JP2003128209A - Transportation device - Google Patents
Transportation deviceInfo
- Publication number
- JP2003128209A JP2003128209A JP2001332122A JP2001332122A JP2003128209A JP 2003128209 A JP2003128209 A JP 2003128209A JP 2001332122 A JP2001332122 A JP 2001332122A JP 2001332122 A JP2001332122 A JP 2001332122A JP 2003128209 A JP2003128209 A JP 2003128209A
- Authority
- JP
- Japan
- Prior art keywords
- article
- carrier
- support base
- support
- upward movement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
- Warehouses Or Storage Devices (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、スタッカクレーン
や無人搬送車等の搬送装置に関し、特に搬送装置に支持
される物品の移動規制機構に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer device such as a stacker crane or an automated guided vehicle, and more particularly to a movement restriction mechanism for articles supported by the transfer device.
【０００２】[0002]
【従来の技術】従来より知られている搬送装置として、
自動倉庫内に配設される倉庫内外に向けて物品の移載を
行うスタッカクレーンや、ステーション間で移載を行う
無人搬送車等が知られている。これらの搬送装置の中に
は、搬送対象の物品が搬送中に移動したりしないように
するため、以下のような移動制止機構を備えているもの
がある。即ち、移載対象となる物品の底に係合孔が複数
形成され、一方、搬送装置側の移載装置に設けられてい
る支持台には、該支持台上に前記物品を載置したときに
前記係合孔に係合する、位置決めピンが上方に向けて突
設されている。物品を支持台上に支持させた状態では、
この位置決めピンにより物品が位置規制（水平動を規
制）されているため、通常の搬送中に生じる振動や加速
が物品に作用しても、該物品が支持台から落下すること
はない。2. Description of the Related Art As a conventionally known carrier device,
Known are stacker cranes that transfer articles in and out of an automated warehouse, and unmanned transport vehicles that transfer between stations. Some of these transporting devices are provided with the following movement stopping mechanism in order to prevent the transport target article from moving during transporting. That is, a plurality of engagement holes are formed in the bottom of the article to be transferred, and on the other hand, when the article is placed on the support table provided on the transfer device on the transfer device side. A positioning pin that engages with the engaging hole is provided so as to project upward. With the article supported on the support,
Since the position of the article is regulated (horizontal movement is regulated) by the positioning pin, the article does not drop from the support table even if vibration or acceleration that occurs during normal transportation acts on the article.
【０００３】[0003]
【発明が解決しようとする課題】ところが、支持台を設
けた部位（搬送装置の一部または全部）に何らかの原因
で急停止などがあった際には、物品に強い慣性力が作用
する。物品は前述のとおり位置決めピンによって水平動
を規制されているが、物品が支持台上で傾くようなこと
があると、その底面の係合孔が位置決めピンから離脱し
て規制が失われ、結局、支持台より落下してしまう恐れ
があった。これを防止する手段の一つとしては、物品の
側面を水平移動自在な一対のハンドにより挟む等の対策
が検討されているが、構造が複雑になるという問題があ
る。However, if there is a sudden stop or the like at a portion (a part or all of the transporting device) where the support base is provided, a strong inertial force acts on the article. Although the horizontal movement of the article is regulated by the positioning pin as described above, if the article tilts on the support base, the engagement hole on the bottom surface of the article may be separated from the positioning pin and the regulation may be lost. , There was a risk of falling from the support. As one of means for preventing this, measures such as sandwiching the side surface of the article by a pair of horizontally movable hands have been studied, but there is a problem that the structure becomes complicated.
【０００４】そこで本発明は、支持台上に突設された位
置決めピンにより支持台上での物品の水平動を規制する
搬送装置において、急停止等の場合でも物品の支持台か
らの落下を防止できる簡単な構成を提供する。In view of this, the present invention prevents the articles from falling from the support table even in the case of sudden stop in a transporting device which regulates the horizontal movement of the article on the support table by means of positioning pins protrudingly provided on the support table. Provide a simple configuration that can be done.
【０００５】[0005]
【課題を解決するための手段】本発明の解決しようとす
る課題は以上の如くであり、次に該課題を解決するため
の手段を説明する。即ち、請求項１においては、走行経
路に沿って走行する搬送体と、該搬送体に搭載され水平
方向に進退自在な支持台と、該支持台上に突設され物品
の底部に設けた係合孔に係合可能とした位置決めピン
と、前記搬送体が走行するときの支持位置におかれた物
品の上方で、該物品と平面視で少なくとも一部重複する
部分を有するように配置され、かつ、前記支持台が進退
するときには該支持台上の物品と干渉しないように搬送
体に設けられる上動防止手段と、を有するものである。The problems to be solved by the present invention are as described above. Next, the means for solving the problems will be described. That is, in claim 1, a carrier that travels along the travel route, a support that is mounted on the carrier and that can move back and forth in the horizontal direction, and a member that is provided on the bottom of the article so as to project on the support. A positioning pin that is engageable with the dowel, and is arranged so as to have a portion that at least partially overlaps with the article in a plan view above the article that is placed at a supporting position when the transport body travels; An upward movement preventing means provided on the carrier so as not to interfere with the articles on the support base when the support base moves back and forth.
【０００６】請求項２においては、前記上動防止手段
は、前記搬送体に立設した立設部と、該搬送体が走行す
るときの支持位置に置かれた物品の上面に沿って水平に
突出する突出部と、を備えたものである。According to a second aspect of the present invention, the upward movement preventing means is horizontally arranged along the upper portion of the article placed at the supporting position when the carrier is running and the standing portion erected on the carrier. And a projecting portion that projects.
【０００７】請求項３においては、前記立設部には、物
品の側面に向けて突出する第二突出部を突設したもので
ある。According to a third aspect of the present invention, the standing portion is provided with a second protruding portion protruding toward the side surface of the article.
【０００８】[0008]
【０００９】本発明の一実施例である搬送装置３を備え
た自動倉庫１について、図１、図２を用いて説明する。
図１は搬送装置３を備えた自動倉庫１を示す正面断面図
であり、図２は同じく平面断面図である。An automated warehouse 1 equipped with a carrying device 3 according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2.
FIG. 1 is a front sectional view showing an automated warehouse 1 equipped with a transfer device 3, and FIG. 2 is a plan sectional view of the same.
【００１０】自動倉庫１には、多数の物品収納棚２５・
２５・・・を有する一対の収納部２０・２０と、物品の
搬送装置３とが備えられている。収納部２０・２０はそ
れぞれ、前後方向および上下方向に配列された多数の物
品収納棚２５を備えている。この一対の収納部２０・２
０は、自動倉庫１内部に、後述する搬送台車４５のレー
ル３８を挟んで対向配置される。各収納部２０の下部に
設けられる水平板３７の下方には、粉塵吸込み用のファ
ン２６が設けられている。In the automated warehouse 1, a large number of article storage shelves 25
A pair of storage parts 20 and 20 having 25 ... And an article transporting device 3 are provided. The storage units 20 and 20 each include a large number of article storage shelves 25 arranged in the front-rear direction and the vertical direction. This pair of storage units 2
0s are arranged inside the automated warehouse 1 so as to face each other with a rail 38 of a carrier truck 45 described later interposed therebetween. A fan 26 for sucking dust is provided below the horizontal plate 37 provided at the bottom of each storage unit 20.
【００１１】搬送装置３について説明する。この搬送装
置３は、上下昇降する搬送体２を備え、搬送体２上に
は、物品３０の支持台６を進退駆動させる移載装置７が
設けられている。搬送装置３は、自動倉庫１に備える受
渡し口（図示せず）から物品３０を、空いている前記物
品収納棚２５へ収納する際には、次のような動作を行
う。まず、前記受渡し口の側部で、移載装置７の駆動に
より支持台６を受渡し口に向けて進入させて、支持台６
の「進入」位置とする。次に、搬送体２を上昇させるこ
とで、受取り口から物品３０をすくい上げて、物品３０
を支持台６上に支持する。この後、支持台６を搬送体２
上に退入させて「搬送」位置とした後、空いている前記
物品収納棚２５へ向けて搬送体２を走行させる。そし
て、移載装置７の駆動により支持台６を進入させて再び
「進入」位置とし、搬送体２を下降させることで、支持
台６から物品収納棚２５へ物品３０を受け渡す。あるい
は、物品収納棚２５に既に収納されている物品３０を、
移載装置７の駆動により「進入」位置とした支持台６上
に支持して、支持台６を搬送体２上に退入させて「搬
送」位置とした後、前記受渡し口へ向けて搬送体２を走
行させ、移載装置７の駆動により支持台６を進入させて
再び「進入」位置とし、受渡し口へ物品３０を受け渡
す。The transport device 3 will be described. The carrier device 3 includes a carrier body 2 that moves up and down, and a transfer device 7 that drives the support base 6 for the article 30 to move forward and backward is provided on the carrier body 2. The transport device 3 performs the following operation when storing the article 30 from the delivery port (not shown) provided in the automated warehouse 1 into the empty article storage rack 25. First, on the side portion of the delivery port, the support table 6 is moved toward the delivery port by driving the transfer device 7,
It is the "approach" position. Next, by raising the carrier 2, the article 30 is scooped up from the receiving port,
Are supported on the support base 6. After that, the support base 6 is attached to the carrier 2.
After retreating upward to the “conveyance” position, the conveyance body 2 is run toward the vacant article storage rack 25. Then, the transfer device 7 is driven to move the support base 6 into the “entry” position again, and the carrier 2 is lowered to transfer the product 30 from the support base 6 to the product storage rack 25. Alternatively, if the articles 30 already stored in the article storage shelf 25 are
The transfer device 7 is driven to support the support table 6 in the "entry" position, and the support table 6 is moved into and out of the carrier 2 to the "transport" position, and then transported to the delivery port. The body 2 is made to travel, and the support base 6 is advanced by the drive of the transfer device 7 to return to the “entry” position, and the article 30 is delivered to the delivery port.
【００１２】搬送装置３の具体的な構成を以下に説明す
る。平面視で収納部２０・２０に挟まれた位置に一対の
レール３８・３８からなる軌道が敷設され、該レール３
８・３８上に搬送台車４５が配置されている。搬送台車
４５には走行車輪２４・２４・・・が設けられ、これら
の走行車輪２４は前記レール３８・３８上に配置され
る。以上の構成により搬送台車４５は、レール３８・３
８により支持されながら該レール３８・３８に沿って走
行可能とされる。A specific structure of the carrier device 3 will be described below. A track composed of a pair of rails 38, 38 is laid at a position sandwiched between the storage sections 20, 20 in a plan view.
A carrier truck 45 is arranged on the 8.38. .. are provided on the carriage 45, and the traveling wheels 24 are arranged on the rails 38. With the above-described structure, the carrier truck 45 is provided on the rail 38.3.
It is possible to run along the rails 38 while being supported by 8.
【００１３】搬送台車４５上にはターンテーブル３５を
介してマスト４６が立設されて上方に延出され、ターン
テーブル３５とともにマスト４６が回転駆動できるよう
に構成している。前記搬送体２は、マスト４６の延出方
向に形成される走行経路に沿って走行するように構成さ
れており、このため上下昇降可能である。A mast 46 is erected on the transport carriage 45 via a turntable 35 and extends upward, so that the mast 46 can be rotationally driven together with the turntable 35. The carrier 2 is configured to travel along a travel route formed in the extending direction of the mast 46, and thus can be vertically moved up and down.
【００１４】物品３０の移動規制手段について、図３か
ら図５を用いて説明する。図３は搬送体２および移載装
置７を示す平面図であり、図４は支持台６の進退方向の
側方より見た、搬送体２および移載装置７を示す図であ
り、図５は支持台６の退入方向より見た上動防止手段を
示す図である。The means for restricting the movement of the article 30 will be described with reference to FIGS. 3 to 5. 3 is a plan view showing the carrier 2 and the transfer device 7, and FIG. 4 is a view showing the carrier 2 and the transfer device 7 as seen from the side of the support base 6 in the advancing and retracting direction, and FIG. FIG. 6 is a view showing an upward movement preventing means when viewed from the retreating direction of the support base 6.
【００１５】搬送体２に設けた移載装置７は、図３から
図５に示すように、伸縮自在のロボットハンドに構成さ
れており、その先端部に支持台６を設け、支持台６と搬
送体２との間は、第一アーム４・第二アーム５により連
結されている。アーム４・５、支持台６の回動は、移載
装置７に設けた駆動伝達機構により、次のように規制さ
れている。第一アーム４が搬送体２に対して一側に一の
回転量だけ回転すると、第二アーム５は第一アーム４に
対して、他側（前記一側の反対側）に二の回転量だけ回
転し、支持台６は第二アーム５に対して、前記一側に一
の回転量だけ回転する。以上のようにして、支持台６は
搬送体２に対して向きが固定されたまま、進退可能に構
成されている。支持台６の前記「進入」位置は、支持台
６を搬送装置３側から物品の受渡し口および物品収納棚
２５に向けて、伸張させた位置のことであり、前記「搬
送」位置は、支持台６を受渡し口および物品収納棚２５
から搬送装置３側に向けて、収納した位置のことであ
る。As shown in FIGS. 3 to 5, the transfer device 7 provided on the carrier 2 is configured as a telescopic robot hand, and a support base 6 is provided at the tip of the robot hand to support the support base 6. A first arm 4 and a second arm 5 are connected to the carrier 2. The rotation of the arms 4 and 5 and the support base 6 is restricted by the drive transmission mechanism provided in the transfer device 7 as follows. When the first arm 4 rotates by one rotation amount with respect to the carrier 2 on one side, the second arm 5 rotates by two rotation amounts on the other side (the opposite side of the one side) with respect to the first arm 4. The support base 6 rotates by one rotation amount with respect to the second arm 5 on the one side. As described above, the support base 6 is configured to be able to move forward and backward while the orientation of the support base 2 is fixed. The “entry” position of the support base 6 is a position in which the support base 6 is extended from the side of the transport device 3 toward the article delivery port and the article storage shelf 25, and the “transport” position is the support position. The table 6 is used as a delivery port and an article storage shelf 25.
The storage position is from the side toward the transport device 3 side.
【００１６】移載作業においては、支持台６は、物品３
０を下方よりすくい上げることで物品３０を支持するも
のである。物品収納棚２５はその開放側を移載装置７側
に向ける凹部を有しており、この凹部内を支持台６が上
下方向に通過可能となるようにしている。In the transfer operation, the support base 6 holds the article 3
The article 30 is supported by scooping 0 from below. The article storage rack 25 has a recess whose open side faces the transfer device 7 side, and the support base 6 can pass vertically through the recess.
【００１７】支持台６の上面には複数の位置決めピン６
ａが上方に突設される一方、物品３０の下面にはそのピ
ン６ａ・６ａ・・・を挿入して係合可能とさせる係合孔
３０ａ・３０ａ・・・が形成されている。この構成にお
いて、物品３０が支持台６上に支持されるときにはピン
６ａと係合孔３０ａとが係合し、搬送時に物品３０に慣
性力などが多少作用しても、該物品３０が支持台６上で
滑って落下したり、位置ズレして移載作業の際の支障に
なったりしないようにしている。A plurality of positioning pins 6 are provided on the upper surface of the support base 6.
While a is projected upward, the lower surface of the article 30 is formed with engagement holes 30a, 30a ... For inserting and engaging the pins 6a. In this configuration, when the article 30 is supported on the support base 6, the pin 6a and the engagement hole 30a are engaged with each other, and even if inertial force or the like acts on the article 30 during transportation, the article 30 is supported by the support base. It is designed so that it does not slip on the 6 and fall, or it is displaced and does not interfere with the transfer work.
【００１８】物品３０を搬送させるときは、支持台６お
よび該支持台６上の物品３０を搬送体２上に退入させ
た、「搬送」位置において行われる。物品３０の搬送
は、上下方向には搬送体２を走行させることで、レール
３８の敷設方向には搬送台車４５を走行させることで、
他側の収納部２０への受渡しはターンテーブル３５を回
転させることで、それぞれ行われる。When the article 30 is conveyed, it is carried out in the "conveying" position in which the support table 6 and the article 30 on the support table 6 are retracted onto the conveyance body 2. The article 30 is conveyed by moving the carrier 2 in the vertical direction and by moving the carrier truck 45 in the laying direction of the rail 38.
The delivery to the storage section 20 on the other side is performed by rotating the turntable 35.
【００１９】搬送体２には、支持台６が「搬送」位置に
あるときに、その支持台６上に支持された物品３０の上
方への移動を制止する上動防止手段８が設けられてい
る。上動防止手段８は、搬送体２に立設した立設部であ
るブラケット９と、ブラケット９より支持された物品３
０側へ向けて水平に突出する突出部であるＬ字材１０と
を備えている。The carrier 2 is provided with upward movement preventing means 8 for restraining upward movement of the article 30 supported on the support base 6 when the support base 6 is in the "transport" position. There is. The upward movement preventing means 8 includes a bracket 9 which is a standing portion standing on the carrier 2 and an article 3 supported by the bracket 9.
The L-shaped member 10 is a protruding portion that horizontally protrudes toward the 0 side.
【００２０】ブラケット９は図３・図４に示すように、
開口９ｃ・９ｃを形成した枠体状の基体９ａと、該基体
９ａに固設される平板９ｂとから構成される。ブラケッ
ト９の基体９ａは、搬送体２の退入側（図３、図４中右
側）の端部に固設される。上動防止手段８としてのＬ字
材１０は、平板部材を折曲してＬ字状とした部材であ
り、折曲部を挟んで、第一平板部１０ａと第二平板部１
０ｂとの二つの部分から構成される。Ｌ字材１０は、第
二平板部１０ｂでブラケット９に固設され、第一平板部
１０ａの面部は支持台６の物品載置面（上面）と平行に
位置する。The bracket 9 is, as shown in FIGS. 3 and 4,
It is composed of a frame-shaped base 9a having openings 9c and 9c, and a flat plate 9b fixedly mounted on the base 9a. The base body 9a of the bracket 9 is fixed to the end portion of the carrier 2 on the retreat side (right side in FIGS. 3 and 4). The L-shaped member 10 as the upward movement preventing means 8 is a member formed by bending a flat plate member into an L shape, and sandwiching the bent portion, the first flat plate portion 10a and the second flat plate portion 1 are sandwiched.
It consists of two parts, 0b. The L-shaped member 10 is fixed to the bracket 9 by the second flat plate portion 10b, and the surface portion of the first flat plate portion 10a is positioned parallel to the article mounting surface (upper surface) of the support base 6.
【００２１】Ｌ字材１０は図４に示すように、支持台６
に支持された物品３０の退入側（図４の図中右側）端部
上方に位置すると共に、図３に示すように、平面視で前
記物品３０と一部重複している。Ｌ字材１０には高さ調
節手段が設けられており（後述）、前記物品３０の退入
側端部上端面と、Ｌ字材１０の第一平板部１０ａの下面
とが、短い距離（少なくとも、物品載置面となる支持台
６上面からのピン６ａの突出高さよりも短い距離）だけ
離間するよう、その取付け高さが調整されている。支持
台６により物品３０をすくい上げた後、搬送体２に退入
させて「搬送」位置へ移行させる際は、物品３０は水平
方向に移動するのみであるから、物品３０とＬ字材１０
の前記第一平板部１０ａとは干渉しない。そして、いっ
たん「搬送」位置に物品３０がおかれると、その物品３
０の退入側端部の上面のすぐ上に前記Ｌ字材１０の第一
平板部１０ａが位置し、これによって物品３０の上動
（浮き上がり）が規制されるようにしている。The L-shaped member 10 is, as shown in FIG.
It is located above the end of the retreat side (right side in the drawing of FIG. 4) of the article 30 supported by, and partially overlaps with the article 30 in plan view as shown in FIG. The L-shaped member 10 is provided with height adjusting means (described later), and the upper end surface of the retreat side end of the article 30 and the lower surface of the first flat plate portion 10a of the L-shaped material 10 are short distances ( The mounting height is adjusted so that the mounting height is at least a distance shorter than the protruding height of the pin 6a from the upper surface of the support base 6 which is the article mounting surface. When the article 30 is picked up by the support table 6 and then moved to the “transport” position by retracting the article to the carrier 2, the article 30 and the L-shaped member 10 are moved only in the horizontal direction.
Does not interfere with the first flat plate portion 10a. Once the article 30 is placed in the “conveyance” position, the article 3
The first flat plate portion 10a of the L-shaped member 10 is located immediately above the upper surface of the retreat side end portion of 0, whereby the upward movement (lifting) of the article 30 is regulated.
【００２２】Ｌ字材１０の高さ調整手段、即ち、ブラケ
ット９に対してＬ字材１０の固定位置を上下方向で変更
する構成を以下に説明する。Ｌ字材１０は、ボルトおよ
びナットによる締結固定により、ブラケット９に固設さ
れるものである。ここで、図５に示すように、Ｌ字材１
０の第二平板部１０ｂには、ボルト締結孔として、上下
方向に長い長孔１０ｃ・１０ｃが、支持台６の進退方向
に対する両側方に一対で形成されている。このため、Ｌ
字材１０は、前記長孔１０ｃ・１０ｃによって、上下位
置が適切となるように調節して、ブラケット９に固定す
ることが可能となっている。The height adjusting means of the L-shaped member 10, that is, the structure for changing the fixing position of the L-shaped member 10 with respect to the bracket 9 in the vertical direction will be described below. The L-shaped member 10 is fixed to the bracket 9 by fastening and fixing with a bolt and a nut. Here, as shown in FIG. 5, the L-shaped member 1
The second flat plate portion 10b of 0 is provided with a pair of long holes 10c, 10c that are long in the up-down direction as bolt fastening holes on both sides of the support base 6 in the advancing / retracting direction. Therefore, L
The character member 10 can be fixed to the bracket 9 by adjusting the vertical position by the elongated holes 10c and 10c so that the vertical position is appropriate.
【００２３】なお、Ｌ字材１０の適切な上下位置とは前
述したとおり、物品３０の退入側端部上面と、Ｌ字材１
０の第一平板部１０ａの下面とが、短い距離だけ離間す
る状態となる位置である。この位置とすれば、物品３０
を支持した支持台６の進退に干渉することがなく、また
同時に、物品３０の上動を効果的に制止できる。The appropriate upper and lower positions of the L-shaped member 10 are, as described above, the upper surface of the retreat side end of the article 30 and the L-shaped member 1.
This is the position where the bottom surface of the first flat plate portion 10a of 0 is separated by a short distance. With this position, the article 30
It is possible to effectively prevent the upward movement of the article 30 without interfering with the movement of the support base 6 supporting the.
【００２４】以上に述べた、搬送位置での物品３０の移
動規制手段を次に列挙する。まず、支持台６上に立設し
た位置決めピン６ａ・６ａ・・・は、物品３０の水平動
を規制すると共に、多少の上動（浮き上がり）をも規制
する手段である。また、搬送体２に立設した上動防止手
段８は、物品３０の上動（浮き上がり）を確実に規制す
る手段である。以上構成により、搬送体２が急停止し、
物品３０に強い慣性力が働いた際にも、位置決めピン６
ａにより、支持台６上で物品３０が水平に移動するのを
制止すると共に、上動防止手段８のＬ字材１０により、
水平動を制止された物品３０が上方へ移動するのを制止
して、物品３０と支持台６との係合（係合孔３０ａと位
置決めピン６ａ）が外れるのを防止している。The above-mentioned means for restricting the movement of the article 30 at the carrying position are listed below. First, the positioning pins 6a, 6a, ... Standing on the support base 6 are means for restricting the horizontal movement of the article 30 and also a little upward movement (lifting). Further, the upward movement preventing means 8 provided upright on the carrier 2 is a means for surely regulating the upward movement (lifting) of the article 30. With the above configuration, the carrier 2 suddenly stops,
Even when a strong inertial force acts on the article 30, the positioning pin 6
The a prevents the article 30 from moving horizontally on the support base 6, and the L-shaped member 10 of the upward movement preventing means 8 prevents the article 30 from moving horizontally.
The article 30 whose horizontal movement is restrained is prevented from moving upward, and the engagement between the article 30 and the support 6 (the engagement hole 30a and the positioning pin 6a) is prevented from being disengaged.
【００２５】また、上動防止手段８を固設する位置は、
搬送体２の退入側（図３、図４中右側）の端部としてい
る。このため、支持台６が「搬送」位置まで退入して
も、上動防止手段８のブラケット９は支持台６上の物品
３０と接触しない。また、ブラケット９の上下には、支
持台６の進退方向に開口する開口部９ｃ・９ｃが形成さ
れており、下側の開口部９ｃは前記進退方向より見て、
支持台６と重複する位置である。したがって、支持台６
が搬送位置まで退入しても、ブラケット９と支持台６と
が接触することがない。The position at which the upward movement preventing means 8 is fixed is
It is the end of the retreat side (the right side in FIGS. 3 and 4) of the carrier 2. Therefore, even when the support base 6 is retracted to the “conveyance” position, the bracket 9 of the upward movement preventing means 8 does not contact the article 30 on the support base 6. Further, openings 9c, 9c opening in the advancing / retracting direction of the support base 6 are formed above and below the bracket 9, and the lower opening 9c is seen from the advancing / retracting direction.
It is a position overlapping with the support 6. Therefore, the support base 6
The bracket 9 and the support base 6 do not come into contact with each other even if is moved to the transport position.
【００２６】特に、物品３０の上動を制止するためのＬ
字材１０の第一平板部１０ａも、物品３０の上面から離
間した位置に設けられており、支持台６が進退しても、
Ｌ字材１０と、支持台６に支持される物品３０とが接触
しない。このため、物品３０を移載する前に予め上動防
止手段８を支持台６の進退経路に干渉しないように退避
させるための移動機構を不要とすることができる。した
がって、物品３０の上動を制止するための機構が簡単な
ものとなる。In particular, L for stopping the upward movement of the article 30
The first flat plate portion 10a of the character material 10 is also provided at a position separated from the upper surface of the article 30, and even if the support base 6 advances and retracts,
The L-shaped material 10 does not come into contact with the article 30 supported by the support 6. For this reason, it is possible to eliminate the need for a moving mechanism for retracting the upward movement preventing means 8 in advance before transferring the article 30 so as not to interfere with the forward / backward movement path of the support base 6. Therefore, the mechanism for stopping the upward movement of the article 30 becomes simple.
【００２７】上動防止手段８は、搬送体２に立設した立
設部であるブラケット９と、ブラケット９から、支持台
６に支持された物品３０の上方へ向けて突出する突出部
であるＬ字材１０と、を備える構成である。このため、
簡単な構造で、支持台６に支持される物品３０の上動防
止手段を構成することができる。The upward movement preventing means 8 is a bracket 9 which is an erected portion which is erected on the carrier 2, and a protruding portion which protrudes upward from the bracket 9 of the article 30 supported by the support base 6. The L-shaped member 10 is provided. For this reason,
With a simple structure, the upward movement preventing means of the article 30 supported by the support base 6 can be configured.
【００２８】上動防止手段８を構成する前記立設部であ
るブラケット９には、前記突出部であるＬ字材１０の他
に、第二突出部として、スペーサー１１・１１が突設さ
れている。スペーサー１１は、ブラケット９より物品３
０の側面（退入側の面）に向けて水平に突出するように
設けられており、図５に示すように、支持台６の進退方
向に対する両側方に、一対で設けられている。このた
め、搬送体２の急停止等の衝撃により、支持台６に支持
される物品３０を傾動させるような力が加わった場合で
も、物品３０が退入側下端を回動支点として僅かに傾い
た時点で前記スペーサー１１・１１に物品３０が当接す
るので、前記Ｌ字材１０または前記ブラケット９に当接
するまでの間に、物品３０が大きく傾くことはない。し
たがって、物品３０が大きく傾いた後で、元の載置位置
に戻る際に、物品３０が支持台６上面と衝突して発生す
る衝撃が、物品３０に伝えられることもない。本実施例
では、物品３０として、複数枚の半導体ウエハを収納し
たカセットとしており、物品３０に衝撃が加えられない
ことが強く要請されるが、上記構成はそのような要請に
応えるものとなっている。In addition to the L-shaped member 10 which is the projecting portion, spacers 11 and 11 which project as the second projecting portion are provided on the bracket 9 which is the standing portion which constitutes the upward movement preventing means 8. There is. The spacer 11 is an article 3 rather than the bracket 9.
It is provided so as to horizontally project toward the side surface (the surface on the retreat side) of 0, and as shown in FIG. 5, it is provided on both sides of the support base 6 in the advancing and retreating direction. Therefore, even when a force that tilts the article 30 supported by the support 6 is applied due to an impact such as a sudden stop of the transport body 2, the article 30 slightly tilts with the lower end of the retreat side as a rotation fulcrum. Since the article 30 comes into contact with the spacers 11 and 11 at that time, the article 30 does not largely tilt until it comes into contact with the L-shaped member 10 or the bracket 9. Therefore, the impact generated by the article 30 colliding with the upper surface of the support base 6 when returning to the original mounting position after the article 30 is largely tilted is not transmitted to the article 30. In the present embodiment, the article 30 is a cassette accommodating a plurality of semiconductor wafers, and it is strongly requested that the article 30 is not impacted. However, the above-described configuration meets such a request. There is.
【００２９】以上の構成により、装置の急停止等の何ら
かの事情で物品３０に強い慣性力が働いた場合でも、該
物品３０の進入側下端を回動支点とした傾動（図４の矢
視ａ方向の傾動）は前記Ｌ字材１０によって防止され、
退入側下端を回動支点とした傾動（図４の矢視ｂ方向の
傾動）はスペーサ１１・１１によって防止される。さら
に、前記Ｌ字材１０は、支持台６の進退方向に対して直
交する方向に幅を持たせてあるため、進退方向と直交す
る方向への傾動も規制されるようになっている。このよ
うに物品３０は、支持台６の進退方向および進退方向と
直交する方向の傾動がいずれも規制される結果、支持台
６から外れて落下することが確実に防止されるのであ
る。With the above configuration, even when a strong inertial force acts on the article 30 for some reason such as a sudden stop of the apparatus, the article 30 tilts with the lower end of the entry side as a pivot (see arrow a in FIG. 4). Tilting) is prevented by the L-shaped member 10,
Tilting (tilt in the direction of arrow b in FIG. 4) with the lower end on the retreating side as a pivot is prevented by the spacers 11 and 11. Further, since the L-shaped member 10 has a width in a direction orthogonal to the advancing / retreating direction of the support base 6, tilting in a direction orthogonal to the advancing / retreating direction is also restricted. As described above, as a result of restricting the advancing / retreating direction of the support base 6 and the tilting of the support base 6 in the direction orthogonal to the advancing / retreating direction, the article 30 is reliably prevented from falling off the support base 6.
【００３０】以上の構成を備えた搬送装置は、本実施例
に適用したスタッカクレーンに限定されるものではな
く、他の構成のスタッカクレーンや、移載装置を備えた
無人搬送車に適用してもよい。The transfer device having the above-described structure is not limited to the stacker crane applied to this embodiment, but may be applied to a stacker crane having another structure or an automatic guided vehicle equipped with a transfer device. Good.
【００３１】[0031]
【発明の効果】請求項１に示す如く、走行経路に沿って
走行する搬送体と、該搬送体に搭載され水平方向に進退
自在な支持台と、該支持台上に突設され物品の底部に設
けた係合孔に係合可能とした位置決めピンと、前記搬送
体が走行するときの支持位置におかれた物品の上方で、
該物品と平面視で少なくとも一部重複する部分を有する
ように配置され、かつ、前記支持台が進退するときには
該支持台上の物品と干渉しないように搬送体に設けられ
る上動防止手段と、を有するので、搬送体が急停止した
際にも、位置決めピンにより、支持台上で物品が水平に
移動するのを制止すると共に、上動防止手段の突出部に
より、水平動を制止された物品が上方へ移動するのを制
止して、物品と支持台との係合が外れるのを防止でき
る。また、上動防止手段を支持体の進退経路に干渉しな
いように退避させるための移動機構を不要とすることが
できる。したがって、物品の上動を制止するための機構
が簡単なものとなる。According to the present invention, a carrier which travels along a traveling path, a support which is mounted on the carrier and can move back and forth in the horizontal direction, and a bottom portion of an article which is projected on the support and are provided. A positioning pin that is engageable with an engagement hole provided in the above, and above the article placed at a supporting position when the transport body travels,
An upper movement preventing means which is arranged so as to have a portion which at least partially overlaps with the article in a plan view, and which is provided on the carrier so as not to interfere with the article on the support table when the support table advances and retracts; Therefore, even when the carrier suddenly stops, the positioning pin prevents the article from moving horizontally on the support base, and the protrusion of the upward movement preventing means prevents the article from moving horizontally. Can be prevented from moving upward to prevent the article from being disengaged from the support base. Further, it is possible to eliminate the need for a moving mechanism for retracting the upward movement preventing means so as not to interfere with the forward / backward movement path of the support. Therefore, the mechanism for restraining the upward movement of the article becomes simple.
【００３２】請求項２に示す如く、前記上動防止手段
は、前記搬送体に立設した立設部と、該搬送体が走行す
るときの支持位置に置かれた物品の上面に沿って水平に
突出する突出部と、を備えたので、簡単な構造で、支持
台に支持される物品の上動防止手段を構成することがで
きる。According to a second aspect of the present invention, the upward movement preventing means horizontally extends along the upper portion of the article placed at the supporting position when the carrier is running and the standing portion that is erected on the carrier. Since the projecting portion that protrudes to the upper portion is provided, it is possible to configure the upward movement preventing means of the article supported by the support base with a simple structure.
【００３３】請求項３に示す如く、前記立設部には、物
品の側面に向けて突出する第二突出部を突設したので、
物品が立設部側に向けて大きく傾くことが第二突出部に
より規制されるから、物品の支持台からの脱落がより確
実に防止される。According to the third aspect of the invention, the upright portion is provided with the second projecting portion projecting toward the side surface of the article.
Since the second protrusion prevents the article from greatly tilting toward the standing portion, the article is more reliably prevented from falling off the support base.
【図１】搬送装置３を備えた自動倉庫１を示す正面断面
図である。FIG. 1 is a front cross-sectional view showing an automated warehouse 1 including a transfer device 3.
【図２】同じく平面断面図である。FIG. 2 is a plan sectional view of the same.
【図３】搬送体２および移載装置７を示す平面図であ
る。FIG. 3 is a plan view showing a carrier 2 and a transfer device 7.
【図４】支持台６の進退方向の側方より見た、搬送体２
および移載装置７を示す図である。FIG. 4 is a view of the carrier body 2 viewed from the side of the support base 6 in the advancing and retracting direction.
3 is a diagram showing a transfer device 7. FIG.
【図５】支持台６の退入方向より見た上動防止手段を示
す図である。FIG. 5 is a view showing an upward movement preventing unit when viewed from a direction in which a support base 6 retreats.
２ 搬送体 ３ 搬送装置 ６ 支持台 ６ａ 位置決めピン ７ 移載装置 ８ 上動防止手段 ９ ブラケット（立設部） １０ Ｌ字材（突出部） １１ スペーサー（第二突出部） ３０ 物品 ３０ａ 係合孔 2 carrier 3 Conveyor 6 support 6a Positioning pin 7 Transfer device 8 Movement prevention means 9 Bracket (standing part) 10 L-shaped material (protruding part) 11 Spacer (second protrusion) 30 articles 30a engagement hole
Claims (3)
搬送体に搭載され水平方向に進退自在な支持台と、該支
持台上に突設され物品の底部に設けた係合孔に係合可能
とした位置決めピンと、前記搬送体が走行するときの支
持位置におかれた物品の上方で、該物品と平面視で少な
くとも一部重複する部分を有するように配置され、か
つ、前記支持台が進退するときには該支持台上の物品と
干渉しないように搬送体に設けられる上動防止手段と、
を有することを特徴とする搬送装置。1. A carrier that travels along a travel path, a support that is mounted on the carrier and that can move back and forth in the horizontal direction, and an engagement hole that is provided on the bottom of an article and that projects from the support. A positioning pin that can be engaged and is disposed so as to have a portion that at least partially overlaps with the article in a plan view above the article that is at a support position when the transport body travels, and the support. An upward movement preventing means provided on the carrier so as not to interfere with articles on the support table when the table moves forward and backward,
A transport device comprising:
した立設部と、該搬送体が走行するときの支持位置に置
かれた物品の上面に沿って水平に突出する突出部と、を
備えたことを特徴とする、請求項１に記載の搬送装置。2. The upward movement preventing means includes an upright portion standing upright on the carrier, and a protrusion protruding horizontally along an upper surface of an article placed at a supporting position when the carrier travels. The transport device according to claim 1, further comprising:
出する第二突出部を突設したことを特徴とする請求項２
に記載の搬送装置。3. The second protrusion that protrudes toward the side surface of the article is provided on the upright portion.
The transport device according to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001332122A JP2003128209A (en) | 2001-10-30 | 2001-10-30 | Transportation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001332122A JP2003128209A (en) | 2001-10-30 | 2001-10-30 | Transportation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2003128209A true JP2003128209A (en) | 2003-05-08 |
Family
ID=19147589
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2001332122A Pending JP2003128209A (en) | 2001-10-30 | 2001-10-30 | Transportation device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2003128209A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015063351A (en) * | 2013-09-24 | 2015-04-09 | 村田機械株式会社 | Carrier device and transfer device |
| CN105584767A (en) * | 2014-11-12 | 2016-05-18 | 株式会社大福 | Article Transport Facility |
| WO2016152276A1 (en) * | 2015-03-26 | 2016-09-29 | 村田機械株式会社 | Supporting device and supporting method for articles |
| JP2018039653A (en) * | 2016-09-09 | 2018-03-15 | 株式会社ダイフク | Article conveyance device |
| WO2021100337A1 (en) * | 2019-11-22 | 2021-05-27 | 村田機械株式会社 | Stacker crane |
| TWI828868B (en) * | 2019-02-22 | 2024-01-11 | 日商村田機械股份有限公司 | Transfer devices and stacker cranes |
-
2001
- 2001-10-30 JP JP2001332122A patent/JP2003128209A/en active Pending
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|---|---|---|---|---|
| JP2015063351A (en) * | 2013-09-24 | 2015-04-09 | 村田機械株式会社 | Carrier device and transfer device |
| US9969551B2 (en) | 2014-11-12 | 2018-05-15 | Daifuku Co., Ltd. | Article transport facility |
| CN105584767A (en) * | 2014-11-12 | 2016-05-18 | 株式会社大福 | Article Transport Facility |
| KR20160056826A (en) * | 2014-11-12 | 2016-05-20 | 가부시키가이샤 다이후쿠 | Article transport facility |
| JP2016094264A (en) * | 2014-11-12 | 2016-05-26 | 株式会社ダイフク | Article conveyance facility |
| KR102463265B1 (en) * | 2014-11-12 | 2022-11-03 | 가부시키가이샤 다이후쿠 | Article transport facility |
| CN105584767B (en) * | 2014-11-12 | 2019-09-24 | 株式会社大福 | Article carrying apparatus |
| TWI660903B (en) * | 2014-11-12 | 2019-06-01 | Daifuku Co., Ltd. | Article transport facility |
| WO2016152276A1 (en) * | 2015-03-26 | 2016-09-29 | 村田機械株式会社 | Supporting device and supporting method for articles |
| TWI661986B (en) * | 2015-03-26 | 2019-06-11 | 日商村田機械股份有限公司 | Article supporting device and supporting method |
| JPWO2016152276A1 (en) * | 2015-03-26 | 2018-01-11 | 村田機械株式会社 | Article support device and support method |
| KR20180028973A (en) * | 2016-09-09 | 2018-03-19 | 가부시키가이샤 다이후쿠 | Article transport device |
| JP2018039653A (en) * | 2016-09-09 | 2018-03-15 | 株式会社ダイフク | Article conveyance device |
| KR102397716B1 (en) | 2016-09-09 | 2022-05-12 | 가부시키가이샤 다이후쿠 | Article transport device |
| TWI828868B (en) * | 2019-02-22 | 2024-01-11 | 日商村田機械股份有限公司 | Transfer devices and stacker cranes |
| WO2021100337A1 (en) * | 2019-11-22 | 2021-05-27 | 村田機械株式会社 | Stacker crane |
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