Sensor support structure

Abstract

To easily and finely adjust an attachment angle of a sensor component in automatic equipment.SOLUTION: A sensor supporting structure 80 is a sensor supporting structure for mounting a sensor component 70, containing a light emitting part emitting a detection light, on an installation object member (for example, a guide side plate part 62A) in automatic equipment, and comprises an adjusting / supporting mechanism 82 which includes an adjusting screw 84 and adjusts an angle of the sensor component 70 with respect to the installation object member corresponding to the rotation of the adjusting screw 84.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] This disclosure relates to a sensor support structure in automatic equipment.

Background Art

[0002] Patent Document 1 discloses a transfer device provided with a photoelectric sensor. The photoelectric sensor is attached to a base portion in the transfer device via an attachment member. The attachment member is configured to have a fixing member fixed to the base portion and an angle adjustment member to which the photoelectric sensor is attached.

[0003] One end of the angle adjustment member is rotatably attached to the fixing member around a predetermined axis. The other end of the angle adjustment member has a circular through-hole. The through-hole is penetrated by a rod-shaped portion protruding from the fixing member. The rod-shaped portion is provided with a thread for screwing a nut.

[0004] Then, after rotating the angle adjustment member around the predetermined axis, the angle adjustment member is fixed to the fixing member by a nut screwed onto the rod-shaped portion, thereby adjusting the attachment angle of the photoelectric sensor.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] In automatic equipment, it is required that the attachment angle of a sensor can be easily and finely adjusted.

[0007] Therefore, an object of this disclosure is to enable easy fine adjustment of the attachment angle of sensor components in automatic equipment.

Means for Solving the Problems

[0008] To solve the above problems, a sensor support structure is a sensor support structure for mounting a sensor component including a light emitting unit that emits detection light on a mounting target member in automatic equipment, includes an adjustment screw, and includes an adjustment support mechanism that adjusts the angle of the sensor component with respect to the mounting target member in response to the rotation of the adjustment screw.

Advantages of the Invention

[0009] According to this sensor support structure, by rotating the adjustment screw, the mounting angle of the sensor component in the automatic equipment can be easily and finely adjusted.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Modes for Carrying Out the Invention

[0011] Hereinafter, the sensor support structure according to the embodiment will be described.

[0012] <Regarding the overall configuration of the automatic equipment> An example of the automatic equipment in which the sensor support structure is incorporated will be described. FIG. 1 is a schematic side view showing the automatic equipment 20, and FIG. 2 is a schematic plan view showing the automatic equipment 20. In the present embodiment, an example in which the automatic equipment 20 is equipment for automatically loading and unloading objects is described. An example of such equipment is an automated warehouse.

[0013] The automatic equipment 20 includes a storage unit 21, a lifting device 30, and a mobile carrier 40.

[0014] The storage unit 21 is provided on at least one side of the traveling path 38 along which the mobile carrier 40 travels. Here, a pair of storage units 21 are provided on both sides of the traveling path 38. The mobile carrier 40 traveling on the traveling path 38 can load and unload the object 10 to and from both of the pair of storage units 21.

[0015] The storage unit 21 includes a plurality of shelf units 22. The shelf unit 22 includes a plurality of shelf boards 24 as a plurality of object support portions. The shelf boards 24 are supported at intervals in the vertical direction, and the object 10 can be placed on each shelf board 24. Here, a plurality of objects 10 are placed side by side at intervals on each shelf board 24. The storage unit 21 is configured by arranging a plurality of shelf units 22 in a row. Looking at the entire storage unit 21, a plurality of objects 10 are stored in a state of being arranged vertically, horizontally, and laterally. For each shelf board 24, the object 10 is loaded and unloaded from the side of the traveling path 38. Note that the dimension between the objects 10 on the shelf board 24 is set to be greater than or equal to the minimum gap into which the advancing / retreating arm 54 described later can enter. The plurality of object support portions may be configured to include a pair of rails that support both side portions of the bottom side of the object.

[0016] A temporary shelf 26 and a lifting device 30 are provided adjacent to any one of the storage units 21. In the present embodiment, the temporary shelf 26 and the lifting device 30 are provided at one end of the storage unit 21 in the extending direction.

[0017] The lifting device 30 includes a lifting shelf 32 and a lifting drive mechanism 34. The lifting drive mechanism 34 drives the lifting shelf 32 to move up and down to positions corresponding to the shelf boards 24 of each level. Thereby, the item 10 to be stored can be moved up and down to the vertical position of the shelf board 24 where it should be stored. Conversely, the item 10 to be taken out can be moved up and down to a height position suitable for taking it out from the position of the shelf board 24 where it is stored.

[0018] The temporary storage shelf 26 is provided, for example, between the storage unit 21 and the lifting device 30. The temporary storage shelf 26 is provided corresponding to the shelf boards 24 of each level. Each temporary storage shelf 26 is configured to be able to temporarily place the item 10 until the item 10 is received by the moving conveyor 40 after receiving the item 10 from the lifting device 30. Conversely, each temporary storage shelf 26 is configured to be able to temporarily place the item 10 until the lifting device 30 can receive the item 10 after receiving the item 10 from the moving conveyor 40.

[0019] Note that the transfer of the item 10 between the temporary storage shelf 26 and the lifting shelf 32 in the lifting device 30 can be performed, for example, by rotating the rollers provided on them in both forward and reverse directions by a rotary drive unit such as a motor, or by driving an actuator such as a cylinder to push the item 10 placed on the temporary storage shelf 26 or the lifting shelf 32. The temporary storage shelf 26 may be omitted, and the item 10 may be directly transferred between the lifting shelf 32 in the lifting device 30 and the moving conveyor 40.

[0020] The temporary storage shelf 26 and the lifting device 30 may be provided in the middle part of the storage unit 21 in the extending direction. The temporary storage shelf 26 and the lifting device 30 may be provided at a plurality of locations with respect to the storage unit 21. Also, the temporary storage shelf 26 and the lifting device 30 may be provided separately for storage and retrieval.

[0021] The traveling path 38 is provided along the storage unit 21. Here, it is provided between a pair of storage units 21 along the extending direction therebetween. The storage unit 21 can store a plurality of articles 10 arranged along the extending direction of the traveling path 38. The traveling path 38 extends along the extending direction of the storage unit 21 and reaches the temporary storage shelf 26.

[0022] Here, a plurality of traveling paths 38 are provided corresponding to the upper and lower shelf boards 24. Each traveling path 38 includes a pair of rails 39, 39. The pair of rails 39, 39 are supported along the horizontal direction and along the extending direction of the storage unit 21 by the pair of storage units 21. Thereby, the pair of rails 39, 39 are supported in a parallel posture with a gap therebetween.

[0023] The rails 39, 39 may also serve as the horizontal frames of each shelf unit 22. The rails 39, 39 may not have the function as the frame of the shelf unit 22 and may be configured separately from the shelf unit 22. Also, it is not necessary for the traveling path to be constituted by a pair of rails. For example, it may be configured as an elongated plate-shaped traveling path on which the mobile carrier 40 can travel, or may be configured as a rail that supports the cart in a suspended state.

[0024] The mobile carrier 40 is a device for moving the article 10 along the horizontal direction, and includes a cart 42 and an article transfer device 50.

[0025] The article transfer device 50 is a device for transferring an article from another location to its own support location, or for transferring an article from its own support location to another location. In the present embodiment, an example is shown in which the article transfer device 50 transfers the article 10 from the shelf board 24 or the temporary storage shelf 26 to the side of the article transfer device 50, or transfers the article 10 from the article transfer device 50 to the shelf board 24 or the temporary storage shelf 26. The article transfer device is not limited to the above example, and may be a device for transferring the article 10 between other locations, for example, a device for transferring an article between the article transfer device and a conveyor.

[0026] The carriage 42 is configured to move the article transfer device 50 between a plurality of positions facing the shelf board 24 and the temporary storage shelf 26. In the present embodiment, one article transfer device 50 is mounted on one carriage 42. On each shelf level, as the carriage 42 reciprocates on the rails 39, 39, the article transfer device 50 moves to a position facing any location on the plurality of shelf boards 24 and the temporary storage shelf 26 on that shelf level (specifically, a position facing the position where the article 10 is placed or the empty position where the article should be placed on the shelf board 24 and the temporary storage shelf 26).

[0027] By the running of the carriage 42, the article transfer device 50 can move to the position where the article 10 is placed among the shelf board 24 and the temporary storage shelf 26, and transfer the article 10 from the shelf board 24 or the temporary storage shelf 26 to the article transfer device 50 side. Alternatively, the article transfer device 50 can move to the empty position where the article should be placed on the shelf board 24 and the temporary storage shelf 26, and transfer the article 10 on the article transfer device 50 side to the shelf board 24 or the temporary storage shelf 26 side.

[0028] It should be noted that it is not essential that the moving carrier 40 and the rails 39, 39 are provided for each shelf level. For example, the rails 39, 39 and the moving carrier 40 may be provided in common for a plurality of shelf levels. In this case, for example, by stacking a plurality of article transfer devices 50 on the carriage running on the traveling path, it may be possible to take in and out articles for a plurality of shelf levels. Also, for example, by supporting one article transfer device 50 on the carriage running on the traveling path so as to be movable up and down by a lifting mechanism, it may be possible to take in and out the article 10 for a plurality of shelf levels. Also, a plurality of transfer carriages may run on one traveling path.

[0029] The operation of the mobile carrier 40 is controlled by the control unit 36. The control unit 36 is composed of a computer including a CPU, a ROM, a RAM, and a storage device (such as a flash memory). The CPU as a processor executes arithmetic processing according to the program stored in the storage device, whereby the control unit 36 controls the operation of the mobile carrier 40. The control by the control unit 36 over the mobile carrier 40 includes the travel control over the carriage 42 and the control of the transfer operation over the material transfer device 50.

[0030] For example, when the article 10 is received and shipped out, the control unit 36 generates and updates the storage information associating the specific information (identification code, article name, etc.) of the article 10 with the storage location. The storage information may be stored in the storage device in this control unit 36, or may be stored in other server devices or the like. When receiving the article, the control unit 36 refers to the storage information, specifies the empty position in the storage unit 21, and moves the mobile carrier 40 that has taken in the article 10 from the temporary storage shelf 26 to the position facing the empty position in the storage unit 21. When shipping out, when the specific information of the article 10 to be shipped out is input by an operator or the like, the control unit 36 refers to the specific information of the article 10 to be shipped out and the storage information, specifies the storage position of the article 10 to be shipped out in the storage unit 21, moves the empty mobile carrier 40 to the position facing the storage position of the article 10 to be shipped out in the storage unit 21, and then moves it toward the temporary storage shelf 26.

[0031] In addition, as for the control of the transfer operation for the object transfer device 50, a transfer operation of taking in the object 10 into the object transfer device 50 and a transfer operation of sending out the object 10 from the object transfer device 50 are assumed. For example, the control unit 36 causes the object transfer device 50 to perform a transfer operation of taking in the object 10 in a state where the empty transfer carrier 40 has moved to a position facing the temporary storage shelf 26 or the shelf board 24 on which the object 10 to be taken in is placed. Also, for example, in a state where the transfer carrier 40 that has taken in the object 10 has moved to a position facing an empty space among the empty temporary storage shelves 26 or the shelf boards 24, the object transfer device 50 is caused to perform a transfer operation of sending out the object 10. When the object transfer device 50 sends out or takes in the object 10, the presence or absence of the object 10 in the object transfer device 50 is detected using the sensor component 70 described later.

[0032] Here, the control unit 36 also controls the transfer operation of the object 10 between the temporary storage shelf 26 and the lifting device 30 and the lifting operation of the lifting device 30.

[0033] In this automatic equipment 20, under the control of the control unit 36, the object 10 to be stored is stored in the storage unit 21 via the lifting device 30, the temporary storage shelf 26, and the transfer carrier 40. Also, under the control of the control unit 36, the object 10 to be shipped out is shipped out to the outside via the transfer carrier 40, the temporary storage shelf 26, and the lifting device 30 from the storage unit 21.

[0034] Note that when the object 10 is stored, the storage information is updated so as to associate the input specific information of the object 10 with the storage position of the object 10. The specific information of the object 10 may be input by a reader reading a non-contact tag, a barcode, etc. attached to the object 10, or may be manually input by an operator. Also, when the object 10 is shipped out, the storage information is updated so as to delete the specific information of the object 10 that has become the shipping target from the storage information and set the position where the object 10 was stored as an empty position.

[0035] By performing the above operations in cooperation, the object 10 is automatically stored and automatically shipped out in this automatic equipment 20.

[0036] <Regarding the mobile carrier> The mobile carrier 40 will be described in more detail. FIG. 3 is a perspective view showing the mobile carrier 40. In the following description, for convenience, the traveling direction of the mobile carrier 40 may be referred to as the width direction, and one side in the horizontal direction orthogonal to the traveling direction may be referred to as the front, and the other side may be referred to as the rear.

[0037] As described above, the carriage 42 is configured to be able to travel back and forth on the traveling path 38. The article transfer device 50 is supported by this carriage 42.

[0038] The carriage 42 includes a base 43 and wheels 44 and 45. The base 43 rotatably supports the wheels 44 and 45. A traveling drive unit 46 that drives at least one of the wheels 44 and 45 to travel is supported by this base 43. Here, the base 43 includes a rectangular frame-shaped portion. Two wheels 44 are rotatably supported on one side portion (the right side portion in FIG. 3) of the base 43. Two wheels 45 are rotatably supported on the other side portion (the left side portion in FIG. 3) of the base 43. The traveling drive unit 46 is supported on a portion closer to one side in the base 43.

[0039] The front wheel 44 among the two wheels 44 and the front wheel 45 among the two wheels 45 roll on one of the two rails 39, and the rear wheel 44 among the two wheels 44 and the rear wheel 45 among the two wheels 45 roll on the other of the two rails 39. The traveling drive unit 46 includes a traveling motor that can rotate in both forward and reverse directions. The rotational driving force of the traveling motor is transmitted to the axles of the two wheels 44 directly or via a transmission mechanism such as a pulley or a gear. Then, under the control of the control unit 36, by controlling the rotational direction and the amount of rotation of the traveling motor, the mobile carrier 40 moves to an arbitrary position facing the shelf board 24 or the temporary storage shelf 26. Note that the portion closer to one side of the base 43 is covered by a cover, but this is not essential.

[0040] The article transfer device 50 is supported by the base 43. The article transfer device 50 includes, for example, a placement plate 52, a pair of retractable arms 54, and a hook piece 56. The placement plate 52 is configured to be able to place the article 10 and is an example of an article support portion. For example, the upper surface of the placement plate 52 is formed as a plane that is the same as or larger than the bottom surface of the article 10 and extends along the horizontal direction. The pair of retractable arms 54 take in and out the article 10 between above the placement plate 52 and the outside thereof, and are provided at both side portions of the placement plate 52 at intervals in the extending direction of the travel path 38. The pair of retractable arms 54 are provided so as to be able to project and retract from the placement plate 52 in both directions orthogonal to the extending direction of the travel path 38. The pair of retractable arms 54 are driven to advance and retreat by the drive of an arm drive portion including a motor or the like. Hook pieces 56 are provided at both ends of the pair of retractable arms 54. The hook piece 56 is capable of being driven to change its posture between a state of falling so as to project from the end portion of the retractable arm 54 and a state of extending along the vertical direction at the end portion of the retractable arm 54.

[0041] When taking the article 10 into the moving carrier 40, with the article transfer device 50 facing the article 10 placed on the shelf board 24 or the temporary placement shelf 26, the pair of retractable arms 54 are advanced to be disposed at a position where the article 10 is sandwiched from both sides. In this state, the hook piece 56 is projected from the protruding side end portion of the retractable arm 54 and hooked on the back side of the article 10. Then, when the pair of retractable arms 54 are retracted and moved toward the carriage 42 side, a force for transferring the article 10 so as to be drawn into the placement plate 52 side acts on both side portions of the article 10. Thereby, the article 10 is taken onto the placement plate 52 on the moving carrier 40 side.

[0042] When sending out the article 10 on the placement plate 52 of the moving carrier 40 to the shelf board 24 or the temporary placement shelf 26, the posture of the hook piece 56 on the side opposite to the sending direction is changed so as to project from the retractable arm 54 and hooked on both side portions of the article 10. In this state, the pair of retractable arms 54 are advanced from the placement plate 52. Then, a force for transferring the article 10 so as to be sent into the shelf board 24 or the temporary placement shelf 26 acts on both side portions of the article 10. Thereby, the article 10 is sent into the shelf board 24 or the temporary placement shelf 26.

[0043] The object transfer device 50 includes guide members 60A and 60B. When the object 10 is moved from the shelf board 24 toward the mounting plate 52 or vice versa, the guide members 60A and 60B guide the object 10 on both sides in the width direction of the mounting plate 52. In the present embodiment, the pair of guide members 60A and 60B are provided on both side portions in the width direction of the mounting plate 52 and below the pair of advancing and retracting arms 54. Therefore, the hooking pieces 56 of the pair of advancing and retracting arms 54 move the object 10 in a state of being hooked on the object 10 at a position above the guide members 60A and 60B. The guide members 60A and 60B guide both side portions of the object 10 so that the object 10 is within a predetermined range in the width direction on the mounting plate 52, below the location where the hooking piece 56 hooks on the object 10.

[0044] The moving carrier 40 includes a sensor component 70. In the present embodiment, the sensor component 70 is supported by one of the pair of guide members 60A and 60B. The presence or absence of the object 10 on the mounting plate 52 is detected using the detection light emitted by the sensor component 70.

[0045] <Regarding the sensor support structure> The support structure of the sensor component 70 will be described more specifically.

[0046] FIG. 4 is a plan view showing the support structure of the pair of guide members 60A and 60B and the sensor component 70 on the mounting plate 52. FIG. 5 is a schematic cross-sectional view taken along line V-V of FIG. 4. In FIG. 4, an example of the arrangement region of the bottom surface of the object 10 is shown by a two-dot chain line. In FIG. 5, the central portion in the width direction is omitted. Also, a part of the object 10 is shown in FIG. 5.

[0047] As shown in these figures, a pair of guide members 60A and 60B are provided on both side portions of the mounting plate 52. The guide members 60A and 60B can be fixed to the mounting plate 52 by screwing, riveting, welding, or the like.

[0048] The sensor component 70 is supported by one of the pair of guide members 60A and 60B, namely, guide member 60A.

[0049] The guide member 60A includes a bottom plate portion 61A, a guide side plate portion 62A, and a ceiling plate portion 63A. The bottom plate portion 61A is formed in an elongated plate shape that is arranged along one side portion of the mounting plate 52 on one side portion of the mounting plate 52. The bottom plate portion 61A is fixed to one side portion of the mounting plate 52 by screwing or the like. The guide side plate portion 62A is provided so as to rise upward from an edge closer to the center in the width direction of the mounting plate 52 in the bottom plate portion 61A. The guide side plate portion 62A is provided along the front-rear direction on one side portion of the mounting plate 52. The front end portion of the guide side plate portion 62A is inclined so as to face outward in the width direction of the mounting plate 52 as it faces forward. The rear end portion of the guide side plate portion 62A is inclined so as to face outward in the width direction of the mounting plate 52 as it faces rearward. The middle portion in the longitudinal direction of the guide side plate portion 62A extends in the front-rear direction perpendicular to the width direction. The ceiling plate portion 63A extends from the upper edge of the guide side plate portion 62A toward the outside in the width direction of the mounting plate 52. For this reason, the ceiling plate portion 63A extends in a horizontal posture with respect to the bottom plate portion 61A. The guide member 60A may be formed by pressing one metal plate, or may be formed by combining a plurality of metal plates by screwing, welding, or the like, or may be configured by a combination of pressing and fitting processes.

[0050] The guide member 60B includes a bottom plate portion 61B and guide side plate portions 62B. The bottom plate portion 61B is formed in an elongated plate shape that is arranged along the other side portion on the other side portion of the mounting plate 52. This bottom plate portion 61B is fixed to the other side portion of the mounting plate 52 by means such as screwing. The guide side plate portions 62B are provided so as to rise upward from the edge closer to the center in the width direction of the mounting plate 52 in the bottom plate portion 61B. The guide side plate portions 62B are provided along the front-rear direction on the other side portion of the mounting plate 52. The front end portion and the rear end portion of the guide side plate portion 62B are inclined on the side opposite to the front end portion and the rear end portion of the guide side plate portion 62B. The intermediate portion in the longitudinal direction of the guide side plate portion 62B extends in the front-rear direction perpendicular to the width direction. For this reason, the object 10 is guided so as to be brought closer to the center in the width direction of the mounting plate 52 by the front end portion or the rear end portion of the guide side plate portions 62A and 62B. Also, it is maintained at a position closer to the center in the width direction of the mounting plate 52 at the intermediate portion in the longitudinal direction of the guide side plate portions 62A and 62B. A ceiling plate portion may also be provided in the guide member 60B. The guide member 60B may be formed by pressing a single metal plate, or may be formed by combining a plurality of metal plates by screwing, welding, etc., or may be configured by a combination of pressing and fitting processes.

[0051] In the present embodiment, the sensor component 70 includes a light emitting portion 72 and a light receiving portion 74. The light emitting portion 72 is an element that emits detection light, and is, for example, a laser diode, a light emitting diode, or the like. The detection light may be laser light or may not be laser light. The detection light may be visible light or may be non-visible light. The light receiving portion 74 is an element that outputs a detection signal according to the presence or absence of the detection light, and is, for example, a CCD (Charge-Coupled Device), a photodiode, or the like.

[0052] For example, the sensor component 70 incorporates the light emitting portion 72 and the light receiving portion 74 in a rectangular housing. When the detection light projected from one main surface of the sensor component 70 is reflected by a reflecting member on the path of the detection light, the reflected light is received by the light receiving portion 74.

[0053] In the present embodiment, a plurality (two) of sensor components 70 are provided at intervals in the longitudinal direction of the guide member 60A with respect to the guide member 60A. Each sensor component 70 is provided so as to project detection light toward the opposite guide member 60B.

[0054] A reflecting member 64B is provided on the guide member 60B. In the present embodiment, a window portion 62Bh penetrating the guide side plate portion 62B is formed at a position of the guide side plate portion 62B facing each sensor component 70. The reflecting member 64B is provided at a position corresponding to the window portion 62Bh. The reflecting member 64B is, for example, a plate-like member bent in an L shape, and one outward main surface thereof is formed as a reflecting surface 64Bg. The reflecting surface 64Bg may be formed by surface processing of the reflecting member 64B, or may be formed by attaching a member having reflectivity to the reflecting member 64B. The reflecting member 64B is fixed to the guide member 60B so that the reflecting surface 64Bg is located within the window portion 62Bh and is disposed at a position retracted from the guide surface of the guide side plate portion 62B. For this reason, even if an object 10 comes into contact with the guide surface of the guide side plate portion 62B, the reflecting surface 64Bg is difficult to be rubbed, and the reflection performance of the reflecting surface 64Bg is easily maintained.

[0055] The detection light L projected from the sensor component 70 provided on the guide member 60A side faces the guide member 60B and is reflected by the reflecting surface 64Bg. The reflected detection light L returns to the guide member 60A and is received by the light receiving portion 74 of the sensor component 70.

[0056] When there is no object 10 between the guide members 60A and 60B, the reflected detection light L is detected by the sensor component 70. When there is an object 10 between the guide members 60A and 60B, the detection light L is blocked by the object 10. For this reason, the reflected detection light L is not detected by the sensor component 70.

[0057] Since the sensor component 70 outputs a detection signal according to the presence or absence of the detection light L, the presence or absence of the object 10 on the mounting plate 52 can be detected based on the detection signal.

[0058] Here, consider the case where the object 10 is a box having a hole 10h (for example, a cage-like tray having a hole) (see FIG. 5). In this case, if the directivity of the detection light L is wide, even if the object 10 is present on the mounting plate 52, the detection light L may pass through the hole 10h formed in the object 10 and reach the reflecting surface 64Bg, and similarly, may reach the light receiving portion 74 through the hole 10h. For this reason, it is conceivable that the detection light L is detected by the light receiving portion 74 even though the object 10 is present on the mounting plate 52.

[0059] In order to avoid the above phenomenon, it is conceivable to use a laser beam with excellent directivity as the detection light L. However, when a laser beam is used as the detection light L, precise optical axis adjustment is required.

[0060] As a method for adjusting the optical axis of the sensor component 70, it is conceivable to forcibly apply a force to the guide member 60A that supports the sensor component 70 and bend it. However, since the guide member 60A is formed of a strong metal plate or the like that can guide the object 10, it is difficult to bend the guide member 60A to perform precise optical axis adjustment.

[0061] Hereinafter, assuming that the member to be attached in the automatic equipment 20 is the guide member 60A, a support structure 80 of the sensor component 70 that can facilitate the optical axis adjustment of the sensor component 70 will be described.

[0062] FIG. 6 is a schematic perspective view showing the support structure 80 of the sensor component 70. In FIG. 6, a part of the guide member 60A is shown by a two-dot chain line. As shown in FIGS. 4 to 6, the support structure 80 includes an adjustment screw 84, and includes an adjustment support mechanism 82 that adjusts the angle of the sensor component 70 with respect to the guide member 60A, which is the member to be attached, in accordance with the rotation of the adjustment screw 84. The adjustment support mechanism 82 includes a bracket 86. The bracket 86 is a component that supports the sensor component 70 with respect to the guide member 60A, and includes a sensor support portion 88 that supports the sensor component 70. And it is configured such that the sensor support portion 88 is displaced in accordance with the rotation of the adjustment screw 84 and the mounting angle of the sensor component 70 is changed.

[0063] More specifically, the bracket 86 includes a bracket body 87. The bracket body 87 is formed by pressing a metal plate or the like, and includes a support plate portion 87a, a connecting plate portion 87b, and a sensor support plate portion 87c.

[0064] The support plate portion 87a is a portion supported by the guide member 60A. In the present embodiment, the support plate portion 87a has a rectangular plate shape and is fixed to the downward-facing surface of the ceiling plate portion 63A of the guide member 60A by screws S. The support plate portion 87a may be supported by welding, riveting, or the like to the guide member 60A.

[0065] The connecting plate portion 87b is a plate-like portion extending downward from one side portion of the support plate portion 87a. In the present embodiment, the connecting plate portion 87b extends downward from the edge of the support plate portion 87a closer to the guide side plate portion 62A. A gap is provided between the connecting plate portion 87b and the guide side plate portion 62A. A gap is also provided between the lower end portion of the connecting plate portion 87b and the bottom plate portion 61A.

[0066] The sensor support plate portion 87c is a plate-like portion extending in a direction intersecting the connecting plate portion 87b from the lower end edge of the connecting plate portion 87b. As a result, the sensor support plate portion 87c is supported at a position below the support portion of the bracket on the guide side plate portion 62A (that is, the lower surface of the ceiling plate portion 63A) in a posture closer to the horizontal posture than the vertical posture (ideally in the horizontal posture, but within a range tilted from the horizontal posture according to machining errors and assembly errors). The sensor support plate portion 87c extends in the same direction as the support plate portion 87a with respect to the connecting plate portion 87b, that is, on the side opposite to the guide side plate portion 62A. The support plate portion 87a and the sensor support plate portion 87c extend in a parallel posture. The sensor support plate portion 87c extends longer than the tip end portion of the support plate portion 87a.

[0067] The sensor component 70 is supported on the downward-facing surface side of the sensor support plate portion 87c. In the present embodiment, the fixing screw 76 passes through the sensor component 70 and is screwed and tightened into the screw hole 88h1 formed in the sensor support plate portion 87c. Thereby, the sensor component 70 is fixed to the sensor support plate portion 87c in the bracket 86.

[0068] Note that a gap is provided between the sensor component 70 and the bottom plate portion 61A in a state where the sensor component 70 is attached to the bracket 86. Further, a window portion 62Ah penetrating the guide side plate portion 62A is formed in a portion of the guide side plate portion 62A facing the sensor component 70. The detection light L from the sensor component 70 is projected onto the guide member 60B on the opposite side through the window portion 62Ah, and the reflected detection light can be received by the sensor component 70 through the window portion 62Ah.

[0069] Note that the optical axis of the detection light projected from the sensor component 70 may be set to pass through a position within 15 mm above the upper surface of the mounting plate 52. Even when the object 10 is a box having the hole 10h, from the viewpoint of strength and the like, the hole 10h is often not provided in a portion within 15 mm from the lower surface of the object 10. Therefore, if the optical axis of the detection light passes through a position within 15 mm above the upper surface of the mounting plate 52, in many cases, the presence or absence of the object 10 can be accurately detected.

[0070] The mounting position of the sensor component 70 on the sensor support plate portion 87c is a position closer to the proximal end of the sensor support plate portion 87c, in other words, a position closer to the connecting plate portion 87b. There is a region where the sensor component 70 cannot be mounted at the tip portion of the sensor support plate portion 87c.

[0071] The sensor support portion 88 includes the above-described sensor support plate portion 87c and is a portion that supports the sensor component 70. In the present embodiment, the sensor support portion 88 is configured such that a nut 88N is attached to the sensor support plate portion 87c. More specifically, a screw insertion hole 87ch is formed in a region of the sensor support plate portion 87c on the tip side of the attachment region of the sensor component 70. The nut 88N is fixed to the sensor support plate portion 87c such that the screw hole of the nut 88N is positioned on the extension of the screw insertion hole 87ch. The nut 88N is fixed to the sensor support plate portion 87c by welding or the like. The nut 88N may be fixed to either the upper surface or the lower surface of the sensor support plate portion 87c, but in the present embodiment, it is fixed to the upper surface of the sensor support plate portion 87c. Thereby, the sensor support portion 88 is configured to have a screw hole formed by the nut 88N. Note that the nut 88N may be omitted and a screw hole may be directly formed in the sensor support plate portion 87c.

[0072] As the above-described nut 88N, any nut can be used, and a lock nut may be used. As the lock nut, a well-known lock nut such as a nut that generates friction for preventing loosening by a spring action can be used. For example, a lock nut called a U-nut (registered trademark) may be used.

[0073] The adjustment screw 84 is screwed into the above-described nut 88N. The adjustment screw 84 can be any screw. In the present embodiment, the adjustment screw 84 is a truss screw. The head of the truss screw has a shape like a part of a sphere cut off and has a partial spherical surface. The adjustment screw 84 may have a length such that it can contact the bottom plate portion 61A or the ceiling plate portion 63A while being screwed into the nut 88N.

[0074] Also, in the present embodiment, the support structure 80 includes a first reference plane 61AF and a second reference plane 64AF.

[0075] The first reference plane 61AF is provided so as to face the tip of the adjustment screw 84. In the present embodiment, the upward-facing surface of the bottom plate portion 61A in the guide member 60A is the first reference plane 61AF. It is not essential that the first reference plane 61AF be provided on the bottom plate portion 61A. A member located on the tip side of the adjustment screw 84 may be additionally fixed to the guide member 60A or the like, and the surface of the separate member facing the tip of the adjustment screw 84 may be taken as the first reference plane.

[0076] Since the first reference plane 61AF is provided on the tip side of the adjustment screw 84, when the adjustment screw 84 is tightened, the tip of the adjustment screw 84 can come into contact with the first reference plane 61AF.

[0077] The second reference plane 64AF is provided so as to face the head 84H of the adjustment screw 84. In the present embodiment, an extension piece portion 64A is formed at the edge on the tip side of the ceiling plate portion 63A in the guide member 60A. The extension piece portion 64A is provided at the portion of the ceiling plate portion 63A where the adjustment screw 84 is provided and extends to the side opposite to the connecting plate portion 87b. The downward-facing surface of this extension piece portion 64A is the second reference plane 64AF. It is not essential that the second reference plane 64AF be provided on the extended portion of the ceiling plate portion 63A. A separate member may be additionally arranged so as to be located at the portion facing the head 84H of the adjustment screw 84, and the surface of the separate member facing the head of the adjustment screw 84 may be taken as the second reference plane.

[0078] Since the second reference plane 64AF is provided at a position facing the head 84H of the adjustment screw 84, when the adjustment screw 84 is loosened, the head 84H of the adjustment screw 84 can come into contact with the second reference plane 64AF.

[0079] In this embodiment, by rotating the head 84H of the adjustment screw 84 with a tool, the adjustment screw 84 is tightened or loosened with respect to the nut 88N. An adjustment hole 64Ah is formed in the second reference plane 64AF and the extension piece portion 64A on which the second reference plane 64AF is formed so that the adjustment screw 84 can be easily rotated. The adjustment hole 64Ah is smaller than the maximum diameter of the head 84H and is sized to allow insertion of a tool 90 (for example, a Phillips screwdriver) for rotating the adjustment screw 84. Therefore, the tool 90 can be inserted into the adjustment hole 64Ah and fitted into the groove formed in the head 84H, whereby the adjustment screw 84 can be rotated by the tool 90. In particular, when the adjustment screw 84 is loosened by the tool 90, the head 84H can contact the second reference plane 64AF around the adjustment hole 64Ah.

[0080] If the head 84H faces upward and the adjustment hole 64Ah opens above the extension of the head 84H, the adjuster can insert the tool 90 into the adjustment hole 64Ah from above and fit it into the groove of the head 84H, facilitating the adjustment operation. It is preferable that a gap is formed between the guide member 60A and the advancing and retreating arm 54 such that the tool 90 can be inserted.

[0081] <Regarding the Angle Adjustment Operation of the Sensor Component> An example of the operation of adjusting the angle of the sensor component 70 with the adjustment screw 84 will be described.

[0082] First, when the guide member 60A, the bracket 86, etc. are formed in the designed shapes and further mounted in the designed positions, as shown in FIG. 5, the sensor component 70 is supported by the article transfer device 50 in the designed position and posture. Therefore, the detection light L from the sensor component 70 passes horizontally from the upper surface of the mounting plate 52 at the designed height position and reaches the reflecting surface 64Bg. Then, it can be reflected by the reflecting surface 64Bg and reach the light receiving portion 74 of the sensor component 70.

[0083] Due to machining errors and mounting errors of the guide member 60A, the bracket 86, etc., as shown in FIG. 7, there is a possibility that the portion of the sensor component 70 on the side that projects the detection light L may be inclined downward at an angle. Note that the inclination of the sensor component 70 and the sensor support portion 88 in FIG. 7 and FIG. 8 to be described later are exaggerated for illustration purposes. In reality, for example, an angular adjustment of about ±0.1° to 1° is assumed.

[0084] In the case shown in FIG. 7, there is a possibility that the detection light Lb may deviate from the range of the reflection surface 64Bg. Further, even if the reflected light of the detection light Lb is reflected by the reflection surface 64Bg, it may travel in a direction deviated from the sensor component 70, and there is a possibility that it cannot be detected by the sensor component 70.

[0085] In such a case, the tool 90 is inserted into the adjustment hole 64Ah and fitted into the groove of the head 84H, and the adjustment screw 84 is rotated in the loosening direction. Then, the head 84H moves in a direction away from the nut 88N upward and contacts the second reference surface 64AF around the adjustment hole 64Ah. When the adjustment screw 84 is further rotated in the loosening direction, the nut 88N is pushed downward away from the second reference surface 64AF. As a result, the sensor support portion 88 is displaced so as to lower the tip portion where the nut 88N is provided, and the sensor component 70 approaches a horizontal posture.

[0086] At this time, the bracket 86 can be easily bent around the bent portions, that is, the bent portion at the boundary between the support plate portion 87a and the connecting plate portion 87b, and the bent portion at the boundary between the sensor support plate portion 87c and the connecting plate portion 87b. Further, since the connecting plate portion 87b is separated from the guide side plate portion 62A, the connecting plate portion 87b can be easily displaced toward the guide side plate portion 62A without being obstructed by the guide side plate portion 62A. It is preferable that the bracket 86 is more easily deformable than the guide side plate portion 62A so that the bracket 86 can be deformed instead of the guide member 60A. For example, when the bracket 86 and the guide side plate portion 62A are formed of metal plate materials of the same type, the bracket 86 may be formed of a thinner metal plate material than the guide side plate portion 62A.

[0087] Further, if the adjustment screw 84 is a truss screw, since the head 84H has a partially spherical surface, it is easy to stably contact the second reference surface 64AF around the adjustment hole 64Ah.

[0088] By adjusting the degree of loosening of the adjustment screw 84, the angle of the sensor component 70 is adjusted so that the detection light L is projected along the designed path. When the angle adjustment of the sensor component 70 is completed, the detection light L from the sensor component 70 is projected in the expected direction.

[0089] Conversely, due to machining errors and mounting errors, as shown in FIG. 8, the portion of the sensor component 70 on the side where the detection light L is projected may be obliquely upward.

[0090] Also in this case, there is a possibility that the detection light Lc deviates from the range of the reflection surface 64Bg, or the reflected light of the detection light Lc travels in a direction deviating from the sensor component 70, making it impossible to detect with the sensor component 70.

[0091] In such a case, insert the tool 90 into the adjustment hole 64Ah and fit it into the groove of the head 84H, and rotate it in the tightening direction of the adjustment screw 84. Then, the tip of the adjustment screw 84 moves in a direction away from the nut 88N downward and contacts the first reference surface 61AF. When the adjustment screw 84 is further rotated in the tightening direction, the nut 88N is pushed upward away from the first reference surface 61AF. As a result, the sensor support portion 88 is displaced so as to raise the tip portion where the nut 88N is provided, and the sensor component 70 approaches a horizontal posture.

[0092] At this time, the bracket 86 can be easily bent around the bent portion in the same manner as described above.

[0093] By adjusting the degree of tightening of the adjustment screw 84, the angle of the sensor component 70 is adjusted so that the detection light L is projected along the designed path. When the angle adjustment of the sensor component 70 is completed, the detection light L from the sensor component 70 is projected in the expected direction.

[0094] <Effects, etc.> According to the sensor support structure 80 configured as described above, by rotating the adjustment screw 84, the mounting angle of the sensor component 70 in the automatic equipment 20 can be easily adjusted.

[0095] In this embodiment, the bracket 86 includes a sensor support portion that supports the sensor component 70. By displacing the sensor support portion 88 in accordance with the rotation of the adjustment screw 84, the mounting angle of the sensor component 70 can be easily changed.

[0096] Further, since the adjustment screw 84 is screwed into the screw hole formed in the sensor support portion 88, the sensor support portion 88 can be directly displaced by the rotation of the adjustment screw 84.

[0097] Since the sensor support portion 88 includes a lock nut 88N, loosening of the adjustment screw 84 due to vibration or the like is suppressed after the angle adjustment of the sensor component 70, and the state after the angle adjustment of the sensor component 70 is easily maintained.

[0098] Further, the sensor support structure 80 includes one or both of the first reference plane 61AF and the second reference plane 64AF. In accordance with the rotation of the adjustment screw 84, the adjustment screw 84 comes into contact with at least one of the first reference plane 61AF and the second reference plane 64AF, so that the sensor support portion 88 is displaced and the angle of the sensor component 70 is adjusted. For this reason, the angle of the sensor component 70 is easily adjusted. For example, the angle of the sensor component 70 can be easily fine-adjusted by the axial movement of the adjustment screw 84 accompanying the rotation of the adjustment screw 84.

[0099] Further, since the adjustment hole 64Ah is formed in the second reference plane 64AF and the extension piece portion 64A on which the second reference plane 64AF is formed, by inserting the tool 90 for adjustment, it is possible to bring the head 84H into contact with the second reference plane 64AF at the periphery of the adjustment hole 64Ah, and the operation of rotating the adjustment screw 84 can be easily performed.

[0100] In addition, if the sensor support structure 80 is configured to include both the first reference plane 61AF and the second reference plane 64AF, it is easy to adjust the angle of the sensor component 70 in both the positive and negative directions by rotating the adjustment screw 84 in the loosening direction or rotating the adjustment screw 84 in the tightening direction.

[0101] In addition, since the sensor component 70 is supported on the downward surface side of the sensor support portion 88, the sensor component 70 can be supported at a low position. Thereby, for example, it is easy to project the detection light L aiming at a portion close to the bottom of the object 10 placed on the mounting plate 52. Thereby, even when the object 10 is a box having a hole, the detection accuracy of the object 10 can be improved.

[0102] In addition, according to this bracket 86, the sensor support portion 88 can be stably tilted around the corner portion that is the boundary between the support plate portion 87a and the connecting plate portion 87b and the corner portion that is the boundary between the connecting plate portion 87b and the sensor support portion 88. Thus, it is easy to stably adjust the angle of the sensor component 70. Note that it is not essential for the bracket 86 to have the above shape, and for example, it may have a shape bent in a U shape.

[0103] In addition, the sensor component 70 is fixed to the bracket 86 by the fixing screw 76. Therefore, the angle of the sensor component 70 can be adjusted by the adjustment screw 84 different from the fixing screw 76 for fixing the sensor component 70.

[0104] In addition, this support structure 80 is incorporated in the moving carrier 40, and the sensor component 70 is supported so that the detection light L of the sensor component 70 passes through the arrangement space of the object 10 supported by the mounting plate 52. Therefore, the presence or absence of the object 10 in the moving carrier 40 can be detected more accurately by using the sensor component 70 whose angle is appropriately adjusted.

[0105] <Supplementary Note> In this embodiment, an example in which the sensor component 70 includes a light emitting unit 72 and a light receiving unit 74 is described. However, a sensor component including a light emitting unit may be supported on the side of the guide member 60A, and a sensor component including a light receiving unit may be supported on the side of the guide member 60B. In this case, the support structure of the sensor component may be applied as a structure for supporting any sensor component.

[0106] In this embodiment, an example in which both the first reference surface 61AF and the second reference surface 64AF are provided is described. However, the support structure 80 may include only one of the first reference surface 61AF and the second reference surface 64AF.

[0107] Further, this support structure 80 may be applied to a location other than the moving carrier 40. For example, it may be applied to the elevating shelf 32, the temporary storage shelf 26, and the shelf board 24.

[0108] Note that the respective configurations described in the above embodiment and each modification can be appropriately combined as long as they do not conflict with each other.

[0109] This specification and the drawings disclose the following aspects.

[0110] A first aspect is a sensor support structure for mounting a sensor component including a light emitting unit that emits detection light on a member to be mounted in automatic equipment, including an adjustment screw, and including an adjustment support mechanism that adjusts the angle of the sensor component with respect to the member to be mounted in accordance with the rotation of the adjustment screw.

[0111] According to this sensor support structure, by rotating the adjustment screw, the mounting angle of the sensor component in the automatic equipment can be easily and finely adjusted.

[0112] The second aspect is the sensor support structure according to the first aspect, wherein the adjustment support mechanism includes a bracket that supports the sensor component with respect to the mounting target member, the bracket includes a sensor support portion that supports the sensor component, and the sensor support portion is displaced in accordance with the rotation of the adjustment screw, and the mounting angle of the sensor component is changed. Thereby, the mounting angle of the sensor component can be changed by the displacement of the sensor support portion in accordance with the rotation of the adjustment screw.

[0113] The third aspect is the sensor support structure according to the second aspect, wherein a screw hole into which the adjustment screw is screwed is formed in the sensor support portion. Thereby, the sensor support portion that supports the sensor component can be directly displaced by the rotation of the adjustment screw.

[0114] The fourth aspect is the sensor support structure according to the third aspect, wherein the sensor support portion includes a lock nut in which the screw hole is formed. Thereby, loosening due to vibration or the like is suppressed, and it is easy to maintain the state after the angle adjustment of the sensor component.

[0115] The fifth aspect is the sensor support structure according to any one of the second to fourth aspects, including one or both of a first reference surface facing the tip of the adjustment screw and a second reference surface facing the head of the adjustment screw, and in accordance with the rotation of the adjustment screw, the tip of the adjustment screw contacts the first reference surface, or the head of the adjustment screw abuts against the second reference surface, so that the sensor support portion is displaced and the angle of the sensor component is adjusted. Thereby, the angle of the sensor component can be adjusted by the tip of the adjustment screw contacting the first reference surface or the head of the adjustment screw abutting against the second reference surface.

[0116] The sixth aspect is the sensor support structure according to the fifth aspect, which includes the second reference plane, and an adjustment hole that is smaller than the maximum diameter of the head and into which a tool for rotating the adjustment screw can be inserted is formed in the second reference plane. Thereby, by inserting the tool into the adjustment hole, it is possible to bring the head into contact with the second reference plane at the periphery of the adjustment hole, and the operation of rotating the adjustment screw can be easily performed.

[0117] The seventh aspect is the sensor support structure according to the fifth or sixth aspect, which includes both the first reference plane and the second reference plane. Thereby, it is easy to adjust the angle of the sensor component in both the ± directions.

[0118] The eighth aspect is the sensor support structure according to any one of the second to seventh aspects, wherein the sensor support portion is supported at a position below the support portion of the bracket on the attachment target member and in a posture closer to the horizontal posture than the vertical direction, and the sensor component is supported on the downward-facing surface side of the sensor support portion. Thereby, the sensor component can be supported at a low position.

[0119] The ninth aspect is the sensor support structure according to any one of the second to eighth aspects, wherein the bracket includes a support plate portion supported by the attachment target member, a connecting plate portion extending downward from one side portion of the support plate portion, and the sensor support portion extending in a direction intersecting the connecting plate portion from the lower end portion of the connecting plate portion. Thereby, the sensor support portion can be stably tilted around the corner portion that is the boundary between the support plate portion and the connecting plate portion and the corner portion that is the boundary between the connecting plate portion and the sensor support portion, and thus, it is easy to stably adjust the angle of the sensor component.

[0120] The tenth aspect is the sensor support structure according to any one of the second to ninth aspects, which includes a fixing screw for fixing the sensor component to the bracket. Thereby, the angle of the sensor component can be adjusted by an adjustment screw different from the fixing screw for fixing the sensor component.

[0121] The 11th aspect is the sensor support structure according to any one of the 1st to 10th aspects, wherein the automatic equipment includes a moving carrier for moving an object along the horizontal direction, and the moving carrier includes an object support portion for supporting the object and a pair of arms for taking in and out the object between the inside and the outside of the object support portion, and the sensor component is supported such that the detection light of the sensor component passes through the arrangement space of the object supported by the object support portion. In this case, the presence or absence of an object in the moving carrier can be detected more accurately by using a sensor component that is appropriately angle-adjusted.

[0122] The above descriptions are illustrative in all aspects, and the present invention is not limited thereto. Innumerable modifications not illustrated can be assumed without departing from the scope of the present invention.

Explanation of Signs

[0123] 10 Object 20 Automatic Equipment 40 Moving Carrier 50 Object Transfer Device 52 Mounting Plate 54 Retractable Arm 60A, 60B Guide Member 61A Bottom Plate Portion 61AF First Reference Plane 62A Guide Side Plate Portion 63A Ceiling Plate Portion 64A Extension Piece Portion 64AF Second Reference Plane 64Ah Adjustment Hole 70 Sensor Component 72 Light Emitting Portion 76 Fixing Screw 80 Sensor Support Structure 82 Adjustment Support Mechanism 84 Adjustment Screw 84H Head 86 Bracket 87 Bracket Body 87a Support Plate Portion 87b Connecting Plate Portion 87c Sensor Support Plate Portion 87ch screw insertion hole 88 sensor support part 88N nut 88h1 screw hole 90 tool L detection light

Claims

1. A sensor support structure for mounting a sensor component including a light emitting portion that emits detection light on a member to be mounted in an automatic device, comprising an adjustment screw and an adjustment support mechanism that adjusts the angle of the sensor component with respect to the member to be mounted in accordance with the rotation of the adjustment screw, wherein the adjustment support mechanism includes a bracket that supports the sensor component with respect to the member to be mounted, the bracket includes a sensor support portion that supports the sensor component, the sensor support portion is displaced in accordance with the rotation of the adjustment screw, and the mounting angle of the sensor component is changed, a reference surface on the head side facing the head of the adjustment screw is provided, and the sensor support structure is configured such that, in accordance with the rotation of the adjustment screw, the head of the adjustment screw abuts against the reference surface on the head side, so that the sensor support portion is displaced and the angle of the sensor component is adjusted.

2. The sensor support structure according to claim 1, further comprising a reference surface on the tip side facing the tip of the adjustment screw, and the sensor support structure is configured such that, in accordance with the rotation of the adjustment screw, the tip of the adjustment screw contacts the reference surface on the tip side, so that the sensor support portion is displaced and the angle of the sensor component is adjusted.

3. The sensor support structure according to claim 1 or claim 2, wherein a screw hole into which the adjustment screw is screwed is formed in the sensor support portion.

4. The sensor support structure according to claim 3, wherein the sensor support portion includes a lock nut in which the screw hole is formed.

5. The sensor support structure according to any one of claims 1 to 4, wherein an adjustment hole that is smaller than the maximum diameter of the head and into which a tool for rotating the adjustment screw can be inserted is formed in the reference surface on the head side.

6. The sensor support structure according to any one of claims 1 to 5, wherein the sensor support portion is supported at a position below the support portion of the bracket on the member to be mounted and in a posture closer to a horizontal posture than a vertical posture, and the sensor component is supported on the downward surface side of the sensor support portion.

7. The sensor support structure according to any one of claims 1 to 6, The bracket includes a support plate portion supported by the attachment target member, a connecting plate portion extending downward from one side portion of the support plate portion, and the sensor support portion extending in a direction intersecting the connecting plate portion from the lower end portion of the connecting plate portion, and is a sensor support structure.

8. A sensor support structure according to any one of Claims 1 to 7, The sensor support structure includes fixing screws for fixing the sensor component to the bracket.

9. A sensor support structure according to any one of Claims 1 to 8, The automatic equipment includes a moving carrier for moving an object along a horizontal direction, The moving carrier includes an object support portion for supporting the object, and a pair of arms for taking the object in and out between the inside and the outside of the object support portion, The sensor support structure is such that the sensor component is supported so that the detection light of the sensor component passes through the arrangement space of the object supported by the object support portion.

Images