Conveyor

Abstract

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

Description

[Technical Field]

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

[0002] In a factory or the like, for example, a traveling cart having a lifting mechanism for raising and lowering the held article and a turning mechanism for turning the held article is sometimes used as a transport device for delivering articles between stations or racks. Patent Document 1 discloses a transport robot equipped with a traveling motor, a turning motor, and a lifting motor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-109256 Summary of the Invention [Problem to be solved by the invention]

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

[0005] In order to solve the above problems, one aspect of the present invention provides a conveying device comprising a lifting and swivel platform for lifting and rotating an object to be conveyed placed thereon, a carriage on which the lifting and swivel platform is mounted, a travel motor for providing driving force for running the carriage, a lifting motor for providing driving force for moving the lifting and swivel platform in the lifting and swivel direction relative to the carriage, and a swivel motor for providing driving force for swiveling the lifting and swivel platform relative to the carriage, wherein the travel motor and the lifting motor have their respective rotation axes horizontal and in the same direction, and are arranged so that their rotation axes are aligned axially in a planar view, and the swivel motor has its rotation axis located at a different position from the swivel axis of the lifting and swivel platform, and is arranged so that the travel motor and the lifting motor do not overlap in a planar view. [Effects of the Invention]

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

[0007] [Figure 1] 1 is a perspective view showing a conveying device according to an embodiment of the present invention; [Figure 2] FIG. 4 is a perspective view of the transport device as seen from another angle. [Figure 3] FIG. 10 is a perspective view of the transport device as seen from still another angle. [Figure 4] FIG. [Figure 5] FIG. 2 is a diagram showing a state in which the lifting and rotating platform in FIG. 1 is lowered. DETAILED DESCRIPTION OF THE INVENTION

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

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

[0010] (Transportation device) 2 and 3 are perspective views of the transport device 1 as viewed from an angle different from that of FIG. 1. FIG. 4 is a top view of the transport device 1, showing the transport device 1 without the lifting and swivel base 2. FIG. 5 is a view showing the state in FIG. 1 where the lifting and swivel base 2 has been lowered. The transport device 1 will be described with reference to FIGS. 1 to 5.

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

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

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

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

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

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

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

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

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

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

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

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

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

[0024] 1 and 2, the travel motor 10 and the lift motor 20 are arranged so that their respective rotation axes 11 and 21 are horizontal and in the same direction on the upper surface of the carriage support part 41. Specifically, the travel motor 10 and the lift motor 20 are arranged so that their respective rotation axes 11 and 21 are oriented in the axial direction D2 (Y-axis direction). This allows the height of the transport device 1 to be reduced compared to, for example, a case where the rotation axis 21 of the lift motor 20 is arranged vertically, and the center of gravity of the transport device 1 can be prevented from becoming high.

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

[0026] As a result, the travel motor 10 and the lift motor 20 do not overlap in the vertical direction, thereby reducing the size of the conveyance device 1 in the vertical direction. The travel motor 10 moves the entire cart 4 together with the object to be conveyed, and the lift motor 20 lifts the lift swivel platform 2 and other components together with the object to be conveyed. Therefore, depending on the weight of the object to be conveyed, each motor may require a large driving force. In such cases, each motor becomes large for a component used in the cart 4, and the weight of each motor also increases. In contrast, because the travel motor 10 and the lift motor 20 are arranged as described above in the conveyance device 1, even large motors with high driving force for the travel motor 10 and the lift motor 20 can be mounted compactly in the conveyance device 1. Furthermore, because the lift shaft 3 can be positioned in the center of the conveyance device 1, stability is improved when the lift swivel platform 2 ascends and descends.

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

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

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

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

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

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

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

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

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

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

[0037] Because the rotation axis 31 of the swivel motor 30 is located at a different position from the rotation axis 8 of the lifting and swivel platform 2, the swivel motor 30 can be positioned so that it does not overlap with the travel motor 10 and the lifting and swivel motor 20 in a plan view. This makes it possible to reduce the size of the transport device 1 in the vertical direction. Furthermore, because the rotation axis 31 of the swivel motor 30 is positioned parallel to the rotation axis 8 of the lifting and swivel platform 2, the driving force of the swivel motor 30 can be transmitted to the lifting and swivel platform 2 efficiently.

[0038] (Drive circuit) 1, the traveling drive circuit 12, the lifting drive circuit 22, and the turning drive circuit 32 are arranged side by side in this order from the front side in the traveling direction D1 to the rear side in the traveling direction D1 on the upper surface of the carriage support part 41. This allows the wiring distance to be shorter than when each drive circuit is arranged somewhere other than the conveyance device 1.

[0039] Furthermore, in a plan view, the travel drive circuit 12, the lift drive circuit 22, and the swing drive circuit 32 are arranged on the opposite side of the line on which the travel motor 10 and the lift motor 20 are aligned from the side on which the swing motor 30 is arranged. Specifically, the swing motor 30 is arranged on the front side of the line on which the travel motor 10 and the lift motor 20 are aligned in the direction of travel D1, and the drive circuits are arranged on the rear side of the line on which the travel motor 10 and the lift motor 20 are aligned in the direction of travel D1. This improves balance between one side (the front side in the direction of travel D1) and the other side (the rear side in the direction of travel D1) in the axial direction D2 of the rotation shafts 11 and 21 of the travel motor 10 and the lift motor 20, resulting in stable travel performance.

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

[0041] By using two sets of guide units 50 instead of one set, the thickness of the guide units 50 can be reduced. This allows the swivel motor 30 to be placed between the two sets of guide units, thereby shortening the distance between the swivel shaft 8 of the lifting and swivel platform 2 and the rotation shaft 31 of the swivel motor 30 (see Figure 1). In addition, because the guide units 50 can be installed near the lifting and swivel platform 2's lifting and swivel shaft 3, the guide units 50 can support the lifting and swivel shaft 3.

[0042] The guide unit 50 has a guide rail 51 and a block 52. The guide rail 51 is installed in the vertical direction (Z-axis direction), and the third support unit 5C is installed on the block 52 that engages with the guide rail 51. As a result, when the third support unit 5C moves up and down, it is guided by the guide unit 50. As described above, the upper surface of the third support unit 5C is connected to the lower surface of the second support unit 5B. Therefore, when the lifting motor 20 is driven and the lifting shaft 3 moves up, the third support unit 5C, which is guided by the guide unit 50 together with the second support unit 5B, also moves up. Therefore, the lifting swivel platform 2 is also guided by the guide unit 50 via the third support unit 5C and the second support unit 5B.

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

[0044] According to the above configuration, the rotational shafts of the travel motor and the lift motor are horizontally aligned and in the same direction, and the motors are aligned axially. This prevents the travel motor and the lift motor from overlapping vertically, thereby reducing the vertical size. This allows even large travel motors and lift motors with high driving force to be installed in a compact transport device. Furthermore, compared to a case where the rotational shaft of the lift motor is aligned vertically, the height can be reduced, preventing the center of gravity of the transport device from becoming too high.

[0045] Furthermore, the rotational axis of the swivel motor is positioned at a different position from the rotational axis of the lifting platform, and the rotational axis of the swivel motor is positioned so that the travel motor and the lifting motor do not overlap in a plan view. This prevents the rotational motor from overlapping with the travel motor and the lifting motor in the vertical direction, thereby reducing the size in the vertical direction.

[0046] As a result, it is possible to reduce the size of a transport device having three mechanisms: a traveling mechanism, an elevating mechanism, and a turning mechanism.

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

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

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

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

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

[0052] The conveying device (1) according to aspect 5 of the present invention may be such that, in any of aspects 1 to 4 above, the axial direction (D2) of the rotation shaft (11) of the traveling motor (10) and the axial direction (D2) of the rotation shaft (21) of the lifting motor (20) are perpendicular to the traveling direction (D1) of the carriage (4), and the turning motor (30) is arranged in a position spaced apart in the traveling direction (D1) from a line on which the traveling motor (10) and the lifting motor (20) are aligned in a plan view.

[0053] With this configuration, the axial direction of the rotation shaft of the travel motor and the axial direction of the rotation shaft of the lift motor are perpendicular to the traveling direction of the carriage. Therefore, by adjusting the positions of the travel motor and the lift motor relative to the traveling direction, it becomes easier to maintain balance in the direction perpendicular to the traveling direction. This improves the traveling stability of the conveyance device.

[0054] Furthermore, by positioning the rotation motor at a distance in the travel direction from the line on which the travel motor and lifting motor are aligned, the rotation motor can be positioned so that it does not overlap with the travel motor and lifting motor in the vertical direction, thereby reducing the size in the vertical direction.

[0055] A conveying device (1) according to aspect 6 of the present invention is any one of aspects 1 to 5 above, wherein the carriage (4) has a pair of front wheels (42) and a pair of rear wheels (43), and the rotating shaft (11) of the traveling motor (10) and the rotating shaft (21) of the lifting motor (20) may be arranged between the rotating shaft (42a) of the front wheels (42) and the rotating shaft (43a) of the rear wheels (43).

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

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

[0058] 1. Conveyor device 2. Rotating lift platform 4 carts 8 Swivel Axis 10. Traction motor 11 Rotating shaft of the driving motor 12 Driving circuit 20 Lifting motor 21 Rotating shaft of lifting motor 22 Lifting drive circuit 30 Swing motor 31 Rotating shaft of the swing motor 32 Swing drive circuit 42 front wheel 42a Front wheel rotation axis 43 rear wheel 43a Rear wheel rotation axis 50 Guide section

Claims

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

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

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

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

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

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

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