pressed state, the support member includes an insertion portion that is inserted into the roller gap and is disposed below the conveying surface of the roller conveyor when the holding device is in the first position, The movable member is attached to the insertion portion, and is pressed upward by the support frame to be in the pressed state as the holding device descends from the second position to the first position, and the pressing from the support frame is released to be in the pressure release state as the holding device ascends from the first position to the second position. A conveying device configured as such.

2. The insertion portion has a hollow structure, The conveying device according to claim 1, wherein at least a part of the interlocking mechanism is disposed inside the insertion portion.

3. With respect to the support member, a portion disposed above the conveying surface of the roller conveyor in a state where the holding device is in the first position is defined as an upper disposed portion, The regulating member is attached to the upper disposed portion and is configured to perform the opening and closing operation above the conveying surface of the roller conveyor. The conveying device according to claim 1 or 2.

4. The movable member is supported so as to be movable in the vertical direction with respect to the insertion portion, and at least a part thereof is disposed so as to protrude downward from the insertion portion, and is pressed by approaching from above with respect to the upward-facing surface of the support frame to be in the pressed state. The conveying device according to claim 1 or 2.

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