Conveying device

Abstract

To facilitate wiring of a cable to a movable holding part.SOLUTION: A carrier device (carriage main part 100) comprises a link mechanism (130) having a pair of articulated arms (130A and 130B) that horizontally move a holding part (140) back and forth with respect to a link mechanism support (120) and connect the link mechanism support and the holding part. The carrier device is configured such that a cable (160) extends backward in a back / forth moving direction from a part fixed to the holding part, then is folded forward, and is fixed to the link mechanism support and, as it advances, the holding part also moves forward to a folding position (F) of the cable.SELECTED DRAWING: Figure 4

Description

Technical Field

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

Background Art

[0002] There is known a conveying device that mounts and conveys articles on a carriage. The carriage is provided with a holding part having, for example, forks that can project from the carriage body to pick up articles from a storage shelf or the like and place them on the storage shelf or the like, and can move forward and backward from the carriage body. The carriage is also provided with a link mechanism for moving the holding part forward and backward.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In such a conveying device, a sensor is provided in the holding part for the purpose of detecting articles or detecting the posture of the holding part. Therefore, a cable (electric wire) for transmitting a signal to the movable holding part is required. When manufacturing the carriage, it is required to facilitate the wiring of such a cable. One aspect of the present disclosure aims to realize a conveying device that can easily perform the wiring of a cable to a movable holding part.

Means for Solving the Problems

[0005] To solve the above problems, a transport device according to one aspect of the present disclosure comprises a base, a link mechanism support portion provided on the base, a holding portion for holding an object to be transported, a link mechanism for moving the holding portion horizontally forward and backward with respect to the link mechanism support portion, the link mechanism having a pair of articulated arms connecting the link mechanism support portion and the holding portion, and a cable fixed to the holding portion and the link mechanism support portion, wherein the cable extends from a portion fixed to the holding portion in the direction of retraction in the direction of forward movement of the holding portion, then folds back in the direction of forward movement in the direction of forward movement, and is fixed to the link mechanism support portion, and as the holding portion moves forward together with the portion of the cable fixed to the holding portion, the folding position of the cable between the portion fixed to the holding portion and the portion fixed to the link mechanism support portion also moves forward. [Effects of the Invention]

[0006] According to one aspect of this disclosure, a transport device can be realized that allows for easy wiring of cables to a movable holding part. [Brief explanation of the drawing]

[0007] [Figure 1] This figure shows a stacker crane to which the conveying device of the present invention is applied in an embodiment. [Figure 2] This is a perspective view showing the main part of the carriage, which is a transport device according to an embodiment of the present invention. It shows the state in which the holding part is in its most retracted position. [Figure 3] This is a perspective view showing the main part of the carriage, which is a transport device according to an embodiment of the present invention. It shows the state in which the holding part is in its most retracted position. [Figure 4] This is a perspective view showing the main part of the carriage, which is a transport device according to an embodiment of the present invention. It shows the state in which the holding part is in the extended position, which is its furthest forward position. [Figure 5] This is a side view showing the main part of the carriage, which is a transport device according to an embodiment of the present invention. It shows the state in which the holding part is in its most retracted position. [Figure 6] This is a side view showing the main part of the carriage, which is a transport device according to an embodiment of the present invention. It shows the state in which the holding part is in the extended position, which is the furthest forward position. [Figure 7] This is a cross-sectional view showing a cable of a transport device according to an embodiment of the present invention. [Modes for carrying out the invention]

[0008] [Embodiment] <Overview of stacker cranes> Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings. Figure 1 shows a stacker crane 1 as an example of a device to which the present invention is applied. For convenience of explaining Figure 1, the vertical direction, the front-back direction, and the left-right direction are defined as indicated by arrows in the figure. The vertical direction is the vertical direction. The front-back direction and the left-right direction are directions parallel to the horizontal plane and are perpendicular to the vertical direction, respectively. The front-back direction is perpendicular to the left-right direction.

[0009] The stacker crane 1 is a device that transports goods as objects to be transported, traveling along rails laid in the left-right direction. The stacker crane 1 comprises a mast 10, a traveling carriage 20, a carriage 30, and a control box 40. The control box 40 houses a control unit, which is an information processing device that controls each part of the stacker crane 1.

[0010] The trolley 20 has a trolley frame 21 and a trolley motor unit 25. The trolley frame 21 supports wheels 22 that roll on the running rails. The trolley motor unit 25 drives at least some of the wheels 22, causing the stacker crane 1 to move on the running rails under its own power.

[0011] The mast 10 is a vertically extending columnar member erected on the trolley frame 21. The stacker crane 1 is provided with a pair of masts 10, namely a first mast 10A and a second mast 10B. The first mast 10A and the second mast 10B are positioned on the trolley 20 so as to be spaced apart in the left-right direction, i.e., in the direction of travel of the stacker crane 1.

[0012] A carriage 30 is positioned between the first mast 10A and the second mast 10B. Lifting guide rails 11 are provided on each of the opposing sides of the first mast 10A and the second mast 10B to guide the carriage 30 along the mast. An upper frame 14 is provided above the mast 10. The upper frame 14 is provided to connect the upper end of the first mast 10A and the upper end of the second mast 10B.

[0013] Below the mast 10, a lifting motor unit 15 is provided, which is a drive unit for raising and lowering the carriage 30 relative to the mast 10. Wires or belts driven by the lifting motor unit 15 are connected to the frame of the carriage 30, so that the carriage 30 can be raised and lowered along the mast 10.

[0014] The stacker crane 1 has been shown above as an example of a device to which the present invention is applied, but the device to which the present invention is applied is not limited to the stacker crane 1. For example, the device to which the present invention is applied may be a lifter equipped with a carriage 30 as a lifting platform for raising and lowering a mast or frame, etc.

[0015] Furthermore, such a carriage 30 serving as a lifting platform may be considered as a device to which the present invention is applied. Alternatively, a device to which the present invention is applied may be a transport vehicle in which the main part of the carriage 30 (the carriage main part 100 described later) is mounted on a trolley that travels on a predetermined track or travels without tracks.

[0016] <Carriage Main Section: Overview> Figs. 2 to 6 are diagrams showing a carriage main part 100, which is a main part of the carriage 30 and is fixed to the frame of the carriage 30. The carriage main part 100 performs transfer of an article P as an object to be conveyed. As shown in each figure, an XYZ coordinate system is defined such that the Z axis is in the vertical direction and the XY plane is in the horizontal plane.

[0017] The carriage main part 100 is provided with a holding part 140 for picking up (picking), placing (placing), and holding the article P to be conveyed. In the present embodiment, the holding part 140 has a fork 145 protruding in the horizontal direction from a holding part main body 141, and the article P can be held by scooping up the article P placed on a storage shelf or the like with the fork 145.

[0018] However, the method of holding the article by the holding part 140 is not limited to using the fork 145, and known appropriate methods can be applied. The method of holding the article may be, for example, a method by gripping the article, a method by an engagement mechanism, a method of adsorbing the article by magnetic force or vacuum, or the like.

[0019] The carriage main part 100 includes a base part 110, a link mechanism support part 120, a link mechanism 130, a holding part 140, a cable guide 150, and a cable 160. The carriage main part 100 itself that performs transfer of the article P may be regarded as a conveying device corresponding to an embodiment of the present invention. The bottom surface of the base part 110 is substantially a horizontal plane, that is, the main surface of the bottom surface of the base part 110 is parallel to the XY plane. The link mechanism support part 120 is supported by the base part 110 so as to be rotatable around a vertical axis (an axis parallel to the Z axis).

[0020] <Carriage main part: Link mechanism> The link mechanism 130 is supported by the link mechanism support 120. The link mechanism 130 is a mechanism consisting of a pair of articulated arms 130A and 130B that move the holding part 140 horizontally forward and backward relative to the link mechanism support 120. Since the link mechanism support 120 that supports the link mechanism 130 is rotatable relative to the base 110, the carriage 30 in the stacker crane 1 can transfer goods while protruding from the base 110 in both the front and rear directions as shown in Figure 1.

[0021] In Figures 2 to 6, the rotation angle of the link mechanism support 120 relative to the base 110 is fixed and common, and the direction of the forward and backward movement of the holding part 140 is assumed to be parallel to the X-axis. In each figure, the direction in which the holding part 140 moves forward to pick up an item from a storage shelf, etc., is defined as the positive direction in the X-axis direction, and the direction in which the holding part 140 moves backward to hold the item above the base 110 after picking up the item from the storage shelf, etc., is defined as the negative direction in the X-axis direction.

[0022] Figures 2 and 3 are perspective views showing the main carriage section 100 when the holding section 140 is in the retracted position, which is its most retracted position. Figure 4 is a perspective view showing the main carriage section 100 when the holding section 140 is in the extended position, which is its most forward position. Figure 5 is a side view showing the main carriage section 100 when the holding section 140 is in the retracted position, which is its most retracted position. Figure 6 is a side view showing the main carriage section 100 when the holding section 140 is in the extended position, which is its most forward position.

[0023] Each of the articulated arms 130A and 130B has a first arm 131 rotatably connected to a link mechanism support 120, and a second arm 132 rotatably connected to the first arm 131 and the main body 141 of the holding part 140, respectively. The articulated arms 130A and 130B are configured to be mirror-symmetric with respect to a plane parallel to the XZ plane.

[0024] These articulated arms 130A and 130B are a type of robot arm also known as a SCARA (Selective Compliance Assembly Robot Arm). Therefore, the link mechanism 130 that enables the forward and backward movement of the holding part 140 is sometimes referred to as a SCARA-type forward and backward movement mechanism. Compared to such forward and backward movement mechanisms, such as those using forks that move back and forth on rails, this type of SCARA-type movement mechanism has the advantage of generating less dust and scattering grease.

[0025] The opening angle of the pair of first arms 131 of the link mechanism 130 is defined as the angle between the longitudinal directions of each first arm 131, encompassing the negative direction in the X-axis direction as shown in Figure 2, etc. As shown in Figures 2 and 3, the opening angle is minimum when the holding part 140 is in the retracted position, and is an angle of less than 180 degrees. Also, as shown in Figure 4, the opening angle is maximum when the holding part 140 is in the extended position, and is an angle of more than 180 degrees. The opening angle increases as the link mechanism 130 advances the holding part 140 and decreases as it retracts it.

[0026] <Carriage main part: holding part> The holding section 140 includes, in addition to the holding section body 141 and fork 145 described above, a connecting member 142, a cable outlet section 143, and a cable fixing device 144. The connecting member 142 is erected on the holding section body 141 and is a member for fixing the cable outlet section 143 to the holding section body 141.

[0027] Furthermore, as shown in Figures 5 and 6, the connecting member 142 also plays a role in preventing the load of the goods P, which are the objects to be transported by the main carriage section 100, from collapsing. The cable fixing device 144 is a member that fixes the cable 160 at the cable outlet section 143. Sensors (not shown) are appropriately provided on the holding section 140 for purposes such as detecting goods or detecting the posture of the holding section.

[0028] Therefore, a cable 160 fixed to the holding part 140 and the link mechanism support part 120 is provided on the carriage main part 100 for supplying power to the sensor of the holding part 140 or for transmitting signals between it and the sensor, as will be described in detail later. The holding part 140 may also be further provided with a mechanism equipped with power for holding an object, not limited to a sensor. In this case, the cable 160 may be used for supplying power to the mechanism or for transmitting signals between it and the mechanism.

[0029] <Carriage main components: cable, cable guide placement, etc.> The cable 160 is fixed to the holding part 140 at the cable outlet portion 143 of the holding part 140. The cable outlet portion 143 is fixed to the holding part body 141 by a connecting member 142 and guides the cable 160 above the holding part body 141. The cable 160 is fixed to the cable outlet portion 143 by a cable fastener 144 so as to extend in the direction of retraction (negative direction in the X-axis direction) of the holding part 140's forward and backward movement.

[0030] The cable outlet portion 143 is curved so as it moves in the retraction direction (negative direction in the X-axis direction) of the retaining portion 140. Therefore, as shown in Figures 2, 3, and 5, when the retaining portion 140 is in the retracted position, the cable 160 is guided by the cable outlet portion 143 and gradually moves downward (negative direction in the Z-axis direction) as it moves in the retraction direction (negative direction in the X-axis direction) of the retaining portion 140, which is away from the cable fastener 144.

[0031] As the cable moves further away from the cable fastener 144, the cable 160 reverses its direction to the forward direction (positive X-axis direction) of the retaining part 140, without contacting the cable outlet portion 143 or the cable guide 150. That is, the cable 160 is pulled out from the cable outlet portion 143 in the backward direction (negative X-axis direction) of the retaining part 140, then folds back and changes direction to the forward direction (positive X-axis direction) of the retaining part 140. The folding position of the cable 160 in the forward direction (X-axis direction) of the retaining part 140 is indicated by the symbol F in Figure 5.

[0032] The cable 160, folded back in the forward direction of the holding part 140's movement direction, is partially resting on the cable guide 150, which is located below the cable outlet part 143 (in the negative Z-axis direction). As shown in Figures 2, 3, and 5, when the holding part 140 is in the retracted position, the cable 160 folded back at position F is kept horizontal and resting on the cable guide 150 at a point further away from the cable outlet part 143.

[0033] The cable guide 150 is an elongated member extending in the direction of advancement (X-axis direction) of the holding portion 140. The cable guide 150 is fixed to the link mechanism support portion 120 via a connecting member 121. The cable guide 150 is a plate material with a horizontal surface (a surface parallel to the XY plane) as its upper surface, so that the cable 160 can be placed on it so as to be able to move toward and away from it. To prevent the cable 160 from deviating from its position, it is preferable that the plate material of the cable guide 150 is bent upward around the horizontal surface, as shown in Figures 3 and 4. The arrangement of the cable guide 150 will be described later.

[0034] Near the end of the holding portion 140 of the cable guide 150 in the forward direction (positive direction in the X-axis direction), the cable 160 is fixed to the cable guide 150 by a cable fastener 151. From the point where the cable 160 is fixed to the cable outlet portion 143 by the connecting member 142 to the point where it is fixed to the cable guide 150 by the cable fastener 151, the cable 160 is not fixed.

[0035] Therefore, the portion of the cable 160 from the point where it is fixed to the cable outlet 143 by the connecting member 142 to the point where it is fixed to the cable guide 150 by the cable fastener 151 is deformable. When the holding portion 140 is advanced by the link mechanism 130, the portion of the cable 160 fixed to the holding portion 140 also advances together with the holding portion 140 (moving in the positive direction of the X axis).

[0036] As a result, as shown in Figures 4 and 6, a portion of the cable 160 is pulled by the holding portion 140 in the direction from which that portion extends, and the folding position F of the cable 160 moves in the forward direction of the holding portion 140 (positive direction in the X-axis direction). Also, as the holding portion 140 is advanced by the link mechanism 130, the portion of the cable 160 that is placed on the cable guide 150 moves away from the cable guide 150, starting from the backward direction of the aforementioned forward and backward direction (negative direction in the X-axis direction).

[0037] Conversely, when the holding part 140 is moved backward by the link mechanism 130 from its furthest forward position, the portion of the cable 160 fixed to the holding part 140 also moves backward together with the holding part 140 (moving in the negative direction of the X axis). As a result, a portion of the cable 160 is pushed out by the holding part 140 in the direction from which that portion extends, and the folding position F of the cable 160 moves in the direction of backward movement of the holding part 140 (negative direction of the X axis).

[0038] Furthermore, as the holding portion 140 is retracted by the link mechanism 130, the portions of the cable 160 that were separated from the cable guide 150 are placed on the cable guide 150, starting from the forward direction (positive direction in the X-axis direction) of the forward and backward movement.

[0039] As shown in Figure 2, the cable fixing device 151 of the cable guide 150 may be configured such that a portion of the cable 160 forms a loop, and the cable 160 is fixed at the base of the loop. The looped cable 160, as it moves further away from the side of the holding part 140, turns again in the direction of retraction of the holding part 140 (negative direction in the X-axis direction), then proceeds to the link mechanism support part 120, and is connected to the required circuit inside the base part 110.

[0040] To achieve the above-described movement of the cable 160, the cable guide 150 is preferably arranged as follows: The end of the cable guide 150 on the side of the holding portion 140 in the retraction direction (negative direction in the X-axis direction) is located further to the side of the holding portion 140 in the retraction direction (negative direction in the X-axis direction) than the holding portion 140 in the retracted position.

[0041] This is to ensure that the cable guide 150 can guide the cable 160 even when the holding part 140 is in its most retracted position. In other words, when the holding part 140 is in its retracted position, the position F of the cable 160's return is located further to the side of the holding part 140 that is in the direction of retraction of the holding part 140 (negative direction in the X-axis direction).

[0042] The end of the cable guide 150 on the side of the holding portion 140 in the forward direction (positive X-axis direction) is located on the side of the holding portion 140 in the forward direction (positive X-axis direction) than the pivot axis of the first arm 131, which is rotatably connected to the link mechanism support portion 120. In other words, the position of the cable fixing device 151 of the cable guide 150 is located further on the side of the holding portion 140 in the forward direction (positive X-axis direction) than the pivot axis. This is to ensure that the cable 160 is fixed to the cable guide 150 in the portion that rests on the cable guide 150, even when the holding portion 140 is moved to its furthest forward position. It is also to ensure that the cable 160 can be sufficiently fed from the link mechanism support portion 120 to the holding portion 140, even when the holding portion 140 is moved to its furthest forward position.

[0043] The cable guide 150 is positioned in the vertical direction (Z-axis direction) at a height where the second arms 132 of the link mechanism 130 are positioned, and is sandwiched between the pair of second arms 132. In other words, the cable guide 150 is positioned in the vertical direction (Z-axis direction) at a height higher than where the first arms 131 of the link mechanism 130 are positioned (on the positive side of the Z-axis direction), without interfering with the pair of first arms 131.

[0044] Therefore, at the point where the second arm 132 is rotatably connected to the main body 141 of the holding part 140, a gap is provided between the pair of second arms 132 for the cable guide 150 to pass through. In other words, the pair of second arms 132 are rotatably connected to the main body 141 of the holding part 140 with a gap provided for arranging the cable guide 150.

[0045] In other words, the cable 160, which is pulled out from the holding part 140 above the holding part body 141 so as to extend in the negative direction of the X axis, is folded back in the positive direction of the X axis and then positioned to be sandwiched between the pair of second arms 132 at the height where the second arms 132 of the link mechanism 130 are positioned. Furthermore, at the point where the second arms 132 are rotatably connected to the holding part body 141 of the holding part 140, a gap is provided between the pair of second arms 132 through which the cable 160 can pass.

[0046] The cable guide 150 is fixed to the link mechanism support 120 by three connecting members 121 erected on the link mechanism support 120, as described above. Two of the three connecting members 121 are connected to the cable guide 150 near both ends, and the other is connected to the cable guide 150 near its center.

[0047] In order for the cable 160 to move in conjunction with the forward and backward movement of the holding part 140 without interfering with any part of the link mechanism 130, the cable 160 is positioned in the center of the link mechanism 130, within a vertical plane aligned with the forward and backward direction of the holding part 140. In the link mechanism 130, the connection mechanism between the first arm 131 and the link mechanism support part 120 needs to be more robust than the connection mechanism between the holding part body 141 and the second arm 132 in order to support the load of the link mechanism 130. These connection mechanisms are rotatable and include, for example, a gearbox. Therefore, it is difficult to make the connection mechanism between the first arm 131 and the link mechanism support part 120 more compact than the connection mechanism between the holding part body 141 and the second arm 132.

[0048] Therefore, in the main carriage part 100 of this embodiment, the cable 160 and cable guide 150 are configured to pass through the gap between the pair of second arms 132 at the connection part between the holding body 141 and the second arms 132, in the center of the link mechanism 130. On the other hand, if a gap is to be secured between the first arms 131 at the connection part between the first arm 131 and the link mechanism support part 120 for the cable 160 and cable guide 150 to pass through, a problem arises in which the load-bearing capacity of the link mechanism 130 is reduced.

[0049] <Carriage main section: Cable structure> As described above, the cable 160 bends within a vertical plane in the center of the link mechanism 130, along the direction of movement of the holding portion 140. Therefore, it is desirable that the cable 160 be configured so that it does not deviate from this vertical plane. Figure 7 is a cross-sectional view showing an example of the configuration of the cable 160 for this purpose.

[0050] In Figure 7, the cable 160 is configured horizontally by connecting multiple unit cables 161 in a line. That is, the cable 160 has a horizontally elongated cross-section structure in which multiple unit cables 161 are arranged in parallel. The unit cables 161 can be connected to each other, for example, by welding.

[0051] This configuration makes it difficult for the cable 160 to deform in the Y direction. In this way, in the main carriage section 100, the direction in which the unit cables 161 are aligned is the horizontal direction (Y direction), and it is prevented that the cable 160 will bend in the Y direction and deviate from the vertical plane.

[0052] Figure 7 also shows an example of the detailed structure of the unit cable 161. The unit cable 161 contains multiple twisted pair wires 162. The multiple twisted pair wires 162 are wound together with a filler material 163 by a tape 164 and are further covered by a sheath made of polyvinyl chloride (PVC) or the like.

[0053] <Mechanism of action, effect> Traditionally, the wiring of cables from the link mechanism support to the holding part was done by connecting the insides of each arm that makes up the link mechanism. However, this wiring work was extremely time-consuming and posed a challenge in terms of improving the efficiency of conveying equipment manufacturing.

[0054] Furthermore, in order to pass cables through the rotatable connection part of the link mechanism, it was necessary to provide a hollow shaft along the pivot axis inside. However, providing such a structure in the connection part presented a challenge in achieving both compactness and load-bearing capacity of the link mechanism. However, according to this embodiment, a shaft for passing cables through the connection part of the link mechanism is unnecessary. According to this embodiment, a conveying device that can overcome these problems is realized.

[0055] 〔summary〕 A transport device according to Embodiment 1 of the present disclosure comprises a base, a link mechanism support portion provided on the base, a holding portion for holding an object to be transported, a link mechanism for moving the holding portion horizontally back and forth with respect to the link mechanism support portion, the link mechanism having a pair of articulated arms connecting the link mechanism support portion and the holding portion, and a cable fixed to the holding portion and the link mechanism support portion, wherein the cable extends from a portion fixed to the holding portion in the direction of retraction in the direction of advancement of the holding portion, then folds back in the direction of advancement in the direction of advancement, and is fixed to the link mechanism support portion, and as the holding portion moves forward together with the portion of the cable fixed to the holding portion, the folding position of the cable between the portion fixed to the holding portion and the portion fixed to the link mechanism support portion also moves forward.

[0056] A transport device according to Embodiment 2 of the present disclosure further comprises, in Embodiment 1 above, a cable guide fixed to the link mechanism support and extending in the forward and backward direction, on which at least a portion of the cable is placed so as to be able to move toward and away from the cable guide, wherein as the holding portion moves forward together with the portion of the cable fixed to the holding portion, the portion of the cable placed on the cable guide moves away from the cable guide sequentially from the side in the backward direction of the forward and backward direction.

[0057] In the transport device according to embodiment 3 of the present disclosure, in embodiment 2, the cable is fixed to the cable guide in a portion that is placed on the cable guide even when the holding portion is in its furthest forward position.

[0058] In the transport device according to embodiment 4 of the present disclosure, in embodiment 2 or 3, the articulated arm has a first arm rotatably connected to the link mechanism support and a second arm rotatably connected to the first arm and the holding part, respectively, and the cable guide is positioned between the pair of second arms.

[0059] In the transport device according to embodiment 5 of the present disclosure, in embodiment 4, the pair of second arms are rotatably connected to the holding portion with a gap provided for arranging the cable guide.

[0060] In the conveying device according to embodiment 6 of the present disclosure, in any of embodiments 1 to 5 above, the cable has a horizontally elongated cross-sectional structure in which a plurality of unit cables are arranged in parallel.

[0061] A transport device according to embodiment 7 of the present disclosure further comprises, in any of embodiments 1 to 6 above, a mast, a lifting mechanism for raising and lowering the base along the mast, and a traveling carriage on which the mast is erected.

[0062] The present invention is not limited to the embodiments described above, 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. [Explanation of Symbols]

[0063] 1. Stacker crane (conveying device) 10 Mast 11 Lifting guide rail 14. Upper frame 15 Lifting motor unit 20 Bogies 21. Trolley frame 22 wheels 25. Travel motor unit 30 Carriage 40 Control Box 100 Carriage main part (conveying device) 110 Base 120 Link mechanism support section 121 Connecting Member 130 Link Mechanism 130A, 130B Multi-jointed arm 131 First Arm 132 Second Arm 140 Holding part 141 Holding unit body 142 Connecting Member 144 Cable fasteners 145 Fork 150 Cable Guide 151 Cable fasteners 160 Cable 161 Unit Cable 162 Twisted Pair Wire 163 Filling material 164 Tapes P. Goods (objects to be transported) F cable folding point

Claims

1. The base and, A link mechanism support portion provided on the base portion, A holding unit for holding the object to be transported, A link mechanism that moves the holding part horizontally forward and backward relative to the link mechanism support part, the link mechanism having a pair of articulated arms connecting the link mechanism support part and the holding part, The system comprises a cable fixed to the holding portion and the link mechanism support portion, The cable is positioned in a vertical plane at the center of the pair of articulated arms, along the direction of movement of the holding portion. The cable extends from the portion fixed to the holding part in the direction of retraction in the forward-retraction direction, then folds back in the direction of forward-retraction in the forward-retraction direction, and is fixed to the link mechanism support part. A conveying device configured such that as the holding portion advances together with the portion of the cable fixed to the holding portion, the folded position of the cable between the portion fixed to the holding portion and the portion fixed to the link mechanism support portion also advances.

2. The cable guide is fixed to the link mechanism support and extends in the forward and backward direction, and further comprises a cable guide on which at least a portion of the cable is mounted so as to be able to move toward and away from the cable, The conveying device according to claim 1, wherein as the holding portion moves forward together with the portion of the cable fixed to the holding portion, the portion of the cable that is placed on the cable guide moves away from the cable guide sequentially, starting from the side in the backward direction of the forward and backward movement.

3. Base and, A link mechanism support portion provided on the base portion, A holding unit for holding the object to be transported, A link mechanism that moves the holding part horizontally forward and backward relative to the link mechanism support part, the link mechanism having a pair of articulated arms connecting the link mechanism support part and the holding part, A cable fixed to the holding part and the link mechanism support part, A cable guide fixed to the link mechanism support and extending in the direction of advancement of the holding portion, wherein at least a portion of the cable is mounted on the cable guide so as to be able to move toward and away from it, The cable extends from the portion fixed to the holding part in the direction of retraction in the forward-retraction direction, then folds back in the direction of forward-retraction in the forward-retraction direction, and is fixed to the link mechanism support part. As the holding portion advances together with the portion of the cable fixed to the holding portion, the folded position of the cable between the portion fixed to the holding portion and the portion fixed to the link mechanism support portion also advances. As the holding portion moves forward together with the portion of the cable fixed to the holding portion, the portion of the cable that rests on the cable guide is configured to move away from the cable guide sequentially, starting from the side in the reversal direction of the forward and backward movement. The cable is fixed to the cable guide in a transport device in a manner that the cable is placed on the cable guide even when the holding part is in its furthest forward position.

4. Base and, A link mechanism support portion provided on the base portion, A holding unit for holding the object to be transported, A link mechanism that moves the holding part horizontally forward and backward relative to the link mechanism support part, the link mechanism having a pair of articulated arms connecting the link mechanism support part and the holding part, A cable fixed to the holding part and the link mechanism support part, A cable guide fixed to the link mechanism support and extending in the direction of advancement of the holding portion, wherein at least a portion of the cable is mounted on the cable guide so as to be able to move toward and away from it, The cable extends from the portion fixed to the holding part in the direction of retraction in the forward-retraction direction, then folds back in the direction of forward-retraction in the forward-retraction direction, and is fixed to the link mechanism support part. As the holding portion advances together with the portion of the cable fixed to the holding portion, the folded position of the cable between the portion fixed to the holding portion and the portion fixed to the link mechanism support portion also advances. As the holding portion moves forward together with the portion of the cable fixed to the holding portion, the portion of the cable that rests on the cable guide is configured to move away from the cable guide sequentially, starting from the side in the reversal direction of the forward and backward movement. The articulated arm comprises a first arm rotatably connected to the link mechanism support, and a second arm rotatably connected to the first arm and the holding portion, respectively. The cable guide is positioned between a pair of the second arms in the conveying device.

5. The transport device according to claim 4, wherein the pair of second arms are rotatably connected to the holding portion with a gap provided for arranging the cable guide.

6. The conveying device according to any one of claims 1 to 5, wherein the cable has a horizontally elongated cross-sectional structure in which a plurality of unit cables are arranged in parallel.

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