Conveying device

Abstract

To provide a novel and improved conveying device. [Problem-solving] The transport device comprises a mast and a lifting body supported on the mast so as to be movable in the vertical direction and so as to be stopped at multiple positions in the vertical direction, and transports a container capable of holding an article between two locations separated in the vertical or horizontal direction, with the container being supported by the lifting body, wherein the lifting body comprises a transfer mechanism having a base, a mounting section provided on the base on which the container is placed, and an extendable section that moves the mounting section between an inner position on the base and an outer position off the base in a direction intersecting the vertical direction with respect to the base, and a restraining member fixed to the base at a predetermined distance above the base so as to be positioned above the container with a gap between it and the container when the mounting section on which the container is placed is in the inner position, and which prevents the container from detaching from the mounting section due to inertial force acting upward or diagonally upward.

Description

Technical Field

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

Background Art

[0002] Conventionally, there is known a conveying device having a mast extending in the vertical direction and a lifting body supported movably in the vertical direction on the mast, and carrying a storage container for articles on the lifting body and conveying it between two separated locations (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In this type of conveying device, when the conveying speed is increased for improving the conveying efficiency or the like, when the lifting body stops from a state of moving upward or obliquely upward, there is a risk that the storage container floats up from the lifting body due to inertial force and eventually detaches. In order to prevent such detachment, for example, if the lifting body is configured to hold or grip the storage container and move it, there is a risk that the configuration of the lifting body becomes complicated or the weight of the lifting body increases, and there is also a risk that it takes time and effort to release the holding or gripping when loading and unloading the storage container with respect to the lifting body.

[0005] Therefore, one of the problems of the present invention is to provide a novel and improved conveying device that can suppress the detachment of the storage container due to inertial force, for example, and can further reduce inconvenient events associated with the suppression of the detachment.

Means for Solving the Problems

[0006] The present invention provides a transport device comprising, for example, a mast that is movable laterally and extends vertically, and a lifting body supported on the mast so as to be movable vertically and so as to be able to stop at multiple positions in the vertical direction, for transporting a container capable of holding articles between two locations separated vertically or horizontally, with the lifting body supporting the container, wherein the lifting body comprises a transfer mechanism having a base, a mounting portion provided on the base on which the container is placed, and an extendable portion that moves the mounting portion between an inner position on the base and an outer position off the base in a direction intersecting the vertical direction with respect to the base, and a restraining member fixed to the base at a predetermined distance above the base so as to be positioned above the container with a gap between it and the container when the mounting portion on which the container is placed is in the inner position, and which prevents the container from detaching from the mounting portion due to an inertial force acting upward or diagonally upward. [Brief explanation of the drawing]

[0007] [Figure 1] Figure 1 is an exemplary and schematic side view of the conveying device of the embodiment. [Figure 2] Figure 2 is an exemplary and schematic perspective view of the container transported by the transport device of the embodiment. [Figure 3] Figure 3 is an illustrative and schematic perspective view of a different container from the one shown in Figure 2, which is transported by the transport device of the embodiment. [Figure 4] Figure 4 is an exemplary and schematic perspective view of a lifting body included in the conveying device of the embodiment. [Figure 5] Figure 5 is an illustrative and schematic side view showing the state in which the lifting body included in the conveying device of the embodiment supports the container shown in Figure 2. [Figure 6] Figure 6 is an exemplary and schematic perspective view of the restraining member included in the conveying device of the embodiment, viewed from diagonally below. [Figure 7] Figure 7 is an exemplary and schematic side view of a part of the lifting body included in the conveying device of the embodiment in the state shown in Figure 5. [Figure 8]Figure 8 is an illustrative and schematic side view showing the state in which the lifting body included in the transport device of the embodiment supports the container shown in Figure 3. [Figure 9] Figure 9 is a plan view of a part of the lifting body included in the conveying device of the embodiment, and is an exemplary and schematic plan view showing the state in which the extendable portion of the transfer mechanism extends in the X direction. [Figure 10] Figure 10 is a plan view of a part of the lifting body included in the conveying device of the embodiment, and is an exemplary and schematic plan view showing the state in which the retractable part of the transfer mechanism is retracted before or after the state shown in Figure 9. [Figure 11] Figure 11 is a plan view of a part of the lifting body included in the conveying device of the embodiment, and is an exemplary and schematic plan view showing the state in which the retractable part of the transfer mechanism is retracted before or after the state shown in Figure 12. [Figure 12] Figure 12 is a plan view of a part of the lifting body included in the conveying device of the embodiment, and is an exemplary and schematic plan view showing the state in which the extendable portion of the transfer mechanism extends in the opposite direction to the X direction. [Figure 13] Figure 13 is an illustrative and schematic plan view showing the rotational trajectory of the support column of the container shown in Figure 2, which is supported by the lifting body included in the conveying device of the embodiment. [Modes for carrying out the invention]

[0008] The following describes exemplary embodiments of the present invention. The configurations of the embodiments shown below, as well as the operations and results (effects) obtained from such configurations, are examples only. The present invention can also be realized by configurations other than those disclosed in the following embodiments. Furthermore, according to the present invention, it is possible to obtain at least one of the various effects (including derived effects) that can be obtained by the following configurations.

[0009] In this specification, ordinal numbers may be assigned for convenience to distinguish directions, parts, locations, components, mechanisms, members, etc. However, ordinal numbers do not necessarily indicate priority or order, nor do they specify a number.

[0010] In each figure, an arrow indicating a direction is drawn. The X direction, Y direction, and Z direction intersect each other and are substantially orthogonal. The Z direction is substantially along the vertically upward direction and is also referred to as the upward direction, and the opposite direction of the Z direction can also be referred to as the downward direction. Further, the X direction and Y direction intersect the vertical direction and are substantially along the horizontal direction. The X direction and Y direction can also be referred to as the lateral direction.

[0011] [Carrier device and storage shelf] FIG. 1 is a side view of the carrier device 10 and the storage shelf 300. The carrier device 10 includes a mast 200 extending in the vertical direction and a lifting body 100 supported by the mast 200 so as to be movable in the vertical direction. The lifting body 100 is configured to be able to stop at a plurality of positions in the Z direction. The lifting body 100 can move while supporting a storage container 20 that houses an article. The article housed in the storage container 20 is, for example, a semiconductor wafer, a circuit board, an electronic component, etc., but is not limited thereto. The storage container 20 can also be referred to as an object to be transported.

[0012] Further, at the lower part of the mast 200, a traveling carriage (not shown) that can move the mast 200 in the Y direction and the opposite direction of the Y direction is provided. The traveling carriage is configured to be able to stop at a plurality of positions in the Y direction.

[0013] The storage shelf 300 is provided adjacent to the carrier device 10 in the X direction and the opposite direction of the X direction. The storage shelf 300 includes a support column 301 extending in the Z direction and a plurality of shelf members 302 fixed to the support column 301. The shelf members 302 are provided at a predetermined interval in the Z direction and can each support the storage container 20. The space above the shelf member 302 becomes a space for housing the storage container 20.

[0014] The storage shelf 300 is arranged on both sides of the carrier device 10 in the X direction. Further, the storage shelf 300 also extends in the Y direction and includes a plurality of shelf members 302 arranged in a matrix when viewed in the Y direction.

[0015] In such a configuration, the lifting body 100 can be positioned at a position adjacent in the X direction or the opposite direction of the X direction with respect to each of the storage positions (for example, P21 and P22 in FIG. 1) of the shelf members 302 arranged in a matrix. The lifting body 100 has a transfer mechanism 120 (see FIG. 4 etc., described later) capable of transferring the storage container 20 to and from the shelf member 302. The lifting body 100 is positioned at a position facing each storage position (P21, P22), and can carry the storage container 20 into the storage position (P21, P22) or carry out the storage container 20 from the storage position (P21, P22) using the transfer mechanism 120.

[0016] [Article] The conveying device 10 can convey a plurality of types of storage containers 20. FIGS. 2 and 3 are perspective views of the storage containers 20 (20A, 20B) as objects to be conveyed by the conveying device 10. As shown in FIGS. 2 and 3, the storage container 20A and the storage container 20B are different in structure, shape, size, dimensions (for example, heights Ha, Hb in the Z direction), etc. In the present embodiment, the height Ha of the storage container 20A is higher than the height Hb of the storage container 20B. The storage containers 20A and 20B can also be referred to as carriers.

[0017] Both the storage containers 20A and 20B have a housing 21 and a top flange 22. The housing 21 has a substantially rectangular parallelepiped shape and houses a plurality of articles. In the housing 21, the articles can be housed in various forms. The top flange 22 has a plurality (for example, four) of support columns 22b protruding above the upper surface of the housing 21, and a substantially square plate-like portion 22a fixed to the upper ends of the support columns 22b and extending intersecting the Z direction. In the examples of FIGS. 2 and 3, the support columns 22b are arranged at positions that are the vertices of the corners of a virtual square intersecting the Z direction (see FIG. 13). In FIGS. 2 and 3, only two support columns 22b are shown. The top flange 22 is used for gripping or holding the storage container 20 in another conveying device, processing device, etc. different from the conveying device 10 of the present embodiment.

[0018] [Lifting body] Figure 4 is a perspective view of the lifting body 100. As shown in Figure 4, the lifting body 100 includes a base 110, a transfer mechanism 120, and a restraining structure 130.

[0019] The base 110 has a flattened, roughly rectangular shape and is movably fixed to the mast 200 (see Figure 1).

[0020] The transfer mechanism 120 includes a rotating part 121, an extendable arm 122, a mounting part 123, and a housing 124 (see Figure 5).

[0021] The rotating part 121 has a substantially disc shape and is housed in a substantially circular opening provided in the base 110. The rotating part 121 can rotate relative to the base 110 around a pivot axis Ax0 (see Figures 10, 11, etc.) that extends in the Z direction.

[0022] The telescopic arm 122 is interposed between the rotating part 121 and the mounting part 123 and is configured as a serial link arm having multiple arms that are rotatably connected to each other. The telescopic arm 122 is an example of a telescopic part.

[0023] The mounting section 123 is a roughly plate-shaped member connected to the tip of the telescopic arm 122, extending in a direction intersecting the Z direction, and is the part on which the storage container 20 is placed. The mounting section 123 has a plurality of protrusions 123a made of an elastic material such as elastomer. The storage container 20 is positioned relative to the mounting section 123 by being partially sandwiched by the plurality of protrusions 123a in directions intersecting the Z direction (X direction and Y direction).

[0024] The enclosure 124 houses, for example, a control device including a circuit board and electrical components, a drive mechanism including a motor and gears, and so on.

[0025] [Suppression structure] Figure 5 is a side view of the lifting body 100 with the container 20A of Figure 2 supported. As shown in Figures 4 and 5, the restraining structure 130 is fixed to the base 110. Also, as shown in Figure 5, a part of the restraining structure 130 partially covers the container 20 placed on the mounting section 123 from above, leaving a gap. As described above, the lifting body 100 moves between multiple positions (e.g., P11, P12). Here, when the lifting body 100 carrying the container 20 moves in a direction having an upward (Z direction) component, for example, upward or diagonally upward (for example, a direction inclined in the Y direction or the opposite direction of the Y direction with respect to the Z direction), an inertial force acts on the container 20 in the upward or diagonally upward direction when it stops at the destination position. This inertial force tends to increase with increasing speed, which in turn makes the container 20 more likely to lift upward or diagonally upward from the mounting section 123. In a configuration without any countermeasures, there is a risk that the container 20 may detach from the mounting section 123. In this respect, according to this embodiment, since the restraining structure 130 covers the container 20 from above with a gap, even if the container 20 lifts upward or diagonally upward from the mounting section 123, it will interfere with the restraining structure 130 (specifically the interference parts 135 and 136, described later), preventing the container 20 from moving upward from the position where it interferes with the restraining structure 130. As a result, the restraining structure 130 can prevent the container 20 from detaching from the mounting section 123.

[0026] Figure 6 is a perspective view of the upper part of the restraint structure 130, viewed from diagonally below. As shown in Figures 4 and 6, the restraint structure 130 has a column portion 131, a beam portion 132, a top plate portion 133, a connecting portion 134, and interference portions 135 and 136.

[0027] The restraint structure 130 has four columnar sections 131. Each columnar section 131 extends in the Z direction (upward) from near the four corners when the base 110 is viewed in the opposite direction to the Z direction. To avoid interference with the containment container 20 placed on the mounting section 123, the columnar sections 131 are positioned laterally (in a direction intersecting the Z direction) relative to the mounted containment container 20. The columnar section 131 is an example of an extension.

[0028] The restraint structure 130 has four beam sections 132. Each beam section 132 extends from the upper end of each column section 131 so as to approach a position that coincides with the approximate center of the base 110 when viewed in opposite directions in the Z direction. As shown in Figure 6, in this embodiment, as an example, two beam sections 132 are connected via an intermediate section to form a single, approximately U-shaped member, but the structure is not limited to this configuration. That is, the four beam sections 132 may each be independent members.

[0029] The top plate portion 133 is connected to the parts of the four beam portions 132 that are away from the column portions 131. The top plate portion 133 is positioned so as to roughly overlap with the approximate center of the base 110 when viewed in the opposite direction of the Z-axis.

[0030] The restraint structure 130 has four connecting parts 134. Each connecting part 134 extends downward from a position close to the periphery of the top plate portion 133.

[0031] Furthermore, the suppression structure 130 has interference parts 135 and 136. In this embodiment, the suppression structure 130 has four interference parts 135 and two interference parts 136.

[0032] Each of the interfering parts 135 protrudes downward from the surface (back surface, bottom surface) of the top plate 133 facing the opposite direction in the Z direction. The positions of the ends (lower ends) of the four interfering parts 135 in the Z direction are approximately the same.

[0033] The four interfering parts 135 include two interfering parts 135A and two interfering parts 135B. The two interfering parts 135A are spaced apart in the Y direction. The two interfering parts 135B are spaced apart in the Y direction, separated from the two interfering parts 135A in the opposite direction in the X direction. When viewed in the opposite direction in the Z direction, the four interfering parts 135 are arranged around a center line C that passes through the center (center of gravity) of the top plate part 133 and extends in the Z direction. The two interfering parts 135A are spaced apart in the X direction from the center line C, and the two interfering parts 135B are spaced apart in the opposite direction in the X direction from the center line C. Furthermore, each of the two interfering parts 135A includes an interfering part 135 that is separated in the Y direction with respect to the center line C, and an interfering part 135 that is separated in the opposite direction in the Y direction with respect to the center line C. Similarly, each of the two interfering parts 135B also includes an interfering part 135 that is separated in the Y direction with respect to the center line C, and an interfering part 135 that is separated in the opposite direction in the Y direction with respect to the center line C.

[0034] Each interfering portion 136 is fixed to the end (lower end) of the connecting portion 134 in the opposite direction in the Z-direction. At least a portion of each interfering portion 136 is separated from the interfering portion 135 in the opposite direction in the Z-direction. That is, the distance of the interfering portion 136 from the base 110 in the Z-direction is shorter than the distance of the interfering portion 135 from the base 110 in the upward direction.

[0035] The two interfering portions 136 include interfering portion 136A and interfering portion 136B. Interfering portions 136A and 136B are spaced apart in the Y direction. The positions of the ends of interfering portions 136A and 136B in the Z direction opposite to each other are approximately the same. Interfering portion 136A is spaced away from the center line C in the Y direction, and interfering portion 136B is spaced away from the center line C in the opposite Y direction. Furthermore, the two interfering portions 135A and 136B each extend approximately along the X direction between one end spaced away from the center line C in the X direction and the other end spaced away in the opposite X direction.

[0036] As described above, Figure 5 shows the state in which the containment container 20A of Figure 2 is placed on the mounting section 123. In the state shown in Figure 5, the lifting body 100 is configured such that at least a portion of both of the two interfering portions 135A (see Figure 6), which are spaced apart from each other in the Y direction, are positioned above a portion of the plate-shaped portion 22a of the containment container 20A with a small gap between them. With this configuration, in the state shown in Figure 5, even if an inertial force acts on the containment container 20A in an upward or diagonally upward direction when the lifting body 100 moves upward or diagonally upward and stops, the containment container 20A can only move a small distance away from the mounting section 123 until the plate-shaped portion 22a hits the interfering portion 135A. Therefore, the interfering portion 135A of the restraining structure 130 can prevent the containment container 20A from detaching from the mounting section 123, i.e., the lifting body 100. The interfering portion 135 is an example of a restraining member and is an example of a first restraining member.

[0037] Figure 7 is a partial side view of the lifting body 100, including the mounting portion 123 and the container 20A in the state shown in Figure 5. As shown in Figure 7, let h be the distance in the Z direction (vertical direction) between the bottom portion 21a, which is the lower end of the container 20A supported by the mounting portion 123, and the upper end 123a1 of the projection 123a. In this case, the lifting body 100 of this embodiment is configured such that the gap in the Z direction between the plate-like portion 22a and the interference portion 135A in the state shown in Figure 5, that is, the minimum gap in the Z direction between the container 20A and the restraining structure 130, is smaller than the distance h. With this configuration, when an inertial force acts on the container 20A in an upward or diagonally upward direction, even if the container 20A moves away from the mounting portion 123, it will interfere with the interference portion 135 before it can overcome the projection 123a, and therefore cannot overcome the projection 123a. Therefore, with this configuration, it is possible to more reliably prevent the containment container 20A from detaching from the mounting section 123, i.e., the lifting body 100.

[0038] Figure 8 is a side view of the lifting body 100 in the state in which it supports the container 20B shown in Figure 3. In the state shown in Figure 8, the lifting body 100 is configured such that parts of both of the two interference parts 136A and 136B (see Figure 6), which are separated in the Y direction, are positioned above a part of the plate-shaped part 22a of the container 20B with a small gap between them. With this configuration, in the state shown in Figure 8, even if an inertial force acts on the container 20B in an upward or diagonally upward direction when the lifting body 100 moves upward or diagonally upward and stops, the container 20B can only move a small distance away from the mounting part 123 until the plate-shaped part 22a hits the interference parts 136A and 136B. Therefore, the interference parts 136A and 136B of the restraining structure 130 can prevent the container 20B from detaching from the mounting part 123, i.e., the lifting body 100. The interfering portion 136 is an example of a suppression member and is an example of a second suppression member. In the state shown in Figure 8, the portions of the interfering portions 136A and 136B located on the X-direction side of the central portion in the X-direction are facing the plate-like portion 22a.

[0039] Furthermore, the lifting body 100 is configured such that the gap in the Z direction between the plate-shaped portion 22a and the interference portions 136A and 136B in the state shown in Figure 8, i.e., the minimum gap in the Z direction between the containment container 20B and the restraining structure 130, is smaller than the distance h shown in Figure 7. With this configuration, when an inertial force acts on the containment container 20B in an upward or diagonally upward direction, even if the containment container 20B moves away from the mounting portion 123, it will interfere with the interference portion 136 before it can overcome the projection 123a, and therefore cannot overcome the projection 123a. Thus, with this configuration, it is possible to more reliably prevent the containment container 20B from detaching from the mounting portion 123, i.e., the lifting body 100.

[0040] [Transfer mechanism] Figures 9-12 are plan views showing the operation of the transfer mechanism 120. Figure 9 shows the telescopic arm 122 extended in the X direction, Figure 10 shows the telescopic arm 122 retracted before or after extending in the X direction, Figure 11 shows the telescopic arm 122 retracted before or after extending in the X direction, and Figure 12 shows the telescopic arm 122 extended in the opposite direction to the X direction. The X direction is both the direction in which the storage container 20 is brought into the lifting body 100 and the direction in which it is unloaded from the lifting body 100.

[0041] As shown in Figures 9-12, the telescopic arm 122 has multiple arm sections 122A and 122B. The base end of arm section 122A is connected to the rotating section 121 so as to be rotatable relative to a rotating shaft Ax1 extending in the Z direction, and the base end of arm section 122B is connected to the tip of arm section 122A so as to be rotatable relative to a rotating shaft Ax2 extending in the Z direction. The mounting section 123 is connected to the tip of arm section 122B so as to be rotatable relative to a rotating shaft Ax3 extending in the Z direction. The relative rotation of each part around these rotating shafts Ax0 to Ax3 is achieved by a motor (not shown), a rotating mechanism such as gears, belts, or pulleys, and a power transmission mechanism. In this embodiment, the rotating shaft Ax0 approximately coincides with the center line C of the suppression structure 130 described above, but it does not necessarily have to coincide.

[0042] The telescopic arm 122 extends and retracts between a protruding state in the X direction in Figure 9 and a retracted state in Figure 10, thereby moving the mounting section 123 between the outer position Po1 in Figure 9 and the inner position Pi1 in Figure 10. The outer position Po1 is a position off-center in the X direction intersecting the Z direction with respect to the base 110, and is the position where the storage container 20 is transferred between the mounting section 123 and outside the mounting section 123 (for example, storage positions (P21, P22) on the shelf member 302). The inner position Pi1 is a position on the base 110, as shown in Figures 5 and 8, and is the position where the storage container 20 is held when the lifting body 100 moves. Between the outer position Po1 and the inner position Pi1, the motor operation is controlled so that the mounting section 123 translates in the X direction and the opposite direction in a plan view. In this case, the pivot axes Ax1 and Ax3 move along a virtual line VL that passes through pivot axis Ax0 and extends in the X direction. The X direction and the direction opposite to the X direction can be said to be the direction of movement of the mounting part 123. In the protruding state in the X direction illustrated in Figure 9, the telescopic arm 122 is bent, but this is not limited to this, and in the said protruding state, the telescopic arm 122 may be in an extended state that is straight without bending, or it may be in a bent state that is bent at a different angle than in Figure 9.

[0043] On the other hand, the telescopic arm 122 extends and retracts between a protruding state in the opposite direction of the X in Figure 12 and a retracted state in Figure 11, thereby moving the mounting section 123 between the outer position Po2 in Figure 12 and the inner position Pi2 in Figure 11. The outer position Po2 is a position away from the base 110 in the opposite direction of the X, and is the position where the storage container 20 is transferred between the mounting section 123 and the outside of the mounting section 123. The inner position Pi2 is a position on the base 110, and is the position where the storage container 20 is held when the lifting body 100 moves. Between the outer position Po2 and the inner position Pi2, the motor operation is controlled so that the mounting section 123 translates in the X direction and the opposite direction of the X in a plan view. In this case as well, the pivot axes Ax1 and Ax3 move along the virtual line VL. In the projection state in the opposite direction to the X direction as illustrated in Figure 12, the telescopic arm 122 is bent, but this is not limited to this. In the projection state, the telescopic arm 122 may be in an extended state where it is straight without bending, or it may be in a bent state where it is bent at a different angle than in Figure 12.

[0044] Furthermore, the transfer mechanism 120 rotates around the pivot axis Ax0 between the state in Figure 10 and the state in Figure 11. Here, the inner position Pi1 in Figure 10 and the inner position Pi2 in Figure 11 are offset in the X direction. This is because, as shown in Figures 5 and 8, the mounting portion 123 and the housing 124 are aligned in the X direction, and the approximate center of the subassembly including the mounting portion 123 and the housing 124 in the X direction is located on the pivot axis Ax0. Consequently, the position Pa1 of the housing container 20 when the mounting portion 123 is in the inner position Pi1 (see Figure 10) and the position Pa2 of the housing container 20 when the mounting portion 123 is in the inner position Pi2 (see Figure 11) are both offset in the X direction.

[0045] Therefore, the interfering portion 135 has an interfering portion 135A and an interfering portion 135B that are spaced apart from each other in the X direction. That is, as shown in Figure 5, when the mounting portion 123 is located at the inner position Pi1 and the containment container 20A is located at position Pa1, the interfering portion 135A faces the plate-shaped portion 22a of the containment container 20A with a gap between them and can function as a suppressing member. On the other hand, when the mounting portion 123 is located at the inner position Pi2 and the containment container 20A is located at position Pa2, the interfering portion 135B faces the plate-shaped portion 22a of the containment container 20A with a gap between them and can function as a suppressing member.

[0046] Furthermore, the interfering portion 136 has a shape that extends in the X direction. As a result, as shown in Figure 8, when the mounting portion 123 is located at the inner position Pi1 and the containment container 20B is located at position Pa1, the portions of the interfering portions 136A and 136B from the center in the X direction toward the ends face the plate-shaped portion 22a of the containment container 20A with a gap between them, and can function as a suppressing member. On the other hand, when the mounting portion 123 is located at the inner position Pi2 and the containment container 20B is located at position Pa2, the portions of the interfering portions 136A and 136B from the center in the X direction toward the ends in the opposite direction of the X direction face the plate-shaped portion 22a of the containment container 20B with a gap between them, and can function as a suppressing member.

[0047] Figure 13 is a plan view showing the rotational trajectory Pt of the support column 22b of the containment container 20A supported by the mounting portion 123 when the transfer mechanism 120, including the rotating portion 121, rotates around the rotation axis Ax0 between the state in Figure 10 and the state in Figure 11. As shown in Figures 5, 10, and 13, when the mounting portion 123 is in the inner position Pi1 and the containment container 20A is in the position Pa2, the interference portion 136 does not interfere with the containment container 20A. However, as shown in Figure 13, when the transfer mechanism 120, including the rotating portion 121, rotates around the rotation axis Ax0 between the state in Figure 10 and the state in Figure 11, the support column 22b of the containment container 20A supported by the transfer mechanism 120 moves in the Y direction during the rotation. Therefore, if the interference portion 136A were to have a rectangular and plate-like shape extending in the X direction, there is a risk that the interference portion 136A and the support portion 22b would interfere with each other. In this embodiment, the interference portion 136A is provided with an arc-shaped recess 136a that is recessed in the Y direction, opposite to the rotation axis Ax0. This makes it possible to avoid interference between the rotating support portion 22b, i.e., the housing container 20A, and the interference portion 136A. Note that the recess 136a does not need to be arc-shaped; it only needs to be located at a position further away from the rotation axis Ax0 than the rotation trajectory Pt of the part of the support portion 22b that is furthest from the rotation axis Ax0 when viewed in a plan view in the opposite direction of the Z direction. Furthermore, if the support column 22b rotates along a trajectory that involves movement in the opposite direction to the Y direction, the interference portion 136B may be provided with a recess that is on the opposite side of the rotation axis Ax0, i.e., in the opposite direction to the Y direction, in order to avoid interference with the support column 22b.

[0048] As described above, in this embodiment, the interference parts 135 and 136 (suppression members) are fixed to the base 110 at a predetermined distance above the base 110 so that they are positioned above the container 20 with a gap between them when the mounting part 123 is in the inner positions Pi1 and Pi2. With this configuration, when the container 20 is lifted off the mounting part 123 by an inertial force acting upward or diagonally upward, the interference parts 135 and 136 interfere with the container 20, thereby preventing the container 20 from detaching from the mounting part 123. Furthermore, with this configuration, the structure for preventing the container 20 from detaching can be simplified compared to a structure that clamps or grips the container 20, which in turn reduces manufacturing effort and cost, and provides the advantage of enabling smoother and faster handling of the container 20.

[0049] Furthermore, in this embodiment, the lifting body 100 has a plurality of columnar sections 131 (extensions) that extend upward from the base 110 at a position to the side of the storage container 20 when the storage container 20 is placed on the mounting section 123, and the interference sections 135 and 136 are fixed to the base 110 via these columnar sections 131. With this configuration, the interference sections 135 and 136 can be positioned above the storage container 20 with a relatively simple configuration while avoiding interference with the storage container 20. In addition, by fixing the interference sections 135 and 136 to the base 110 via a plurality of columnar sections 131, the interference sections 135 and 136 can be realized as a structure that is more rigid, stronger, and more stable compared to a configuration in which the interference sections 135 and 136 are cantilevered to the base 110 or mounting section 123 via a single columnar section (extension).

[0050] Furthermore, in this embodiment, the restraint structure 130 has an interference portion 135 (first restraint member) that interferes with the containment container 20A, and an interference portion 136 (second restraint member) whose separation distance in the Z direction from the base 110 is shorter than that of the interference portion 135. With this configuration, by utilizing the interference portions 135 and 136, it is possible to prevent both containment containers 20A and 20B, which have different heights, from detaching from the mounting portion 123.

[0051] Furthermore, in this embodiment, the transfer mechanism 120 is mounted on the base 110 so as to be rotatable around the pivot axis Ax0, and the interference portion 136 is provided with a recess 136a that avoids interference with the containment container 20A when the containment container 20A, which is subject to detachment suppression by the interference portion 135, rotates in conjunction with the rotation of the transfer mechanism 120. With this configuration, it is possible to avoid the interference portion 136 hindering the rotation of the containment container 20.

[0052] Although embodiments of the present invention have been illustrated above, these embodiments are merely examples and are not intended to limit the scope of the invention. The above embodiments can be implemented in various other forms, and various omissions, substitutions, combinations, and modifications can be made without departing from the spirit of the invention. Furthermore, each configuration and specification (structure, type, orientation, model, size, length, width, thickness, height, number, arrangement, position, material, etc.) can be modified as appropriate.

[0053] For example, the expandable portion may have a configuration different from the above embodiment, having multiple members that slide linearly relative to each other in the expansion / contraction direction, and thus changing its overall length. Furthermore, the containment container may have various structures.

[0054] Furthermore, the structure in which the base supports the first and second restraining members can be modified in various ways. For example, the base may be connected to the second restraining member via an extension or the like, and the first and second restraining members may be connected via a connecting member extending from the second restraining member. In addition, the restraining members and the members constituting the extension or the like between the base and the restraining members may be configured to be replaceable, or to be configured to be adjustable in length, connection position, etc.

[0055] Furthermore, the first restraining member may extend for a long distance in the direction of movement of the mounting portion, or the second restraining member may be divided in the direction of movement of the mounting portion. [Explanation of Symbols]

[0056] 10…Conveyor device 20, 20A, 20B… Container containers 21… Cabinet 21a...bottom 22…Top flange 22a...Plate-like part 22b…Strut part 100... Lifting mechanism 110...bass 120…Transfer mechanism 121...Rotating part 122...Extendable arm (extendable part) 122A, 122B... Arm section 123... Mounting section 123a...Protrusion 123a1…Top end 124... Cabinet 130…Suppression structure 131...Column part (extension part) 132...beam part 133... Top panel 134...Connection part 135, 135A, 135B... Interference section (first suppression member, suppression member) 136, 136A, 136B... Interference section (second suppression member, suppression member) 136a…recess 200... Mast 300... Storage shelves 301…post 302...Shelf member Ax0, Ax1, Ax2, Ax3... Rotary axes C…Center line h…distance Ha, Hb... Height Pa1,Pa2…position Pi1,Pi2…inner position Po1,Po2…outside position Pt...Rotational trajectory X…direction Y... Direction (horizontal direction) Z…direction (upward)

Claims

1. A mast that is movable horizontally and extends vertically, A lifting body is supported on the mast so as to be movable in the vertical direction and so as to be able to stop at multiple positions in the vertical direction, Equipped with, A conveying device that supports a container capable of holding articles with the aforementioned lifting body and transports it between two locations separated in the vertical or horizontal direction, The aforementioned lifting body is Bass and, A transfer mechanism comprising: a mounting portion provided on the base for placing the storage container; and an extendable portion for moving the mounting portion between an inner position on the base and an outer position off-center from the base in a direction intersecting the vertical direction; With the aforementioned mounting portion on which the storage container is placed in the inner position, a restraining member is fixed to the base at a predetermined distance above the base so as to be positioned above the storage container with a gap between it and the storage container, and the restraining member prevents the storage container from detaching from the aforementioned mounting portion due to an inertial force acting upward or diagonally upward, A conveying device having

2. The lifting body has a plurality of extensions that extend upward from the base at a position to the side of the container when the container is placed on the aforementioned mounting portion, The conveying device according to claim 1, wherein the restraining member is fixed to the base via the plurality of extensions.

3. The conveying device according to claim 1 or 2, wherein the restraining member includes a first restraining member and a second restraining member having a shorter upward separation distance from the base than the first restraining member.

4. The transfer mechanism is mounted on the base so as to be rotatable around a pivot axis extending in the vertical direction. The first restraining member and the second restraining member are configured to prevent the detachment of the storage containers, which are at different heights from the base when placed on the base. The transport device according to claim 3, wherein the second restraining member is provided with a recess that avoids interference with the container when the container, which is the object of detachment restrained by the first restraining member, rotates in conjunction with the rotation of the transfer mechanism.

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