Conveying equipment and storage equipment

Abstract

[Problem] To reduce the thickness of a transfer mechanism in the vertical direction. [Solution] A conveyance device 1 includes: a travel cart 5; a mast 6 erected on the travel cart 5; and a transfer mechanism 4 that is disposed on the mast 6 and transfers an object OB. The transfer mechanism 4 includes: a base 20 that moves vertically along the mast 6; a first arm 21 rotatably supported by the base 20; a second arm 22 rotatably supported by the first arm 21; an object holding part 23 that holds the object OB and is supported by the second arm 22; a first driving part 31 that rotates the first arm 21; and a second driving part 32 that rotates the second arm 22. The rotational center P2 of the second arm 22 is at, relative to the first arm 21, a first end 21a of the first arm 21. The second driving part 32 is provided on a second end 21b of the first arm 21 on an upper surface 21c of the first arm 21, at a position separated from a rotational orbit R2 of the second arm 22.

Description

Technical Field

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

Background Art

[0002] There is known a storage device that stores articles on shelves arranged in a plurality in the vertical and horizontal directions. This storage device includes a conveying device for transferring articles. For example, a stacker crane is used as this conveying device, and it includes a traveling carriage that travels along the shelves, a mast erected on the traveling carriage, and a transfer mechanism arranged on the mast for transferring articles. The transfer mechanism includes a base that moves up and down along the mast, a first arm rotatably supported by the base, a second arm rotatably supported by the first arm, and an article holding part rotatably supported by the second arm (see, for example, Patent Document 1). In this stacker crane, in the transfer mechanism, a first drive part for rotationally driving the first arm and a second drive part for rotationally driving the second arm are provided in a state of protruding downward from the base, respectively.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In configurations where the first and second drive units protrude downward from the base, the transfer mechanism becomes larger in the vertical direction, making it difficult to position the lowest shelf at a low level, thus reducing the efficiency of storing goods. Alternatively, the second drive unit could be positioned on the first arm. In this case, if the second drive unit hangs down from the underside of the first arm, it interferes with the base when the first arm rotates, restricting the rotation range of the first arm, which is undesirable. Similarly, if the second drive unit protrudes from the upper surface of the first arm, it interferes with the second arm, which is also undesirable. Thus, when the second drive unit is positioned on the first arm, in order to avoid interference between the second drive unit and the base, or between the second drive unit and the first arm, it is necessary to increase the vertical distance between the base and the first arm, and between the first arm and the second arm. As a result, the transfer mechanism becomes larger in the vertical direction, which reduces the efficiency of storing goods.

[0005] The present invention aims to provide a transport device and a storage device that can make the transfer mechanism thinner in the vertical direction. [Means for solving the problem]

[0006] This invention 1 manner It is a conveying device. ru The first aspect The transport device is a mobile trolley. The conveying device of the first embodiment is equipped with the following. , a mast erected on the traction motor The conveying device of the first embodiment is equipped with the following. A transfer machine mounted on the mast to move goods. Structure Preparation The first aspect The transfer mechanism is a base that moves up and down along the mast. The transfer mechanism of the first embodiment is , a first arm rotatably supported on a base The transfer mechanism of the first embodiment is , a second arm rotatably supported by the first arm The transfer mechanism of the first embodiment is , an article holding part that holds an article and is supported by a second arm The transfer mechanism of the first embodiment is , First drive unit that rotates the first arm The transfer mechanism of the first embodiment is , the second drive that rotates the second arm It comprises a part. The first embodiment The rotation center of the second arm is located on the upper surface of the first arm, on one end side as viewed from the rotation center of the first arm. The first aspect The second drive unit is located on the upper surface of the first arm. , where at least a portion of the height position overlaps with the height position of the second arm, The other end of the first arm as seen from its center of rotation. of It is positioned outside the rotational trajectory of the second arm. A second aspect of the present invention is a conveying device. The conveying device of the second aspect comprises a traveling trolley. The conveying device of the second aspect comprises a mast erected on the traveling trolley. The conveying device of the second aspect comprises a transfer mechanism positioned on the mast for transferring articles. The transfer mechanism of the second aspect comprises a base that moves up and down along the mast. The transfer mechanism of the second aspect comprises a first arm rotatably supported on the base. The transfer mechanism of the second aspect comprises a second arm rotatably supported on the first arm. The transfer mechanism of the second aspect comprises an article holding section that holds articles and is supported on the second arm. The transfer mechanism of the second aspect comprises a first drive section that rotates the first arm. The transfer mechanism of the second aspect comprises a second drive section that rotates the second arm. The article holding section of the second aspect comprises a mounting surface on which articles are placed. The rotation center of the second arm in the second aspect is positioned on one end of the first arm as viewed from the rotation center of the first arm. In the second embodiment, the second drive unit is provided on the upper surface of the first arm at a position where the height of the upper surface of the second drive unit is lower than the height of the mounting surface, and at a position outside the rotational trajectory of the second arm on the other end side as viewed from the rotation center of the first arm. The third embodiment of the present invention is a conveying device. The conveying device of the third embodiment includes a traveling trolley. The conveying device of the third embodiment includes a mast erected on the traveling trolley. The conveying device of the third embodiment includes a transfer mechanism arranged on the mast for transferring articles. The transfer mechanism of the third embodiment includes a base that moves up and down along the mast. The transfer mechanism of the third embodiment includes a first arm rotatably supported on the base. The transfer mechanism of the third embodiment includes a second arm rotatably supported on the first arm. The transfer mechanism of the third embodiment includes an article holding part that holds articles and is supported on the second arm. The transfer mechanism of the third embodiment includes a first drive unit that rotates the first arm. The transfer mechanism of the third embodiment includes a second drive unit for rotating the second arm. The transfer mechanism of the third embodiment is located below the first arm and includes a first drive unit and a first reduction gear for reducing the rotation transmitted from the first drive unit to the first arm. The rotation center of the second arm in the third embodiment is located on one end of the first arm as viewed from the rotation center of the first arm. The second drive unit in the third embodiment is located on the upper surface of the first arm, at the other end of the first arm as viewed from the rotation center of the first arm, and is outside the rotation trajectory of the second arm.

[0007] A storage device according to an aspect of the present invention comprises shelves for storing articles and a transport device according to the above aspect for transferring articles between shelves. [Effects of the Invention]

[0008] According to the above embodiment of the transport and storage device, the second drive unit is provided on the first arm at the other end side as viewed from the rotation center of the first arm, and at a position outside the rotation trajectory of the second arm. Therefore, interference with the second drive unit when the second arm rotates can be avoided. As a result, there is no need to increase the vertical distance between the first arm and the second arm, and a transfer mechanism that is thinner in the vertical direction can be realized. In addition, since the second drive unit is provided on the first arm, it is possible to avoid increasing the size of the base compared to the case where the second drive unit is provided on the base.

[0009] Furthermore, in the conveying device according to the above embodiment, the upper surface of the second drive unit may be higher than the lower surface of the second arm. With this configuration, the height positions of the second drive unit and the second arm overlap at least partially, making it possible to make the transfer mechanism thinner. Furthermore, in the conveying device according to the above embodiment, the article holding unit has a mounting surface on which articles are placed, and the upper surface of the second drive unit may be lower than the mounting surface of the article holding unit. With this configuration, interference between the article held on the mounting surface and the second drive unit can be avoided. Furthermore, in the conveying device according to the above embodiment, the second drive unit is housed inside a cover provided on the first arm, and the upper surface of the cover may be lower than the mounting surface. With this configuration, interference between the cover housing the second drive unit and the article held on the mounting surface can be avoided.

[0010] Furthermore, the conveying device according to the above embodiment may be equipped with a second reduction gear near the second drive unit to reduce the rotation transmitted from the second drive unit to the second arm. This configuration prevents the second reduction gear from interfering with the rotation of the second arm. Furthermore, the conveying device according to the above embodiment may be equipped with a first drive unit and a first reduction gear below the first arm to reduce the rotation transmitted from the first drive unit to the first arm. This configuration prevents the first drive unit and the first reduction gear from interfering with the first arm when the first arm rotates. Furthermore, in the conveying device according to the above embodiment, the first drive unit and the first reduction gear may be provided at a position spaced apart from the mast on the base. This configuration reduces the thermal impact on the mast because the first drive unit and the first reduction gear, which are heat sources, are located away from the mast.

[0011] Furthermore, in the conveying device according to the above embodiment, the base may have ribs running vertically between the first drive unit and the mast. This configuration makes it easy to increase the rigidity of the base. Also, in the conveying device according to the above embodiment, the transfer mechanism may be capable of transferring articles to both the left and right sides with respect to the direction of travel of the trolley. This configuration expands the range over which articles can be transferred compared to a configuration in which articles can only be transferred to one side. Also, in the conveying device according to the above embodiment, the article holding unit may rotate relative to the second arm in synchronization with the rotation of the second arm. This configuration allows the article holding unit to be directed in an appropriate direction when the second arm is rotated. [Brief explanation of the drawing]

[0012] [Figure 1] This is a front view showing an example of a transport device and a storage device according to an embodiment. [Figure 2] This is a side view showing an example of a transport device and a storage device according to an embodiment. [Figure 3] This is a front view showing an example of a transfer mechanism. [Figure 4] This is a plan view showing the transfer mechanism with the item positioned above the base. [Figure 5]It is a plan view showing a state where an article is transferred in the transfer mechanism. [Figure 6] In the transfer mechanism, the relationship between the base and the first arm is shown, where (A) is a front view and (B) is a plan view. [Figure 7] It is a plan view showing the relationship between the first arm and the second arm in the transfer mechanism. [Figure 8] It is a front view showing a state where an article is held by the article holding part in the transfer mechanism. [Figure 9] It is a diagram schematically showing the transmission path of the driving force to the first arm, the second arm, and the article holding part. [Figure 10] It is a diagram showing an enlarged part of FIG. 9. [Figure 11] It is a plan view showing another example where an article is arranged above the base in the transfer mechanism. [Figure 12] It is a plan view showing another example of transferring an article in the transfer mechanism. [Figure 13] It is a view of the base seen from the back side.

Mode for Carrying Out the Invention

[0013] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention is not limited to the content described below. Also, in the drawings, for the purpose of explaining the embodiments, the scale is appropriately changed such as enlarging or emphasizing a part, and there may be differences in dimensions or shapes from the actual product. In the following figures, the directions in the figures will be described using the XYZ coordinate system. In this XYZ coordinate system, the vertical direction is the Z direction, one horizontal direction is the X direction, and the direction orthogonal to the X direction is the Y direction. Each of the X direction, Y direction, and Z direction will be described assuming that the direction pointed by the arrow in the figure is the + direction and the direction opposite to the direction pointed by the arrow is the - direction.

[0014] Figure 1 is a front view showing an example of a conveying device 1 and storage device 2 according to this embodiment. Figure 2 is a side view showing an example of a conveying device 1 and storage device 2 according to this embodiment. In this embodiment, the direction of travel of the conveying device 1 is the X direction, and the view of the conveying device 1 and storage device 2 from the Y direction, which is perpendicular to the X direction, is considered the front side. The view of the conveying device 1 and storage device 2 from the Y direction is considered the side side. As shown in Figures 1 and 2, the storage device 2 comprises a conveying device 1 for conveying articles OB and a plurality of shelves 3 for placing and storing articles OB.

[0015] The item OB is, for example, a storage container such as a hoop (FOUP) containing glass substrates, semiconductor wafers, etc. Note that if item OB is a hoop, the weight of item OB may exceed 25 kg depending on the size and number of glass substrates it contains. Note that item OB may be a storage container other than a hoop, such as a reticle case. This embodiment is applicable even when item OB is a heavy object weighing several tens of kilograms.

[0016] The transport device 1 transports items OB and transfers items OB to and from any of the multiple shelves 3. The transport device 1 comprises a transfer mechanism 4, a traveling trolley 5, and a mast 6. Details of the transfer mechanism 4 will be described later. The traveling trolley 5 comprises a base frame 7 and drive wheels 8. The base frame 7 is equipped with a traveling drive unit (not shown), such as an electric motor, for rotationally driving the drive wheels 8. The drive wheels 8 are rotatably mounted on the base frame 7 and are rotationally driven by the traveling drive unit (not shown). The drive wheels 8 roll on rails 9 installed on the floor F. In this embodiment, there is one drive wheel 8, but there may be multiple drive wheels 8, or there may be driven wheels in addition to the drive wheels 8. The rails 9 are laid on the floor F along the X direction. The traveling trolley 5 travels in the X direction by rotationally driving the drive wheels 8 with the traveling drive unit (not shown). That is, the transport device 1 travels along the rails 9 in the +X direction or the -X direction. The traction motor 5 may also be equipped with a pair of rollers 8a on the underside of the base frame 7 that grip the sides of the rail 9. By providing a pair of rollers 8a, it is possible to prevent the drive wheels 8 from falling off the rail 9.

[0017] The mast 6 is erected on the trolley 5. The mast 6 is provided so as to extend upward (in the +Z direction) from the upper surface of the base frame 7. The mast 6 is set to a height that allows, for example, the transfer mechanism 4 to transfer the item OB to the uppermost shelf 3. An upper frame 10 is provided at the upper end of the mast 6. The upper frame 10 is equipped with a pair of rollers 11 on its upper side. The pair of rollers 11 are arranged so as to sandwich the sides of a ceiling rail 12 installed on the ceiling C. The ceiling rail 12 is provided on the ceiling C along the X direction. The rollers 11 are rotated in sync with the drive wheels 8 by a drive device (not shown), causing the upper frame 10, which is the upper end of the mast 6, to move in the direction of travel of the trolley 5. The driving of the drive wheels 8 and the driving of the rollers 11 are controlled by a control device (not shown). Note that the rollers 11 are not limited to drive rollers driven by a drive device, but may also be driven rollers.

[0018] Multiple shelves 3 are arranged in a row along the rail 9 in the X direction and vertical direction (Z direction). Each of the multiple shelves 3 stores an item OB. Each shelf 3 is formed to accommodate an item OB, and a space for accommodating an item OB is formed on the upper surface of each shelf 3. Each shelf 3 is equipped with a notch 3a and pins 3b. The notch 3a is provided to a size that allows the item holding part 23 of the transfer mechanism 4, described later, to pass through in the vertical direction. Three pins 3b are provided on the upper surface of the shelf 3, for example, and by fitting into grooves provided on the bottom surface of the item OB, the item OB placed on the shelf 3 is positioned. Alternatively, instead of pins 3b, positioning guides that guide the side surface of the item OB may be provided. Shelf 3 It separates into left and right, and the left and right Shelf 3 It is also possible that one pin 3b is provided on each of them, and the two pins 3b are used to position the item OB. In this case, the left and right Shelf 3A notch 3a is formed between them, and the article holding section 23 can pass through this notch 3a in the vertical direction. Each shelf 3 may be equipped with a gas supply device that supplies inert gas into the placed article OB. In this embodiment, as shown in Figure 2, a plurality of shelves 3 are shown to be provided on both sides in the Y direction flanking the conveying device 1, but the embodiment is not limited to this configuration. For example, the plurality of shelves 3 may be arranged only on the +Y side or only on the -Y side of the conveying device 1.

[0019] In this embodiment, the transport device 1 is shown in a configuration in which the transfer mechanism 4 is provided on the -X side of a single mast 6. That is, the transfer mechanism 4 is supported by a single mast 6. However, the transport device 1 is not limited to the above configuration. For example, the transfer mechanism 4 may be provided between two masts 6 spaced apart in the X direction, and the transfer mechanism 4 may be supported by the two masts 6. In this embodiment, since the transfer mechanism 4 is provided on a single mast 6, the overall length of the transport device 1 in the X direction can be shortened. As a result, when the transport device 1 accesses the shelf 3 at the furthest -X end or the shelf 3 at the furthest +X end of the multiple shelves 3, it is not necessary to extend the rail 9 in the X direction, thus avoiding an increase in the installation area of ​​the storage device 2.

[0020] Figure 3 is a front view showing an example of the transfer mechanism 4. Figure 3 shows a front view of the transfer mechanism 4 as seen from a direction (Y direction) perpendicular to the travel direction (X direction) of the transport device 1. As shown in Figure 3, the transfer mechanism 4 includes a base 20, a first arm 21, a second arm 22, an article holding part 23, a first drive unit 31, and a second drive unit 32.

[0021] The base 20 is formed in an L shape, having a horizontal portion 20a and a vertical portion 20b extending upward from one end of the horizontal portion 20a. The vertical portion 20b has a +X side The surface is provided with a guided portion 20c that has a concave cross-section and is oriented vertically. The guided portion 20c is the -X of the mast 6 sideIt is provided on the surface and has a convex cross-section that fits into a vertical linear guide 26. The vertical portion 20b is guided vertically along the linear guide 26. That is, the base 20 can be raised and lowered along the mast 6. The transport device 1 is equipped with a lifting device (not shown) for raising and lowering the base 20. By driving this lifting device, the base 20 (transfer mechanism 4) is raised and lowered along the mast 6.

[0022] The lifting device comprises, for example, a drive unit such as an electric motor, a sprocket rotated by the drive unit, and a chain wrapped around the outer circumference of the sprocket. This chain spans from the upper end to the lower end of the mast 6 and moves (or circles) in conjunction with the rotation of the sprocket. The base 20 is connected to the chain and rises or falls along the linear guide 26 in conjunction with the movement of the chain. The lifting device is not limited to the above configuration, and an endless belt may be used instead of a chain. Furthermore, the lifting and lowering of the base 20 is not limited to the use of a chain or belt; for example, a rack gear installed along the mast 6 and a pinion gear installed on the base 20 may be used, and the base 20 may be raised and lowered by rotating the pinion gear. The lifting and lowering operation and height position of the base 20 are controlled by a control device (not shown).

[0023] The first arm 21 is rotatably supported on the upper surface 20d side of the base 20. The first arm 21 is made of a rod-shaped body extending in a linear direction. A first rotation axis 27 extending downward is provided in the longitudinal middle portion (e.g., the center) of the first arm 21. The first arm 21 is connected to the base 20 via the first rotation axis 27. The first arm 21 is rotatable about the first rotation axis 27 relative to the base 20. The vertical direction passing through the center of the first rotation axis 27 is the rotation center P1 of the first arm 21. The first arm 21 has a first end 21a and a second end 21b. In the first arm 21, one end as seen from the rotation center P1 is the first end 21a, and the other end as seen from the rotation center P1 is the second end 21b.

[0024] The second arm 22 is rotatably supported on the upper surface 21c side of the first arm 21. The second arm 22 is supported at the first end 21a of the first arm 21. The second arm 22 is made of a rod-shaped body extending in the linear direction. The longitudinal dimension of the second arm 22 is shorter than that of the first arm 21. One end of the second arm 22 in the longitudinal direction is the base end 22a, and the other end is the tip end 22b. A second rotation axis 28 extending downward is provided at the base end 22a of the second arm 22. The second arm 22 is connected to the first arm 21 via the second rotation axis 28. The second arm 22 is rotatable relative to the first arm 21 about the second rotation axis 28. The vertical direction passing through the center of the second rotation axis 28 is the rotation center P2 of the second arm 22. The rotation center P2 of the second arm 22 is located on the upper surface 21c of the first arm 21, on the side of the first end 21a as viewed from the rotation center P1 of the first arm 21.

[0025] The first arm 21 and the second arm 22 can be positioned at any location within a predetermined range by their respective rotation angles, which determines the position of the tip portion 22b of the second arm 22. This predetermined range is defined by the lengths of the first arm 21 and the second arm 22, and their respective rotation angles. Furthermore, the first arm 21 and the second arm 22 can control the direction of movement of the tip portion 22b of the second arm 22 by synchronously driving the respective drive units described later.

[0026] The article holding part 23 is rotatably supported on the upper surface 22c side of the second arm 22. It is supported at the tip 22b of the second arm 22. The article holding part 23 uses a plate-like body on which the article OB can be placed. The article holding part 23 has a mounting surface 23a on its upper side. The article holding part 23 supports the lower surface of the article OB on the mounting surface 23a. For example, three pins 23b are provided on the mounting surface 23a of the article holding part 23. The article OB can be positioned by the pins 23b fitting into grooves provided on the bottom surface of the article OB. The article holding part 23 is provided with a third rotation axis 29 extending downward. The article holding part 23 is connected to the second arm 22 via the third rotation axis 29. The article holding part 23 is rotatable around the third rotation axis 29 relative to the second arm 22. The vertical direction passing through the center of the third rotation axis 29 is the rotation center P3 of the article holding part 23. The rotation center P3 of the article holding part 23 is located on the upper surface 22c of the second arm 22, on the side of the tip 22b of the second arm 22.

[0027] Furthermore, as shown in Figure 3, the transfer mechanism 4 includes a first drive unit 31 and a second drive unit 32. The first drive unit 31 and the second drive unit 32 are, for example, electric motors. The first drive unit 31 rotates the first arm 21. The first drive unit 31 is positioned on the horizontal portion 20a of the base 20, which is below the first arm 21. The first drive unit 31 is located on the tip side of the first arm 21 as viewed from the rotation center P1, i.e., on the side opposite to the vertical portion 20b, in the horizontal portion 20a of the base 20. The first drive unit 31 may also include a first reduction gear 33, which will be described later.

[0028] The second drive unit 32 rotates the second arm 22. The second drive unit 32 is provided on the first arm 21. The second drive unit 32 is provided on the second end 21b side of the first arm 21 as viewed from the rotation center P1. The second drive unit 32 is positioned so that a portion of it protrudes upward from the upper surface 21c of the first arm 21. The second arm 22 is equipped with a cover 25 to cover the protruding portion of the second drive unit 32. Therefore, the cover 25 is provided so that it protrudes upward from the upper surface 21c of the first arm 21. Note that providing the cover 25 is optional. Therefore, the second arm 22 may be configured without the cover 25. Note that the second drive unit 32 may also be configured to include a second reduction gear 34, which will be described later.

[0029] Next, the operation of the transfer mechanism 4 will be described. Figure 4 is a plan view showing the transfer mechanism 4 with the item OB positioned above the base 20. As shown in Figure 4, by positioning the first arm 21 and the second arm 22 at predetermined angular positions (standby position or item holding position), the item holding section 23 can be positioned above the base 20. At this time, the item holding section 23 is separated from the shelf 3. When the item OB is placed on the mounting surface 23a in this state, the item OB is positioned above the base 20. In the state shown in Figure 4, the transport device 1 is movable in the X direction by the traveling trolley 5, and the transfer mechanism 4 can be raised and lowered.

[0030] Figure 5 is a plan view showing the state in which the item OB is being transferred in the transfer mechanism 4. As shown in Figure 5, by driving the first drive unit 31 and the second drive unit 32 to position the first arm 21 and the second arm 22 at predetermined angular positions (transfer positions), the item holding unit 23 can be inserted above or below the shelf 3. The shelf 3 is provided with a notch 3a through which the item holding unit 23 can pass vertically. When transferring item OB to the shelf 3, the item holding unit 23 is positioned higher than the shelf 3, and by lowering the item holding unit 23 (transfer mechanism 4) in this state, the item OB is transferred from the item holding unit 23 to the shelf 3. After the item OB is placed on the shelf 3, the operation of transferring the item OB to the shelf 3 is completed by returning the item holding unit 23 to the position shown in Figure 4 (standby position).

[0031] Furthermore, when receiving item OB from shelf 3, the item holding unit 23 is positioned lower than shelf 3 on which item OB is placed. By raising the item holding unit 23 (transfer mechanism 4) in this position, item OB is transferred from shelf 3 to item holding unit 23. After item OB is placed on item holding unit 23, the item holding unit 23 is returned to the position shown in Figure 4 (item holding position), completing the item OB receiving operation by the transfer mechanism 4.

[0032] As described above, when transferring goods OB using the transfer mechanism 4, the operation of the first arm 21 and the second arm 22 will be explained. Figure 6 shows the relationship between the base 20 and the first arm 21 in the transfer mechanism 4, where (A) is a front view and (B) is a top view. In Figure 6, some components are omitted for the sake of clarity. As shown in Figure 6(A), the second drive unit 32 is housed inside the cover 25 of the first arm 21. The cover 25 is positioned on the upper surface 21c of the first arm 21 and protrudes upward relative to the first arm 21. On the other hand, the second drive unit 32 is positioned so as not to protrude downward relative to the first arm 21, and no cover 25 or the like is provided on the lower side of the first arm 21. In other words, there is no part that protrudes on the lower side of the first arm 21.

[0033] Therefore, as shown in Figure 6(B), the second drive unit 32 does not interfere with the base 20 regardless of whether the first arm 21 rotates clockwise or counterclockwise on the plane of the paper around the rotation center P1. As a result, the rotation range of the first arm 21 is not restricted, and the first arm 21 can be rotated to any angular position.

[0034] Figure 7 is a plan view showing the relationship between the first arm 21 and the second arm 22 in the transfer mechanism 4. In Figure 7, some components are omitted for ease of explanation. As shown in Figure 7, the rotation center P2 of the second arm 22 is located on the first end 21a side of the first arm 21 as viewed from the rotation center P1 of the first arm 21. The second drive unit 32 is located on the second end 21b side of the first arm 21 as viewed from the rotation center P1 of the first arm 21. Furthermore, the length of the second arm 22 from the base end 22a to the tip end 22b is such that it does not reach the cover 25 (or the second drive unit 32 if there is no cover 25). In other words, there is a distance L1 between the cover 25 and the tip end 22b of the second arm 22.

[0035] Therefore, as shown in Figure 7, the second arm 22 does not interfere with the second drive unit 32 regardless of whether it rotates clockwise or counterclockwise on the plane of the paper around the rotation center P2. As a result, the rotation range of the second arm 22 is not restricted, and the second arm 22 can be rotated to any angular position. The distance L1 can be set arbitrarily, as long as the tip 22b of the second arm 22 does not reach the cover 25 (or the second drive unit 32 if there is no cover 25).

[0036] Figure 8 is a front view showing the transfer mechanism 4 with the item OB held by the item holding section 23. As shown in Figure 8, the upper surface 25a of the cover 25 (or the upper surface 32c of the second drive section 32 if the cover 25 is absent) is set higher than the lower surface 22d of the second arm 22. In other words, the heights of the cover 25 (second drive section 32) and the second arm 22 overlap in at least a portion. This makes it possible to make the transfer mechanism 4 thinner.

[0037] Furthermore, the upper surface 25a of the cover 25 is positioned lower than the mounting surface 23a of the article holding unit 23. Specifically, the upper surface 25a of the cover 25 is positioned at a distance L2 below the mounting surface 23a of the article holding unit 23. Therefore, even when the first arm 21 and the second arm 22 are rotated with the article OB placed on the article holding unit 23, interference between the article OB and the cover 25 is avoided. Thus, the rotation angles of the first arm 21 and the second arm 22 can be arbitrarily set with the article OB placed on the article holding unit 23. Note that even without the cover 25, the upper surface 32c of the second drive unit 32 is positioned at a distance L2 or more lower than the mounting surface 23a. Therefore, similarly to the above, interference between the article OB and the second drive unit 32 is avoided, so the rotation angles of the first arm 21 and the second arm 22 can be arbitrarily set with the article OB placed on the article holding unit 23.

[0038] Next, the drive systems (driving force transmission paths) for rotating the first arm 21, the second arm 22, and the article holding section 23 will be described. Figure 9 is a schematic diagram showing the driving force transmission paths for the first arm 21, the second arm 22, and the article holding section 23. Figure 10 is an enlarged view of a part of Figure 9. In Figures 9 and 10, some components are omitted for the sake of clarity.

[0039] First, the drive system of the first arm 21 will be described. The first drive unit 31 includes, for example, an electric motor and an encoder that detects the rotation of the electric motor. The electric motor used is one that generates the torque necessary to rotate the first arm 21. The first drive unit 31 rotates the first arm 21 via the first reduction gear 33, causing the first arm 21 to rotate relative to the base 20. The rotation of the first drive unit 31 is controlled by a control device (not shown). This control device servo-controls the electric motor using the detection result of the encoder. The control device may be the same as the control device that controls the travel drive unit of the travel carriage 5, or it may be a different control device.

[0040] The output of the first drive unit 31 is transmitted to the first rotating shaft 27. The output shaft 31a of the first drive unit 31 is provided so as to protrude downward from the first drive unit 31. A pulley 31b is provided on the output shaft 31a. A pulley 27a is provided on the first rotating shaft 27. The first rotating shaft 27 is rotatably supported on the first arm 21. An endless transmission belt 35 is stretched between pulleys 31b and 27a, and the rotation of pulley 31b is transmitted to pulley 27a via the transmission belt 35. A first reduction gear 33 is provided on the first rotating shaft 27. The first reduction gear 33 reduces the rotation of pulley 27a and transmits it to the rotation of the first arm 21. By providing the first reduction gear 33 on the first rotating shaft 27, space can be saved in the upward direction compared to stacking the first drive unit 31 and the first reduction gear 33 vertically, and as a result, the base 20 can be made thinner in the vertical direction.

[0041] The first drive unit 31 and the first reduction gear 33 are positioned below the first arm 21. This configuration prevents interference between the first drive unit 31 and the first reduction gear 33 and the first arm 21 when the first arm 21 rotates. Furthermore, the first drive unit 31 and the first reduction gear 33 are positioned on the base 20 at a distance from the mast 6. With this configuration, the first drive unit 31 and the first reduction gear 33, which are heat sources, are separated from the mast 6, thus reducing the thermal impact on the linear guide 26 of the mast 6, the guided portion 20c of the base 20, etc.

[0042] When the first drive unit 31 is driven, the output shaft 31a is reduced in speed by the first reduction gear 33 and rotated. The pulley 31b rotates together with the output shaft 31a, causing the transmission belt 35 to move (circumferentially). This movement of the transmission belt 35 rotates the pulley 27a, which in turn rotates the first rotating shaft 27, which is integrated with the pulley 27a. As a result, the first arm 21, which is integrated with the first rotating shaft 27, rotates around the axis of rotation center P1 relative to the base 20. The rotational position of the first arm 21 can be maintained by servo control of the first drive unit 31 (electric motor).

[0043] The amount of rotation of pulley 27a relative to the amount of rotation of pulley 31b is set by the ratio of the diameters of pulley 31b and pulley 27a. Therefore, by making the diameter of pulley 27a larger than the diameter of pulley 31b, the rotation of pulley 31b can be reduced and transmitted to the rotation of pulley 27a. For this reason, as shown in Figure 9, instead of providing a first reduction gear 33 in the first drive unit 31, it is possible to make it function as a reduction gear by appropriately setting the diameters of pulley 31b and pulley 27a. Alternatively, sprockets may be used instead of pulleys 31b and pulley 27a, and an endless chain may be used instead of the transmission belt 35.

[0044] Next, the drive system for the second arm 22 will be described. The second drive unit 32, like the first drive unit 31, includes, for example, an electric motor and an encoder for detecting the rotation of the electric motor. The electric motor used is one that generates the torque necessary to rotate the second arm 22. The electric motor of the first drive unit 31 and the electric motor of the second drive unit 32 may be the same or different. The second drive unit 32 rotates the second arm 22 via the second reduction gear 34, causing the second arm 22 to rotate relative to the first arm 21. The rotation of the second drive unit 32 is controlled by the control device (not shown) described above. The control device servo-controls the electric motor using the detection result of the encoder, as described above.

[0045] The output of the second drive unit 32 is output to the output shaft 32a in a reduced state via the second reduction gear 34. The second reduction gear 34 reduces the rotation transmitted from the second drive unit 32 to the output shaft 32a. The second reduction gear 34 is positioned near the second drive unit 32. This configuration prevents the second reduction gear 34 from interfering with the second arm 22, allowing the second arm 22 to rotate without hindrance.

[0046] The output shaft 32a is provided in a manner that protrudes downward from the second reduction gear 34. A pulley 32b is provided on the output shaft 32a. A pulley 28a is provided on the second rotating shaft 28. The second rotating shaft 28 is rotatably supported by the first arm 21. An endless transmission belt 36 is stretched between pulleys 32b and 28a, and the rotation of pulley 32b is transmitted to pulley 28a via the transmission belt 35.

[0047] When the second drive unit 32 is driven, the output shaft 32a is reduced in speed by the second reduction gear 34 and rotated. The pulley 32b rotates together with the output shaft 32a, causing the transmission belt 36 to move (circumferentially). This movement of the transmission belt 36 rotates the pulley 28a, which in turn rotates the second rotating shaft 28, which is integrated with the pulley 28a. As a result, the second arm 22, which is integrated with the second rotating shaft 28, rotates around the axis of rotation center P2 relative to the first arm 21. The rotational position of the second arm 22 can be maintained by servo control of the second drive unit 32 (electric motor). The driving timing of the second drive unit 32 may be simultaneous with the driving timing of the first drive unit 31, or it may be at a different timing.

[0048] The amount of rotation of pulley 28a relative to the amount of rotation of pulley 32b is set by the ratio of the diameters of pulley 32b and pulley 28a. Therefore, by making the diameter of pulley 28a larger than the diameter of pulley 32b, the rotation of pulley 32b can be reduced and transmitted to the rotation of pulley 28a. For this reason, as shown in Figure 9, instead of providing a second reduction gear 34 in the second drive unit 32, it is possible to make it function as a reduction gear by appropriately setting the diameters of pulley 32b and pulley 28a. In addition, a sprocket may be used instead of pulley 32b and pulley 28a, and an endless chain may be used instead of the transmission belt 36.

[0049] Next, the drive system of the article holding section 23 will be described. As shown in Figures 9 and 10, the second rotating shaft 28 is formed in a cylindrical shape. Inside the second rotating shaft 28, a support shaft 37 is provided, inserted through the second rotating shaft 28. The support shaft 37 is fixed to the first arm 21 so as not to rotate around the axis of the rotation center P2. In other words, even if the second rotating shaft 28 rotates relative to the first arm 21, the support shaft 37 is configured not to rotate relative to the first arm 21.

[0050] A pulley 37a is provided at the upper end of the support shaft 37. The pulley 37a is positioned within the second arm 22. A pulley 29a is provided on the third rotating shaft 29, which is integrated with the article holding part 23. The third rotating shaft 29 is rotatably supported in the second arm 22. An endless transmission belt 38 is stretched between pulley 37a and pulley 29a, and the rotation of pulley 37a is transmitted to pulley 29a via the transmission belt 38.

[0051] When the second drive unit 32 is driven to rotate the second arm 22, as described above, the second arm 22 and the second rotating shaft 28 rotate around the axis of the rotation center P2 relative to the first arm 21. At this time, since the support shaft 37 is fixed to the first arm 21, the support shaft 37 and the pulley 37a rotate relative to the second arm 22. That is, when the second arm 22 rotates, the second rotating shaft 28 and the support shaft 37 rotate relative to each other. The rotation of the pulley 37a moves (circumferentially moves) the transmission belt 38, causing the pulley 29a and the third rotating shaft 29 to rotate. As a result, the article holding part 23, which is integrated with the third rotating shaft 29, rotates around the axis of the rotation center P3 relative to the second arm 22. In other words, the article holding part 23 rotates relative to the second arm 22 in synchronization with the rotation of the second arm 22.

[0052] The rotational position of the article holding section 23 is maintained by the rotational position of the second arm 22 relative to the first arm 21. The orientation of the article holding section 23 is set such that, when the first arm 21 and the second arm 22 are rotated to the state in which article OB is transferred to the shelf 3, the tip of the article holding section 23 fits into the notch 3a of the shelf 3 in a plan view (see Figure 5). The orientation of the article holding section 23 is set by the rotation ratio of pulley 37a and pulley 29a. The desired rotation ratio of pulley 37a and pulley 29a can be achieved by appropriately setting the diameters of pulley 37a and pulley 29a. In addition, sprockets may be used instead of pulleys 37a and 29a, and an endless chain may be used instead of the transmission belt 38.

[0053] In this embodiment, the above-described configuration is applied to rotate the article holding portion 23 relative to the second arm 22, but the embodiment is not limited to this configuration. A drive unit, such as an electric motor, may be used to rotate the article holding portion 23. In this case, the drive unit (electric motor, etc.) may be positioned on the second end 21b side of the first arm 21, similar to the second drive unit 32, and a configuration may be applied in which the article holding portion 23 is rotated relative to the second arm 22 by rotating the support shaft 37 around the axis of the rotation center P2 using a transmission belt.

[0054] In the above explanation, the case in which the item holding unit 23 is moved in the +Y direction in order to transfer item OB is described, but the same applies when the item holding unit 23 is moved in the -Y direction. That is, even when the shelf 3 is located on the -Y side of the transport device 1 as shown in Figure 2, the operation of the transfer mechanism 4 is the same as described above when transferring item OB to the shelf 3 on the -Y side. Figure 11 is a plan view showing another example in which the item OB is located above the base 20 in the transfer mechanism 4.

[0055] As shown in Figure 11, by positioning the first arm 21 and the second arm 22 at predetermined angular positions (standby position or item holding position), the item holding unit 23 can be positioned above the base 20. At this time, the first arm 21 is rotated 180 degrees from the position shown in Figure 4. The item holding unit 23 is oriented in the -Y direction. The item OB is placed on the mounting surface 23a and positioned above the base 20. In the state shown in Figure 11, the transport device 1 is movable in the X direction by the traveling trolley 5, and the transfer mechanism 4 can be raised and lowered.

[0056] Figure 12 is a plan view showing another example of transferring an item OB in the transfer mechanism 4. As shown in Figure 12, by driving the first drive unit 31 and the second drive unit 32 to set the first arm 21 and the second arm 22 to predetermined angular positions (transfer positions), the item holding unit 23 can be moved in the -Y direction and inserted above or below the shelf 3. The operation of transferring item OB to the shelf 3 is the same as described above with respect to Figures 4 and 5. In this way, the transfer mechanism 4 of this embodiment can transfer item OB to shelves 3 on both the +Y side and the -Y side, respectively.

[0057] Figure 13 is a view of the base 20 from the back side. As shown in Figure 13, in the horizontal portion 20a of the base 20, the first drive unit 31 is provided on the tip side of the horizontal portion 20a (opposite side from the vertical portion 20b). On the other hand, no drive unit or the like is provided on the side of the horizontal portion 20a opposite the first drive unit 31, with the first rotation axis 27 in between. This portion can be left empty to reduce the weight of the base 20, but if the item OB becomes heavy, the rigidity of the base 20 (especially the horizontal portion 20a) may become insufficient.

[0058] Therefore, in the horizontal portion 20a of the base 20, ribs 41 are provided that run vertically between the first drive unit 31 and the mast 6. In this embodiment, multiple ribs 41 are provided in the horizontal portion 20a in the space between the first rotation axis 27 and the vertical portion 20b. The load of the article OB, etc., acts on the first rotation axis 27. Therefore, the ribs 41 are provided so as to extend in the X direction, the Y direction, a combined direction of the X and Y directions, and the curved direction surrounding the first rotation axis 27, taking into consideration the case when a large load acts on the first rotation axis 27. By providing ribs 41 on the base 20, the rigidity of the base 20 can be increased while reducing the weight of the base 20. Note that the form of the ribs 41 shown in Figure 13 is just one example, and the form of the ribs 41 is arbitrary as long as it is possible to increase the rigidity of the base 20.

[0059] Thus, according to this embodiment, the second drive unit 32 is provided on the first arm 21 at the second end 21b side as viewed from the rotation center P1 of the first arm 21, and at a position outside the rotation trajectory R2 of the second arm 22. Therefore, interference with the second drive unit 32 when the second arm 22 rotates can be avoided. As a result, there is no need to increase the vertical distance between the first arm 21 and the second arm 22, and a transfer mechanism 4 that is thinner in the vertical direction can be realized. In addition, since the second drive unit 32 is provided on the first arm 21, an increase in the size of the base 20 can be avoided.

[0060] Although embodiments of the present invention have been described above, the technical scope of the present invention is not limited to the embodiments described above. It will be apparent to those skilled in the art that various modifications or improvements can be made to the embodiments described above. Furthermore, such modified or improved forms are also included in the technical scope of the present invention. One or more of the requirements described in the embodiments described above may be omitted. Also, the requirements described in the embodiments described above can be combined as appropriate. Furthermore, to the extent permitted by law, the disclosures of Japanese Patent Application No. 2022-153344 and all documents cited in the embodiments described above will be referenced as part of the description herein.

[0061] In the embodiments described above, the first drive unit 31 is described as being arranged on the base 20, but the invention is not limited to this configuration. For example, the first drive unit 31 may be provided on the first arm 21. In this case, the first drive unit 31 may be arranged on the second end 21b side of the first arm 21, similar to the second drive unit 32, and housed together with the second drive unit 32 within the cover 25.

[0062] Furthermore, although the above-described embodiment uses a configuration in which the storage device 2 is equipped with one conveying device 1 as an example, the invention is not limited to this configuration. For example, the storage device 2 may be equipped with two or more conveying devices 1. Also, although the above-described embodiment uses a configuration in which the conveying device 1 and the shelves 3 of the storage device 2 are installed on the floor F as an example, the invention is not limited to this configuration. One or both of the conveying device 1 and the shelves 3 may be suspended from the ceiling C. [Explanation of Symbols]

[0063] OB...Goods P1, P2, P3... Centers of rotation 1. Conveying device 2...Storage device 3. Shelf 4...Transfer mechanism 5. Running platform 6. Mast 20... base 21...First Arm 21a...First end (one end) 21b...Second end (the other end) 21c...Top surface 22... Second Arm 22a...Proximal end 22b...Tip 22c...Top surface 22d...Bottom surface 23...article holding section 23a... Mounting surface 25...cover 25a...Top surface 27...First rotation axis 28...Second rotation axis 29...Third rotation axis 27a, 28a, 29a, 31b, 32b, 37a... Pulley 31. First drive unit 32. Second drive unit 32c...Top surface 33...1st reducer 34...Second reducer 35, 36, 38... Transmission belts 41... Ribs

Claims

1. The traction vehicle and A mast erected on the aforementioned traction vehicle, The mast is equipped with a transfer mechanism for transferring articles, The aforementioned transfer mechanism is, A base that moves up and down along the aforementioned mast, A first arm rotatably supported on the base, A second arm rotatably supported by the first arm, An article holding part that holds an article and is supported by the second arm, A first drive unit that rotates the first arm, The system comprises a second drive unit that rotates the second arm, The rotation center of the second arm is located on one end side of the first arm as viewed from the rotation center of the first arm. The conveying device is provided with the second drive unit located on the upper surface of the first arm at a position where at least a portion of its height coincides with the height of the second arm, and at a position outside the rotational trajectory of the second arm on the other end side as viewed from the rotational center of the first arm.

2. A trolley and A mast erected on the aforementioned traction vehicle, The mast is equipped with a transfer mechanism for transferring articles, The aforementioned transfer mechanism is, A base that moves up and down along the aforementioned mast, A first arm rotatably supported on the base, A second arm rotatably supported by the first arm, An article holding part that holds an article and is supported by the second arm, A first drive unit that rotates the first arm, The system comprises a second drive unit that rotates the second arm, The article holding section includes a mounting surface on which an article is placed, The rotation center of the second arm is located on one end side of the first arm as viewed from the rotation center of the first arm. A conveying device in which the second drive unit is provided on the upper surface of the first arm at a position where the height of the upper surface of the second drive unit is lower than the height of the mounting surface described above, and at a position that is off the rotational trajectory of the second arm on the other end side as viewed from the rotation center of the first arm.

3. A trolley and A mast erected on the aforementioned traction vehicle, The mast is equipped with a transfer mechanism for transferring articles, The aforementioned transfer mechanism is, A base that moves up and down along the aforementioned mast, A first arm rotatably supported on the base, A second arm rotatably supported by the first arm, An article holding part that holds an article and is supported by the second arm, A first drive unit that rotates the first arm, A second drive unit that rotates the second arm, The first arm is provided below the first arm and comprises a first drive unit and a first reduction gear that reduces the rotation transmitted from the first drive unit to the first arm, The rotation center of the second arm is located on one end side of the first arm as viewed from the rotation center of the first arm. The conveying device is provided with the second drive unit located on the upper surface of the first arm, at a position off the rotational trajectory of the second arm on the other end side as viewed from the rotational center of the first arm.

4. The conveying device according to claim 1, wherein the upper surface of the second drive unit is higher than the lower surface of the second arm.

5. The second drive unit is housed inside the cover provided on the first arm. The conveying device according to claim 2, wherein the upper surface of the cover is lower than the previously described mounting surface.

6. The conveying device according to claim 1, further comprising a second reduction gear provided near the second drive unit for reducing the rotation transmitted from the second drive unit to the second arm.

7. The conveying device according to claim 3, wherein the first drive unit and the first reduction gear are provided on the base at a position spaced apart from the mast.

8. The conveying device according to claim 7, wherein the base is provided with ribs running vertically between the first drive unit and the mast.

9. The transport device according to claim 1, wherein the transfer mechanism is capable of transferring articles to both the left and right sides with respect to the direction of travel of the transport trolley.

10. The conveying device according to claim 1, wherein the article holding part rotates relative to the second arm in synchronization with the rotation of the second arm.

11. Shelves for storing items, A storage device comprising a conveying device according to any one of claims 1 to 10 for transferring articles between the aforementioned shelves.

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