CN101565122A - Object conveying device - Google Patents
Object conveying device Download PDFInfo
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- CN101565122A CN101565122A CNA2009101321244A CN200910132124A CN101565122A CN 101565122 A CN101565122 A CN 101565122A CN A2009101321244 A CNA2009101321244 A CN A2009101321244A CN 200910132124 A CN200910132124 A CN 200910132124A CN 101565122 A CN101565122 A CN 101565122A
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Abstract
The invention provides an object conveying device, comprising: a moving trolley (44) moving along a path (15) freely, wherein the path (15) is fixed at front side of a accepting shelf board (15) vertically and horizontally set on a accepting part (14) for containing objects; and an object carrier (57) fixed on the moving trolley (44), lifting freely along a lifting mast (45) on the moving trolley (44), and reciprocating freely in a rang of an extrusion position (P1) protruding to the accepting shelf board side and backing position (P0) to the moving path side. The object carrying device (57) has a reciprocating carrier body (30) and a support (34) for carrying and supporting objects (C), and the support (34) moving freely along the reciprocating direction of the carrier body (30), is recovered to an initial position (Pn) in moving direction by force, and is fixed on the carrier body (30).
Description
Technical field
The present invention relates to a kind of article conveying device, the processing of taking in that the taking-up that the article that are used for carrying out that the incorporating section is taken in take out is handled and taken in article to the incorporating section.
Background technology
This article conveying device uses the article mounting body from below mounting supports articles, carries out taking out from the incorporating section of taking in shelf the taking-up processing of article; Or the processing of taking in of taking in article to the incorporating section.Therefore, article conveying device makes the chassis of advancing that is provided with article mounting body advance along the travel path of setting in the front face side of taking in shelf, and make the lifting on above-below direction of article mounting body along the upright elevation mast (mast) of being located at the chassis of advancing, article mounting body is being advanced and retreat in the scope of the going-back position of taking in the side-prominent extrusion position of shelf and moving back to the travel path rear flank.
In taking in processing, in the cooresponding position, the incorporating section with taking in article of the front face side of taking in shelf, make article mounting body be projected into extrusion position, allow the article of mounting are positioned at the space, incorporating section of taking in object on the article mounting body.Under this state, make article mounting body after the decline starting position drops to the decline end position, make article mounting body retreat into going-back position.Make article mounting body drop to from the decline starting position decline end position during, article by from the transfer of article mounting body to the support unit that forms the incorporating section.
In take out handling, the front face side of taking in shelf with the cooresponding position, incorporating section that the article that take out object are taken in, make article mounting body be projected into extrusion position, be arranged in the following side space of the article of taking in the incorporating section.Under this state, make article mounting body after the rising starting position rises to the rising end position, retreat into going-back position.Make article mounting body rise to from the rising starting position rising end position during, article by from the support unit transfer that forms the incorporating section to article mounting body.
Article as the article conveying device conveyance have multi-form article, for example the glass substrate container of having taken in glass substrate of using in Liquid Crystal Display (LCD) or the plasma display etc. with stacked state can be carried out conveyance as article.The glass substrate container is being carried out as article under the situation of conveyance, and article conveying device is set to constitute by the ventilating mechanisms that purifies air etc. the incorporating section is maintained in the clean room of the few environment of dust.(for example opening the 2000-16518 communique) with reference to the spy.
But, under the situation of the Heavy Weight of article, when take out to handle make midway article mounting body rise to from the rising starting position rising end position during, with article from the article support unit transfer of incorporating section during to article mounting body, the load of article mounting body is increased, uprightly sometimes be located at the elevation mast of the chassis of advancing and the chassis of advancing can be toppled over a little to taking in the shelf side.Under this situation, the article mounting that is positioned at extrusion position is known from experience in the advance and retreat direction to outstanding side (inboard of incorporating section) displacement a little.
The weight of toppling over the article that phenomenon takes in the incorporating section of article conveying device takes place from the article support unit of taking in shelf is transferred to the process of article mounting body.That is, in the moment of toppling over phenomenon, a part that becomes the weight of article is supported by article mounting body, and the residuals weight of article is by the state of the article support unit supporting of taking in shelf.Especially by article mounting body is risen, the weight of the article that article mounting body is applied increases, and the weight of the article that the article support unit of taking in shelf is applied reduces in this case.
Therefore, because article mounting body is toppled over the inboard displacement of phenomenon to the incorporating section, the push operation power that can push to the inboard, incorporating section the article effect of taking in the incorporating section because of article conveying device.In addition because the weight of the article that the article support unit of taking in shelf is applied reduces, so, become exist between article and the article support unit, the article support unit is at the state of the friction confining force reduction of the external force of horizontal direction.
The result, taken place article conveying device topple over phenomenon the time, if act on the push operation power that pushes to the inboard, incorporating section of article, greater than the friction confining force that exists between article and the article support unit, then article on one side and the article support unit friction of taking in shelf, on one side with article mounting body be that the state of one moves towards the inboard of incorporating section.
Owing to this friction that produces of moving because of article takes place, the abrasion of shelf or article might be caused taking in, and dust may be produced based on mutual friction, so, especially for the situation in being arranged on clean room, be undesirable phenomenon from guaranteeing the quality aspect.
Given this, countermeasure below in existing article conveying device, having taked: improve the advance ground connection stability etc. of chassis of the installation constitution of the rigidity of elevation mast, firm elevation mast or raising, when handling the article taking-up that to take in the incorporating section by taking out with box lunch, even the load to the article mounting body that is positioned at extrusion position increases, article mounting body is not also as far as possible from the extrusion position displacement.
But, in such countermeasure, owing to can't realize making the amount of toppling over of elevation mast to be zero, eliminate the phenomenon of toppling over of article conveying device fully, so, can not make the article mounting body that is positioned at extrusion position in the advance and retreat direction fully not to outstanding side displacement, at article and take between the shelf and still can rub.Especially under the situation in being arranged at clean room, owing to need guarantee from the air-flow that purifies air of ceiling side direction floor side, so, can not constitute by the upper end side and the binding of ceiling side with elevation mast such as ceiling guide rail.Therefore, because elevation mast is configured to its bottom by advancing chassis supporting and with cantilever-shaped outstanding upward form, so, the upper end side of elevation mast is the center vibration easily with the bottom, be difficult to suppress the above-mentioned generation of toppling over phenomenon, so, be in and be difficult to the situation that suppresses article and take in the friction that takes place between the shelf.
And in that aforesaid glass substrate container is carried out as article under the situation of conveyance, corresponding to the big pictureization of nearest Liquid Crystal Display (LCD) and plasma display, article also maximize, big weightization, more and more are difficult to suppress to topple over phenomenon.
Summary of the invention
The present invention proposes in view of above-mentioned actual conditions, and its purpose is, provides a kind of when the article of taking in the incorporating section of shelf are taken in taking-up, can do one's utmost to prevent to take in the article conveying device of shelf and article generation friction.
In order to realize this purpose, the feature of the article conveying device that the present invention relates to constitutes and is to possess: the chassis of advancing, to advance freely along travel path, and described travel path is set in the front face side of taking in shelf that is provided with the incorporating section that is used to take in article in length and breadth; With article mounting body, be arranged at the aforementioned chassis of advancing, along the upright elevation mast lifting of being located at the aforementioned chassis of advancing freely, and free to advance or retreat in the scope of the aforementioned going-back position of taking in the side-prominent extrusion position of shelf and moving back to aforementioned travel path rear flank; Wherein, items mounting body has by the mounting phosphor bodies of advance and retreat operation and the supporting mass of mounting supports articles, aforementioned supporting mass moves freely with the advance and retreat direction along aforementioned mounting phosphor bodies, and reset into the state of the initial position of its moving direction by the application of force, be arranged at aforementioned mounting phosphor bodies.
Promptly, when the taking-up that the article of taking in carrying out the incorporating section take out is handled, the weight that is accompanied by the article of taking in the incorporating section shifts to article mounting body from taking in shelf, weight by article mounting body supporting increases, elevation mast along with the increase of the weight of article mounting body supporting slowly to taking in the shelf inclination.And the mounting phosphor bodies is according to the inboard displacement to the incorporating section of the amount of toppling over of elevation mast.
Constitute according to eigen, the relative mounting phosphor bodies of supporting mass that joins with article relatively moves along the advance and retreat direction of this mounting phosphor bodies.Therefore, to the inboard of incorporating section (being outstanding side in the advance and retreat direction of article mounting body) displacement, the supporting mass that the part of the weight of article is supported also can not move on the advance and retreat direction in the incorporating section even the mounting phosphor bodies is accompanied by toppling over of elevation mast.
In a word, by offsetting the addendum modification of toppling over that the mounting phosphor bodies is accompanied by elevation mast, can do one's utmost to make the invariant positionization of the advance and retreat direction of the article in the incorporating section by relatively moving of supporting mass and mounting phosphor bodies.
The another feature formation of article conveying device of the present invention is that a plurality of aforementioned supporting masses are arranged at aforementioned mounting phosphor bodies with the state of overlooking down decentralized configuration.
That is, because by a plurality of supporting masses are overlooked down decentralized configuration in the mounting phosphor bodies, can support by the weight that a plurality of supporting masses are shared article, so, the weight of the article that each supporting mass shares can be reduced.Therefore, can make each supporting mass miniaturization, and can make the plan view shape of the article mounting body that constitutes by supporting mass and mounting phosphor bodies identical with the plan view shape of mounting phosphor bodies.
For example, investigate different with the article conveying device of eigen formation, by the situation of the whole lower surface of article mounting body mounting supports articles.Under this situation, in the article conveying device in being arranged at decline streaming clean room, exist the problem of significantly being blocked by article mounting body from the air-flow that purifies air of ceiling side direction floor side.
But, in the article conveying device that eigen constitutes, as mentioned above, can make the supporting mass miniaturization, and can make the plan view shape of the article mounting body that constitutes by supporting mass and mounting phosphor bodies identical with the plan view shape of mounting phosphor bodies.Therefore, by plan view shape with the mounting phosphor bodies, form the plan view shape of doing one's utmost not block from the air-flow that purifies air of ceiling side direction floor side, and a plurality of supporting masses are overlooked down decentralized configuration in the mounting phosphor bodies, can realize in the lump that article mounting body is to the reliable supporting of article and guaranteeing of the air-flow that purifies air.
The another feature formation of article conveying device of the present invention is, aforementioned mounting phosphor bodies has a plurality of bar-like members that extend along aforementioned advance and retreat direction, aforementioned a plurality of supporting masses at the upper surface separately of aforementioned a plurality of bar-like members along aforementioned advance and retreat direction alignment arrangements.
That is, between supporting mass and the mounting phosphor bodies along the relatively moving of above-mentioned advance and retreat direction, can be by implementing along a plurality of supporting masses of above-mentioned advance and retreat direction alignment arrangements are stable.
The another feature formation of article conveying device of the present invention is, it is facial that aforementioned supporting mass is installed in going up of elastomeric element with stationary state, this elastomeric element is arranged at aforementioned mounting phosphor bodies with stationary state, along aforementioned advance and retreat direction elastic deformation and have wall thickness at above-below direction freely.
That is, can be by making folder is established between supporting mass and the mounting phosphor bodies elastomeric element along above-mentioned advance and retreat direction elastic deformation, can realize along relatively moving between the supporting mass of above-mentioned advance and retreat direction and the mounting phosphor bodies.And if the power of elastomeric element generation elastic deformation is disappeared, then supporting mass resets into initial position.Therefore, under the situation of the article of in taking out the incorporating section, taking in, even article mounting body is accompanied by toppling over to the inboard displacement of taking in shelf of article conveying device, by elastomeric element generation elastic deformation, supporting mass also can be kept the position of relative incorporating section under the state of supports articles.Like this, can prevent that article are pushed into the inboard of incorporating section in the incorporating section.
And, because the lower face of elastomeric element is arranged at the mounting phosphor bodies, goes up and facially be arranged at supporting mass with stationary state with stationary state, so, elastomeric element can the mounting phosphor bodies because of the effect of the power of toppling over the phenomenon displacement of article conveying device under elastic deformation.Therefore, do not need to be used to special driver train that the relative mounting phosphor bodies of supporting mass is relatively moved, but the simplification of implementation structure.
And, owing to can realize relatively moving between supporting mass and the mounting phosphor bodies by the elastic deformation of elastomeric element, so when the friction of this Shi Buhui generation part between mounting phosphor bodies side and supporting side that relatively moves, the possibility that produces dust on article mounting body is little.
The another feature of article conveying device of the present invention constitutes and is, aforementioned elevation mast is configured to the bottom by the aforementioned chassis supporting and with cantilever-shaped outstanding upward form of advancing.
That is, can not constitute and utilize ceiling guide rail etc. that the upper end side and the ceiling side of elevation mast are linked.Thus, guarantee from the ceiling side eigen also can be set to constitute the article conveying device that relates to towards the clean room of the air-flow that purifies air of floor side, promptly can't be provided with the decline streaming clean room of structure at needs in the ceiling side.
But its bottom is supported by the chassis of advancing and with cantilever-shaped outstanding upward form, so the upper end of elevation mast is the center vibration easily with the bottom, thereby the phenomenon of toppling over of article conveying device takes place easily because elevation mast is configured to.
But, feature according to above-mentioned article conveying device constitutes, even when the article of taking in the incorporating section of shelf are taken in taking-up, the phenomenon of toppling over of elevation mast has taken place, cause article mounting body to the inboard displacement in incorporating section, also can do one's utmost to prevent to take in shelf and article rub.
The another feature formation of article conveying device of the present invention is, at the upper surface of the aforementioned supporting mass that items is carried out the mounting supporting, the thin slice of anti-skidding usefulness is installed.
That is, the thin slice by anti-skidding usefulness can be bearing in solid ground of article mounting on the supporting mass.
Description of drawings
Fig. 1 is the vertical profile front view of article collecting apparatus.
Fig. 2 is the birds-eye view as the stack crane of article conveying device.
Fig. 3 (a) is the article mounting body of expression when being positioned at going-back position and the drawing in side sectional elevation of the position relation of accommodating shelf, (b) is the article mounting body of expression when being positioned at extrusion position and the drawing in side sectional elevation of the position relation of accommodating shelf.
Fig. 4 is the birds-eye view of mounting body.
Fig. 5 (a) is the local incised notch figure of the structure of expression stainless steel sheet, (b) is the longitudinal diagram of stainless steel sheet.
Fig. 6 is that the expression container takes out the figure of the change in location of the relative mounting phosphor bodies of stainless steel sheet in the processing.
Fig. 7 is that the container of other embodiments of expression takes out the figure of the change in location of the relative mounting phosphor bodies of stainless steel sheet in the processing.
Fig. 8 is that the container of other embodiments of expression takes out the figure of the change in location of the relative mounting phosphor bodies of stainless steel sheet in the processing.
The specific embodiment
Below, describe based on the embodiment of accompanying drawing article conveying device of the present invention.
Fig. 1 is the vertical profile front view that the article collecting apparatus of article conveying device is set.Fig. 2 is the birds-eye view as the stack crane of article conveying device.Fig. 3 (a) is the article mounting body of expression when being positioned at going-back position and the drawing in side sectional elevation of the position relation of accommodating shelf, and Fig. 3 (b) is the article mounting body of expression when being positioned at extrusion position and the drawing in side sectional elevation of the position relation of accommodating shelf.
As shown in Figure 1, the stack crane V as article conveying device of the present invention is set among the article collecting apparatus W.Article collecting apparatus W will take in the container C as article of the glass substrate that uses in Liquid Crystal Display (LCD) or the plasma display etc. with stacked state, accommodate the equipment of keeping.Under this situation, article collecting apparatus W waits storage container C under the few environment of dust in purifying air after the purification from the ceiling side in the decline streaming clean room 1 of floor side circulation downwards.
Be illustrated at decline streaming clean room 1.Clean room possesses with the F of circulating ventilation mechanism: near sidewall attraction portion 2 that forms the ground board of the sidewall 18 of clean room 1 and the ceiling that is formed on the ceiling of clean room 1 blow out portion 3.Clean room blows out the mode that attracts next attraction air by sidewall attraction portion 2 with the F of circulating ventilation mechanism to blow out portion 3 from ceiling, making the circulation in clean room 1 that purifies air.The ground board of clean room 1 is made of the cement concrete of aporate.
The result, move with supply ventilating fan 8 with blower fan filtering unit 4 and circulation by sidewall, air in the clean room 1 attracted to and connects in the stream 7, this air that is attracted flows in connecting stream 7, after being cleaned by prefilter 9, flow in the air chamber 6, and then after being cleaned, blowing out portion 3 from ceiling and in clean room 1, blow out downwards by air filter 5.
Therefore, the air in the clean room 1 by sidewall blower fan filtering unit 4, prefilter 9 and air filter 5, circulates Yi Bian pass above-mentioned path on one side.Thus, always purifying air is provided for clean room 1 to blow out the state that portion 3 blows out downwards from ceiling, makes to keep the high state of degree of purification in the clean room 1.
And the circulation in connecting stream 7 is connecting extraneous gas with the part of the suction side of supply ventilating fan 8 and is being taken into stream 10.Externally gas is taken into and is provided with the extraneous gas amount of being taken into adjusting air door 11 in the stream 10.Circulation in connecting stream 7 is connecting exhaust flow path 12 with the part (being the downstream part of prefilter 9) of the exhaust end of supply ventilating fan 8.Being provided with free air capacity in exhaust flow path 12 regulates with air door 13.Regulate with air door 11 and free air capacity and regulate by regulating the extraneous gas amount of being taken into air door 13 aperture separately, can with by clean room with the F of circulating ventilation mechanism carry out in the purifying air in the on-cycle clean room 1 both quantitatively and ozone exchange.
Then, article collecting apparatus W is described.
Article collecting apparatus W is set in the clean room 1, has: possess article storing shelf S, the stack crane V of incorporating section 14, the ventilating mechanisms B that purifies air, air flow spaces 20 and air guide body 17 and constitute.Stack crane V has: advance chassis 44 and the lifting of advancing at the ground board of the travel path 15 in the place ahead of article storing shelf S is supported in the article transfer device 46 of this chassis 44 of advancing freely.The ventilating mechanisms B that purifies air makes and purifies air according to 14 back side flows towards the mode of travel path 15 by incorporating section 14 from the incorporating section, and, flow according to the mode that is deflated portion's 22 exhausts downwards after in travel path 15, flowing.Air flow spaces 20 to be to be divided into state that can not moving air with incorporating section 14 and to be communicated with to become the form of state that can moving air with travel path 15, spreads all over the total length of the horizontal cross direction of shelf of article storing shelf S or approximate total length and form below incorporating section 14.Air guide body 17 is configured to not interfere with the chassis 44 of advancing of advancing at travel path 15.Particularly, air guide body 17 is outstanding in travel path 15 from the end of travel path 15 sides of the upper end side of air flow spaces 20.Wherein, air guide body 17 is when the direct of travel of stack crane V is observed, and is positioned at the upper height equal height of the end side part of the transverse width direction (being shelf depth direction) of the chassis 44 of advancing or than it to lean on the position of top.And air guide body 17 is extended with the total length of the horizontal cross direction of shelf that spreads all over article storing shelf S or the state of approximate total length.
In the present embodiment, separated state at interval each other with the mutual opposed state of front side separately and in order to form travel path 15, the ground board of two side's sides of the lateral direction of car Width of travel path 15 (with the identical direction of shelf depth direction) is provided with two article storing shelf S.Each of these article storing shelves S is arranged with a plurality of incorporating sections 14 that are used to take in as the container C of article at horizontal cross direction of shelf and shelf above-below direction.Article storing shelf S is provided with the pillar of a plurality of short transverses along shelf.In incorporating section 14, be used to catch the supporting station 14D of the left and right sides sidepiece of supporting container C bottom, be arranged on a plurality of positions of short transverse of the pillar of article storing shelf S.Supporting station 14D has given prominence to both measured lengths from the pillar of article storing shelf S to the interior side direction of incorporating section 14.
Surrounded by the barrel-contoured perisporium 16 of rectangle around the side of a pair of article storing shelf S of Gou Chenging like this.The opening of the lower end side of perisporium 16 is by ground board obturation, and the opening of the upper end side of perisporium 16 is by a plurality of shelf blower fan filtering unit 21 obturations of taking in.And, be provided with at the rear portion of each article storing shelf S and flow with space 19, be used for the ceiling from clean room 1 is blown out purifying air to incorporating section 14 guiding that portion 3 blows out.
Then, stack crane V is illustrated.As Fig. 1～shown in Figure 3, stack crane V is the upright a pair of central pillar body 45 in front and back that is provided with on the chassis 44 of advancing, wherein, the described chassis 44 of advancing is advanced on the track 48 of advancing that the floor of travel path 15 is laid along the horizontal cross direction of shelf, and a pair of central pillar body 45 in the described front and back lifting article transfer device 46 that transfer is used to article freely respectively supports in the channeling conduct of the both ends of vehicle direct of travel (with the identical direction of the horizontal cross direction of shelf).Before and after a pair of central pillar body 45 form the curved shape that the face of the both sides that make the vehicle direct of travel bloats towards the vehicle direct of travel respectively, link by upper box 47 between the upper end of a pair of central pillar body 45 in front and back.
As shown in Figures 1 and 2, the chassis 44 of advancing from the position that exist article storing shelf S side leave of central Body of pillar 45 on the lateral direction of car Width, be provided with jury strut body 49 as current plate.Jury strut body 49 is the shape along the vehicle direct of travel, and the length of above-below direction is and central pillar body 45 identical or approximately uniform length.For jury strut body 49, towards with the outside of a side opposition side that central pillar body 45 is positioned at, overlook down forming the curved shape that bloats to the lateral direction of car Width.
If be illustrated, then central pillar body 45 founds the central portion that the lateral direction of car Width of part 44a is used in the supportings that are located in the chassis 44 of advancing.Jury strut body 49 is according to being positioned at from the mode that have position that article storing shelf S side leave of central Body of pillar 45 on the lateral direction of car Width, uprightly is located at supporting in the chassis 44 of advancing with the both ends of the lateral direction of car Width of part 44a.
And jury strut body 49 is formed flatly inner face along vehicle direct of travel and above-below direction, the outside is formed the article storing shelf S that overlooks down to the lateral direction of car Width be positioned at a side with the circular-arc curved shape that bloats.That is, jury strut body 49 forms and overlooks down the end side tapered more front end taper shape that relies on the vehicle direct of travel more and along the flats of vehicle direct of travel and above-below direction.
As shown in Figure 3, article transfer device 46 can be at incorporating section 14 and load moving container C between self.Particularly, article transfer device 46 constitutes the V shape shifting apparatus, possesses: freely the platform 56 that circles round of circling round by the bay-lift 55 of central pillar body 45 guiding supporting, around axle center up and down, be arranged on the connecting rod mechanism 58 that body 57 is put in mounting body 57 on this platform 56 that circles round and twelve Earthly Branches free to advance or retreat carrying.
As shown in Figure 2, by become the advance and retreat moving direction that makes mounting body 57 state based on the circling round of platform 56 of circling round along the direct of travel of the chassis 44 of advancing, the state that is made as the lateral direction of car Width with advance and retreat moving direction with mounting body 57 is compared, and can reduce the width of the lateral direction of car Width of article transfer device 46 (especially connecting rod mechanism 58 or mounting body 57).Therefore, when stack crane V was advanced, article transfer device 46 became the advance and retreat moving direction that makes mounting body 57 state along the vehicle direct of travel.
A pair of operator link 53,53 is interlock by the advance and retreat electro-motor (not shown) that is provided with in the lower face side of the platform 56 that circles round, and is centered on axle center 59 swinging operation.Each swing connecting bar 54 be joined into moving about of relative operator link 53 distolateral around carrying device up and down towards axle center 51 relatively rotate freely, relatively the base end side of mounting body 57 around carrying device up and down towards axle center 52 relatively rotate freely.
Thus, connecting rod mechanism 58 makes a pair of operator link 53,53 interlocks by the advance and retreat electro-motor, around axle center 59 swinging operation separately, carry out bulldozing operation or drag operation by a pair of operator link 53,53 by the base end side of 54,54 pairs of mounting bodies 57 of a pair of swing connecting bar, make mounting body 57 platform 56 that circles round relatively move back operation enterprising the advancing of the length direction of mounting body 57 by swing.
Promptly, connecting rod mechanism 58 is in the operation of circling round by the platform 56 that circles round, according to the front of mounting body 57 towards the mode of the direction of a side article storing shelf S or the opposing party's article storing shelf S carried out mounting body 57 with respect to bay-lift 55 after adjusting, be switched and be operable to shown in Fig. 3 (b), arrive the mode of incorporating section 14 according to the front of mounting body 57, the outstanding installing condition of taking out usefulness to the long outstanding article storing of the direction of article storing shelf S or article from the platform 56 that circles round; With shown in Fig. 3 (a), the article transport that the integral body of mounting body 57 retreats to the direction of the platform 56 that circles round than the situation of outstanding installing condition is used retreats installing condition.
Like this, mounting body 57 constitutes along the upright central pillar body 45 of being located at the chassis 44a that advances and 49 liftings of jury strut body freely, and free to advance or retreat in the scope of the going-back position P0 that moves back to the side-prominent extrusion position P1 of article storing shelf S with to travel path 15 rear flank, it is equivalent to article mounting body of the present invention.
Fig. 4 is the birds-eye view of mounting body.As shown in Figure 4, mounting body 57 possesses mounting phosphor bodies 30, and described mounting phosphor bodies 30 has linked substrate parts 31 and as the fork body 32 of bar-like member, middle union body 33M and front end union body 33T.Substrate parts 31 is the parts that link the base end side of connecting rod mechanism 58.Pair of right and left fork body 32 (left side fork body 32L and right fork body 32R) is connected the both ends, the left and right sides of substrate parts 31.Middle union body 33M links left side fork body 32L and right fork body 32R at two positions midway of the front and back length direction of fork body 32.Front end union body 33T links left side fork body 32L and right fork body 32R at the leading section of fork body 32.That is, mounting phosphor bodies 30 has a plurality of fork bodies 32 as bar-like member that extend along the advance and retreat direction.
And mounting body 57 has: the mounting phosphor bodies of being operated by advance and retreat 30 and from the stainless steel sheet 34 as supporting mass of below mounting supports articles.Such as described below, stainless steel sheet 34 is configured to move freely and reset into by the application of force along the advance and retreat direction of mounting phosphor bodies 30 state of the initial position Pn of its moving direction.
Fig. 5 (a) is the local incised notch figure of the structure of expression stainless steel sheet.Fig. 5 (b) is the longitudinal diagram of stainless steel sheet.Each stainless steel sheet 34 is formed by the flat board of stainless steel as shown in Figure 5, with stationary state the back side is installed in last facial 35U as the poly-urethane rubber 35 of elastomeric element by lining cement.Poly-urethane rubber 35 and forms tabular for square shape of overlooking that has wall thickness T (be made as 15[mm in the present embodiment]) at above-below direction along advance and retreat direction elastic deformation freely.
The upper surface of fork body 32 is welded with invaginated type fabricated section 36 about mounting phosphor bodies 30.The transverse width roughly the same length of invaginated type fabricated section 36 by each limit and fork body 32 overlook outer edge 36E for square shape, formed poly-urethane rubber the recess of usefulness be installed.The bottom surface of poly-urethane rubber 35 has formed the state in gap with the position all around at the peripheral part of the outer edge of invaginated type fabricated section 36 36E and poly-urethane rubber 35, and is bonding by lining cement and 36 of invaginated type fabricated sections.Upper surface at stainless steel sheet 34 is pasted with resin flake 37 as slip-proofing device, so as to be difficult to and the bottom of container C between slide.
And, by the advance and retreat direction elastic deformation of poly-urethane rubber 35 along mounting phosphor bodies 30, each stainless steel sheet 34 can move along the advance and retreat direction of mounting phosphor bodies 30, and, based on the elastic force of the poly-urethane rubber 35 that has been out of shape, reset into the initial position Pn of moving direction.That is, can be by the poly-urethane rubber 35 that is folded between stainless steel sheet 34 and the mounting phosphor bodies 30 along above-mentioned advance and retreat direction elastic deformation, can realize along relatively moving between the stainless steel sheet 34 of above-mentioned advance and retreat direction and the mounting phosphor bodies 30.
Like this, mounting body 57 as article mounting body constitutes, on by the mounting phosphor bodies 30 of advance and retreat operation, to be arranged to move freely to the stainless steel sheet 34 that carries out the mounting supporting as the container C of article, and be reset into the state of the initial position Pn of its moving direction by the application of force as supporting mass along the advance and retreat direction of mounting phosphor bodies 30.And, be arranged at mounting phosphor bodies 30 as the stainless steel sheet 34 of supporting mass with the state of overlooking down decentralized configuration, and, the last facial 35U that is arranged at mounting body 57 with stationary state be installed in as the poly-urethane rubber 35 of elastomeric element with stationary state.
Stack crane V carries out the taking-up of container C as described below and takes in.
Promptly, when carrying out the taking-up of container C, by advancing and the lifting of bay-lift 55 of the chassis 44 of advancing, the platform 56 that circles round moves in level and above-below direction along the front of article storing shelf S, mounting body 57 is transplanted on the incorporating section 14 that take out article.Then, by circling round of the platform 56 that circles round, make mounting body 57 become with incorporating section 14 cooresponding both allocations that should take out article and install towards.Then, carry out outstanding operation till mounting body 57 arrives extrusion position P1, make the front of mounting body 57 enter into the downside of the container C that is accommodated in incorporating section 14 by connecting rod mechanism 58.Then, by bay-lift 55 is risen, platform 56 is gone up lift operations to circling round, make mounting body 57 near container C, and behind the bottom butt of the stainless steel sheet 34 (more accurate is the resin flake 37 that sticks on the upper surface of stainless steel sheet 34) of mounting body 57 and container C, further, the platform 56 that circles round is risen by the last lift operations of bay-lift 55.Then, by mounting body 57 with container C from the supporting station 14D of incorporating section 14 push to and make its floating on, with the container C mounting to the stainless steel sheet 34 of mounting body 57.Then, make mounting body 57 retreat into going-back position P0, come 14 taking-up container C, the container C mounting is remained on the mounting body 57 from the incorporating section by carrying out back operation by connecting rod mechanism 58.Under this state,, the container C conveyance is taken out of the portion of moving into to article by the lifting of bay-lift 55 and advancing of the chassis 4 of advancing.
When carrying out the taking in of container C, mounting has kept under the state of container C on the mounting body 57 of going-back position P0, by advancing and the lifting of bay-lift 55 of the chassis 44 of advancing, the platform 56 that circles round is moved in level and above-below direction along the front of article storing shelf S, mounting body 57 is transplanted on the incorporating section 14 that take in this container C.Then, by circling round of the platform 56 that circles round, make mounting body 57 become with the incorporating section 14 cooresponding both allocations that should take in and install towards.Then, make mounting body 57 be projected into extrusion position P1, allow the front of mounting body 57 enter into incorporating section 14 by connecting rod mechanism 58.Then, descend, the platform 56 that circles round is carried out step-down operation, make mounting body 57, allow the bottom of the container C of mounting and the supporting station 14D butt of incorporating section 14 on the mounting body 57 near incorporating section 14 by making bay-lift 55.Then, by bay-lift 55 further being descended, the platform 56 that circles round being carried out step-down operation a little, mounting body 57 is left downwards from container C.Thus, container C, is received into container C in the incorporating section 14 to the supporting station 14D of incorporating section 14 by mounting.
Fig. 6 is that the expression container takes out the figure of the change in location of the relative mounting phosphor bodies of stainless steel sheet in handling.When utilizing stack crane V to take out container C, shown in Fig. 6 (a), be positioned at following side space by the container C of the supporting station 14D supporting of incorporating section 14 in order to make mounting body 57, make mounting body 57 be projected into extrusion position P1.If mounting body 57 is risen from this state, then the weight of the container C of taking in the incorporating section 14 (be about 400[kg in the present embodiment]～about 1000[kg]) is accompanied by the rising of the mounting body 57 that is positioned at extrusion position P1, shift to mounting body 57 gradually, finally, the weight of container C is transferred on the mounting body 57 fully.In load in the process that mounting body 57 increases, with the outstanding up form of cantilever position advanced chassis 44 supportings central pillar body 45 and the jury strut body 49 and the chassis 44 of advancing, be stack crane V, the article storing shelf S that is relatively arranged on this incorporating section 14 topples over a little.At this moment, shown in Fig. 6 (b), mounting phosphor bodies 30 has produced the state that is indexed to from extrusion position P1 extrusion position P1 ' when the toppling over of the inboard of incorporating section 14 (the advance and retreat direction at mounting body 57 is outstanding side) offsetted infinitesimal deflection amount L (a few millimeter).This topples over the starting stage of phenomenon in generation, because the weight of container C does not move to mounting body 57 fully, the part of the weight of container C is by the supporting station 14D burden of incorporating section 14, so, be in the state that can between the supporting station 14D of the bottom of container C and incorporating section 14, produce the friction confining force.
Then, shown in Fig. 6 (b), be accompanied by mounting phosphor bodies 30 because of toppling over of stack crane V and from extrusion position P1 extrusion position P1 ' displacement when toppling over, be equivalent to the amount of addendum modification L with a plurality of stainless steel sheet 34 cooresponding each poly-urethane rubber 35 elastic deformation, thus, kept at stainless steel sheet 34 under the state of position of mounting supporting container C, can allow mounting phosphor bodies 30 when toppling over extrusion position P1 ' to the inboard displacement of incorporating section 14.
Therefore, even stack crane V has taken place to topple in the taking-up operation of container C, by poly-urethane rubber 35 elastic deformation takes place, also can make stainless steel sheet 34 displacement hardly, mounting phosphor bodies 30 and stainless steel sheet 34 are relatively moved.In other words, even stack crane V has taken place to topple in the taking-up operation of container C, to the container C effect power that pushes to the inboard of incorporating section 14, also can absorb the power of pushing container C by poly-urethane rubber 35 elastic deformations, the part of weight is not moved in shelf depth direction by the container C that supporting station 14D supports as far as possible, on one side take out container C, thereby can suppress the bottom of container C and the supporting station 14D of incorporating section 14 rubs.
Like this, according to present embodiment, by poly-urethane rubber 35 is set and on mounting body 57 by the stainless steel sheet 34 of its supporting, by stainless steel sheet 34 mounting supporting container C, the variation that extrusion position P1 caused because of toppling over of stack crane V during the weight of can the elastic deformation by poly-urethane rubber 35 offsetting container C shifted, thereby prevented the bottom of container C and the mutual friction mutually of the supporting station 14D of incorporating section 14, can suppress the generation of dust.
In addition, retreat at mounting body 57 before the taking-up processing end of going-back position P0, container C, shown in Fig. 6 (c), stainless steel sheet 34 resets into initial position Pn by the elastic deformation of poly-urethane rubber 35, becomes container C by the state of the appropriate mounting position (relative position when the mounting body 57 of extrusion position P1 and container C butt) of mounting in mounting phosphor bodies 30.
[other embodiments]
Below, enumerate other embodiments.
(1) in the above-described embodiment, to take in the situation that the container of the glass substrate that uses in Liquid Crystal Display (LCD) or the plasma display etc. implements conveyance as article with stacked state to article conveying device and be illustrated, but also other objects can be carried out conveyance as article.
(2) in the above-described embodiment, illustration elastomeric element by overlook for rectangular-shaped and thickness be 15[mm] poly-urethane rubber situation about constituting, but the material of elastomeric element is not limited to poly-urethane rubber, can suitably select to the size of the weight of the amount of the inboard displacement in incorporating section or article from extrusion position according to article mounting body in take out handling.As the shape of elastomeric element, for example can consider to overlook and be different shapes such as circle, ellipse, triangle.
(3) in the above-described embodiment, illustration supporting mass situation about constituting by stainless steel sheet, but be not limited thereto, can carry out various selections to the material and the shape of supporting mass.
(4) in the above-described embodiment, illustration article mounting body possess the structure of fork body, but be not limited thereto, can select the concrete formation of various article mounting bodies.For example, in the above-described embodiment, the situation that the fork body that for example clear mounting phosphor bodies is possessed is made of two bar-like members, but the fork body also can be made of the bar-like member more than three.
(5) in the above-described embodiment, illustration elevation mast before and after the direct of travel of the chassis of advancing, be provided with two a pair of situation, but be not limited thereto, elevation mast also can be provided with one.
(6) in the above-described embodiment, illustration between supporting mass and mounting phosphor bodies the folder established elastomeric element formation, realize relatively moving between supporting mass and the mounting phosphor bodies but also can constitute by other.For example, article mounting body possesses: the slip base station that is arranged at the mounting phosphor bodies with stationary state; With on the top of this slip base station, move freely sliding table by bearing etc. along the advance and retreat direction of mounting phosphor bodies as supporting mass; By making its force application spring that resets into initial position link slip base station and sliding table to this sliding table application of force.
(7) in the above-described embodiment, illustration article conveying device be set at situation in the clean room, but also can be arranged in the environment within doors that is not clean room.
(8) in the above-described embodiment, when taking out processing, can make the mounting body 57 that is projected into extrusion position P1 rise to from the rising starting position rising end position during particular moment, make the mounting body 57 P0 rear flank, position of drawing back move back setpoint distance (for example with the cooresponding distance L of the addendum modification L of mounting body 57
Pull).
If make above-mentioned formation, then can play following action effect.
Fig. 7 and Fig. 8 are that the container of other embodiments of expression takes out in the processing figure of the change in location of stainless steel sheet 34 relative mounting phosphor bodies 30.Under this situation, if begin to make mounting body 57 to rise from the state shown in Fig. 7 (a), then the weight of the container C of taking in the incorporating section 14 is accompanied by the rising of the mounting body 57 that is positioned at extrusion position P1, shift to mounting body 57 gradually, in this process, the article storing shelf S that stack crane V is relatively set with this incorporating section 14 topples over a little.Then, shown in Fig. 7 (b), mounting body 57 is to outstanding side displacement.In the starting stage of toppling over phenomenon that stack crane V takes place, because the almost total weight of container C imposes on the supporting station 14D of incorporating section 14, so, the friction confining force that exists between the supporting station 14D of container C and incorporating section 14 is greater than the push operation power to the inboard of incorporating section 14 by 34 pairs of container C effects of stainless steel sheet.Therefore, this push operation power is used to make poly-urethane rubber 35 elastic deformations, has kept at stainless steel sheet 34 having only mounting phosphor bodies 30 to outstanding side displacement under the state of position of mounting supporting container C.
Then, taking out under the situation of processing, if make the mounting body 57 that is projected into extrusion position P1 rise to from the rising starting position rising end position during early stage, make the mounting body 57 P0 rear flank, position of drawing back move back setpoint distance (for example with the cooresponding distance L of the addendum modification L of mounting body 57
Pull), then by poly-urethane rubber 35 elastic deformations, stainless steel sheet 34 relative mounting phosphor bodies 30 are given prominence to the position of side from relatively moving to by the position that retreats side than initial position Pn.Thus, shown in Fig. 7 (c), poly-urethane rubber 35 is in the state that elastic deformation has taken place to the direction opposite with Fig. 7 (b), the stainless steel sheet 34 supporting container C of the state that can be relatively moved to outstanding side from initial position Pn by relative mounting phosphor bodies 30.
Subsequently, be accompanied by mounting body 57 is risen, the weight of container C begins significantly to act on mounting body 57, and the weight of the container C of the supporting mass 14D effect of incorporating section 14 is begun minimizing.Then, if be accompanied by mounting body 57 is risen, act on the push operation power to the inboard of incorporating section 14 of container C, the friction confining force that produces greater than the supporting station 14D of incorporating section 14, then stack crane V topples over quickly, and mounting body 57 is advanced and retreat direction to outstanding side displacement on extremely short time interim edge.And, owing to act on the push operation power to the inboard of incorporating section 14 of container C, the friction confining force that exists between the supporting station 14D greater than container C and incorporating section 14, so, the recuperability of the poly-urethane rubber of by elastic deformation 35, make stainless steel sheet 34 with the displacement speed cooresponding speed of mounting body 57 to outstanding side, restore to initial position Pn side and to move.As a result, shown in Fig. 8 (d), mounting phosphor bodies 30 advance and retreat direction on to outstanding side displacement, stainless steel sheet 34 relative mounting phosphor bodies 30 relatively move simultaneously, thus, shown in Fig. 8 (e), the position of the advance and retreat direction in the incorporating section 14 of container C can be maintained the position shown in Fig. 7 (a).Therefore, can prevent solidly that container C from being pushed by the inboard to incorporating section 14 because of toppling over of stack crane V and the supporting station 14D of incorporating section 14 between produce friction.
Claims (6)
1. article conveying device possesses:
The chassis of advancing is advanced freely along travel path, and described travel path is set in the front face side of taking in shelf that is provided with the incorporating section that is used to take in article in length and breadth; With
Article mounting body is arranged at the aforementioned chassis of advancing, along the upright elevation mast lifting of being located at the aforementioned chassis of advancing freely, and free to advance or retreat in the scope of the aforementioned going-back position of taking in the side-prominent extrusion position of shelf and moving back to aforementioned travel path rear flank; It is characterized in that,
Items mounting body has by the mounting phosphor bodies of advance and retreat operation and the supporting mass of mounting supports articles, aforementioned supporting mass moves freely with the advance and retreat direction along aforementioned mounting phosphor bodies, and reset into the state of the initial position of its moving direction by the application of force, be arranged at aforementioned mounting phosphor bodies.
2, article conveying device according to claim 1 is characterized in that,
A plurality of aforementioned supporting masses are arranged at aforementioned mounting phosphor bodies with the state of overlooking down decentralized configuration.
3, article conveying device according to claim 2 is characterized in that,
Aforementioned mounting phosphor bodies has a plurality of bar-like members that extend along aforementioned advance and retreat direction,
Aforementioned a plurality of supporting mass at the upper surface separately of aforementioned a plurality of bar-like members along aforementioned advance and retreat direction alignment arrangements.
4, article conveying device according to claim 1 is characterized in that,
It is facial that aforementioned supporting mass is installed in going up of elastomeric element with stationary state, and this elastomeric element is arranged at aforementioned mounting phosphor bodies with stationary state, along aforementioned advance and retreat direction elastic deformation and have wall thickness at above-below direction freely.
5, article conveying device according to claim 1 is characterized in that,
Aforementioned elevation mast is configured to the bottom by the aforementioned chassis supporting and with cantilever-shaped outstanding upward form of advancing.
6, article conveying device according to claim 1 is characterized in that,
At the upper surface of the aforementioned supporting mass that items is carried out the mounting supporting, the thin slice of anti-skidding usefulness is installed.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2008-111626 | 2008-04-22 | ||
| JP2008111626 | 2008-04-22 | ||
| JP2008111626A JP4577589B2 (en) | 2008-04-22 | 2008-04-22 | Article conveying device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101565122A true CN101565122A (en) | 2009-10-28 |
| CN101565122B CN101565122B (en) | 2012-08-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009101321244A Active CN101565122B (en) | 2008-04-22 | 2009-04-21 | Object conveying device |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP4577589B2 (en) |
| CN (1) | CN101565122B (en) |
| TW (1) | TWI411564B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102673964A (en) * | 2011-03-17 | 2012-09-19 | 株式会社大福 | Article transport device |
| CN102869587A (en) * | 2010-03-08 | 2013-01-09 | 株式会社大福 | Article transport facility |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2519641Y2 (en) * | 1990-02-01 | 1996-12-11 | 石川島播磨重工業株式会社 | Structure of flange joint |
| JPH072312A (en) * | 1993-06-15 | 1995-01-06 | Toyota Autom Loom Works Ltd | Slide fork |
| JP4126619B2 (en) * | 2006-06-27 | 2008-07-30 | 株式会社ダイフク | Goods storage facility |
| JP2008013268A (en) * | 2006-07-03 | 2008-01-24 | Asyst Technologies Japan Inc | Storage shelf and storage method |
| JP4807579B2 (en) * | 2006-09-13 | 2011-11-02 | 株式会社ダイフク | Substrate storage equipment and substrate processing equipment |
| JP4953010B2 (en) * | 2006-09-13 | 2012-06-13 | 株式会社ダイフク | Storage container for substrate storage |
-
2008
- 2008-04-22 JP JP2008111626A patent/JP4577589B2/en active Active
-
2009
- 2009-03-18 TW TW98108747A patent/TWI411564B/en active
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102869587A (en) * | 2010-03-08 | 2013-01-09 | 株式会社大福 | Article transport facility |
| CN102869587B (en) * | 2010-03-08 | 2014-12-31 | 株式会社大福 | Article transport facility |
| CN102673964A (en) * | 2011-03-17 | 2012-09-19 | 株式会社大福 | Article transport device |
| CN102673964B (en) * | 2011-03-17 | 2015-11-18 | 株式会社大福 | Article transport facility |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4577589B2 (en) | 2010-11-10 |
| TW200948692A (en) | 2009-12-01 |
| JP2009263034A (en) | 2009-11-12 |
| TWI411564B (en) | 2013-10-11 |
| CN101565122B (en) | 2012-08-01 |
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