JP3436334B2 - Goods transport equipment - Google Patents
Goods transport equipmentInfo
- Publication number
- JP3436334B2 JP3436334B2 JP20681996A JP20681996A JP3436334B2 JP 3436334 B2 JP3436334 B2 JP 3436334B2 JP 20681996 A JP20681996 A JP 20681996A JP 20681996 A JP20681996 A JP 20681996A JP 3436334 B2 JP3436334 B2 JP 3436334B2
- Authority
- JP
- Japan
- Prior art keywords
- article
- moving body
- transfer
- space
- guide rail
- 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.)
- Expired - Lifetime
Links
Landscapes
- Warehouses Or Storage Devices (AREA)
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、搬送用空間と、そ
の搬送用空間とは別の空間とが上下に並ぶ状態で設けら
れ、前記搬送用空間に、案内レールと、その案内レール
に案内されて走行する移動体とが設けられ、前記移動体
が、複数のステーション間で物品を搬送するように構成
されている物品搬送設備に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is provided with a carrying space and a space different from the carrying space which are vertically aligned, and a guide rail and a guide rail are provided in the carrying space. And a moving body that travels while traveling, and the moving body is configured to convey an article between a plurality of stations.
【０００２】[0002]
【従来の技術】かかる物品搬送設備は、複数のステーシ
ョンに沿って案内レールを設置し、その案内レールに案
内されて走行する移動体によって、各ステーション間で
物品の搬送を行うものである。この搬送のための案内レ
ールや移動体を配置する搬送用空間は、その搬送用空間
とは別の空間すなわち物品搬送という目的以外に使用す
る空間と上下に並ぶ状態で設けられ、物品の搬送に供す
る空間を上下方向で一定の領域に限定することで、可及
的に前記別の空間の容積の拡大が図られている。このよ
うな物品搬送設備においては、各ステーションに搬送さ
れる物品又は各ステーションから搬送されてきた物品を
一時的に保持する設備が設けられるのが一般的である。
従来、上記の物品の一時的な保持のために、搬送用空間
とは別の空間に物品の保管棚を立設し、その保管棚と案
内レールを走行する移動体との間で物品を移載できるよ
うに構成していた。具体例で説明すると、工場の作業場
内の天井近くに案内レールを設置し、天井側の空間を搬
送用空間として設定し、床面側の空間を前記別の空間と
して設定する場合において、物品の保管棚を床面上に立
設していた。2. Description of the Related Art Such article transporting equipment is provided with guide rails installed along a plurality of stations and transports articles between stations by a moving body guided by the guide rails. The transportation space for arranging the guide rails and the moving body for transportation is provided in a space different from the transportation space, that is, in a state of being vertically aligned with a space used for purposes other than the purpose of transporting articles, and is used for transportation of articles. By limiting the space to be provided to a certain area in the vertical direction, the volume of the other space is expanded as much as possible. Such an article transport facility is generally provided with a facility for temporarily holding an article transported to each station or an article transported from each station.
Conventionally, in order to temporarily hold the above-mentioned article, an article storage shelf is erected in a space different from the transportation space, and the article is transferred between the storage shelf and a moving body traveling on the guide rail. It was structured so that it could be posted. Explaining in a specific example, when a guide rail is installed near the ceiling in the workshop of the factory, the ceiling side space is set as the transport space, and the floor side space is set as the other space, The storage shelves were erected on the floor.
【０００３】[0003]
【発明が解決しようとする課題】しかしながら、上記従
来構成では、前記別の空間に物品の保管棚の設置スペー
スが必要となるので、前記別の空間の容積の拡大という
観点から改善が望まれていた。本発明は、上記実情に鑑
みてなされたものであって、その目的は、前記別の空間
において物品の一時的な保持のために要するスペースを
可及的に低減する点にある。However, in the above-mentioned conventional structure, an installation space for a storage rack for articles is required in the separate space, and therefore improvement is desired from the viewpoint of expanding the volume of the separate space. It was The present invention has been made in view of the above circumstances, and an object thereof is to reduce the space required for temporarily holding an article in the other space as much as possible.
【０００４】[0004]
【課題を解決するための手段】上記請求項１記載の構成
を備えることにより、物品を一時的に保持する物品保持
部が搬送用空間に設けられ、物品保持部は、移動体によ
るステーション間の物品搬送及び移動体によるステーシ
ョンに対する物品移載を許容する状態であるので、移動
体の動作を妨げることもない。従って、物品保持部が搬
送用空間に配置されることで、搬送用空間に対して上下
に並ぶその搬送用空間とは別の空間において物品の一時
的な保持のために要するスペースを可及的に低減するこ
とができ、前記別の空間の容積を可及的に拡大できるも
のとなって、前記別の空間を一層便利に利用できる。According to the structure described in claim 1, the article holding section for temporarily holding the article is provided in the carrying space, and the article holding section is provided by the moving body.
That since for Stacy <br/> tio emissions through article transport and mobile between stations is in a state that allows the article transfer, nor interfere with the operation of the mobile. Therefore, by arranging the article holding unit in the carrying space, the space required for temporarily holding the article is provided in a space different from the carrying space arranged vertically with respect to the carrying space. The volume of the other space can be expanded as much as possible, and the other space can be used more conveniently.
【０００５】又、上記請求項２の構成を備えることによ
り、床と天井によって上下が区画された作業用空間の天
井の上側若しくは下側又は床下の空間が搬送用空間とな
り、床上の空間が搬送用空間とは別の空間となる。従っ
て、物品を一時的に保持するために必要な床面上のスペ
ースが可及的に低減できて、例えば、前記別の空間にお
ける種々の作業や処理、各種の機器の設置等を行い易く
できる。Further, by providing the structure of claim 2, the space above or below the ceiling or below the floor of the working space divided up and down by the floor and the ceiling is a space for transportation, and the space on the floor is transported. It becomes a space different from the space for use. Therefore, the space on the floor surface necessary for temporarily holding the article can be reduced as much as possible, and for example, it is possible to easily perform various operations and processes in the other space, installation of various devices, and the like. .
【０００６】又、上記請求項３記載の構成を備えること
により、移動体は、各ステーションの夫々に対して設定
されている停止位置間を移動して物品の搬送を行うので
あるが、このステーションに対する停止位置間の途中箇
所に位置する状態で、案内レールに沿って設けられた物
品保持部と物品の移載を行う。これによって、物品保持
部に保持されていた物品をステーションに搬送する作業
やあるいはステーションから搬送してきた物品を物品保
持部に保持する作業を行う。従って、物品保持部は、ス
テーション間の物品の搬送のための案内レールに沿った
空間を利用して分散配置されることになり、多数の物品
の保持が可能となると共に、物品保持部は案内レールに
沿って設置されるので、物品保持部と移動体との間の物
品の移載を容易に行え、移載装置の構成の簡素化を図る
ことができる。Further, by providing the configuration according to claim 3, the moving body moves between the stop positions set for the respective stations to carry the article. The article holding unit provided along the guide rail and the article are transferred in a state where the article is located at an intermediate position between the stop positions with respect to. Thus, the work for carrying the article held in the article holding unit to the station or the work for holding the article carried from the station in the article holding unit is performed. Therefore, the article holders are arranged in a distributed manner by utilizing the space along the guide rails for conveying the articles between the stations, and it is possible to hold a large number of articles and the article holders guide the articles. Since the articles are installed along the rails, the articles can be easily transferred between the article holder and the moving body, and the configuration of the transfer apparatus can be simplified.
【０００７】又、上記請求項４記載の構成を備えること
により、物品保持部と移動体との間で物品の移載を行う
保持部用移載手段が移動体側に設けられている。このよ
うな物品搬送設備では、一般的に、移動体の数に較べて
物品保持部の数の方が多数となる場合が多いので、その
移載手段を物品保持部側に設ける場合に較べて、必要と
なる移載手段の数が少なくて済み、設備全体として構成
の簡素化を図ることができる。Further, by having the structure according to the above-mentioned claim 4, the holding section transfer means for transferring the article between the article holding section and the moving body is provided on the moving body side. In such an article transport facility, in general, the number of article holding units is often larger than the number of moving bodies. Therefore, compared to the case where the transfer means is provided on the article holding unit side. The number of transfer means required is small, and the configuration of the entire facility can be simplified.
【０００８】又、上記請求項５記載の構成を備えること
により、ステーションと移動体との間で物品の移載を行
うステーション用移載手段が移動体側に設けられてい
る。このような物品搬送設備では、一般的に、移動体の
数に較べてステーションの数の方が多数となる場合が多
いので、その移載手段をステーションに設ける場合に較
べて、必要となる移載手段の数が少なくて済み、設備全
体として構成の簡素化を図ることができる。又、上記請
求項６記載の構成を備えることにより、移動体に備えら
れた単一の物品移載手段が、物品保持部と移動体との間
並びにステーションと移動体との間での物品の移載を行
い、保持部用移載手段としての機能とステーション用移
載手段としての機能とを併せ持つものとなるので、一層
の構成の簡素化を図ることができる。Further, by having the structure according to the fifth aspect, the station transfer means for transferring the article between the station and the moving body is provided on the moving body side. In such an article transport facility, generally, the number of stations is larger than the number of moving bodies in many cases. The number of mounting means is small, and the configuration of the entire facility can be simplified. Further, by providing the structure according to claim 6, the single article transfer means provided in the moving body can store the articles between the article holding section and the moving body and between the station and the moving body. Since the transfer is performed and the function as the holding unit transfer unit and the function as the station transfer unit are provided together, the configuration can be further simplified.
【０００９】又、上記請求項７記載の構成を備えること
により、物品移載手段は、物品を昇降移動させて移載を
行う。従って、ステーションを例えば床面側等の搬送用
空間とは別の空間に位置させることが可能となり、ステ
ーションを搬送用空間に配置する場合に較べて、ステー
ションと前記別の空間との物品の移送に要する設備が不
要となるかあるいは必要であっても小型のもので済み、
構成の簡素化を図ることができる。Further, by having the structure described in claim 7, the article transferring means moves the article up and down to transfer the article. Therefore, it becomes possible to position the station in a space different from the transportation space such as the floor side, and compared to the case where the station is arranged in the transportation space, the transfer of articles between the station and the other space. The equipment required for is unnecessary, or even if it is necessary, it can be small.
It is possible to simplify the configuration.
【００１０】又、上記請求項８記載の構成を備えること
により、搬送用空間がその搬送用空間とは別の空間の上
側に位置する前提として、移動体は、物品を昇降移動さ
せる物品移載手段が上昇位置で物品を保持する状態で物
品搬送し、物品保持部は、側面視でその搬送される物品
とほぼ同高さで物品を保持する。従って、搬送用空間が
上下方向で占有する領域を小さくできて、搬送用空間と
その搬送用空間とは別の空間とによって上下方向で占有
される領域が全体として小さくなり、例えば、搬送用空
間と前記別の空間とによって上下方向で占有される領域
が制限されるような場合でも、前記別の空間の領域を可
及的に大きくできる。Further, by providing the structure according to the eighth aspect, it is assumed that the transfer space is located above the space different from the transfer space, and the moving body moves the article up and down. The means conveys the article while the means holds the article at the elevated position, and the article holding unit holds the article at substantially the same height as the conveyed article in a side view. Therefore, the area occupied by the transport space in the vertical direction can be reduced, and the area occupied by the transport space and the space different from the transport space in the vertical direction is reduced as a whole. Even when the area occupied in the up and down direction is limited by the space and the space, the space in the space can be made as large as possible.
【００１１】又、上記請求項９記載の構成を備えること
により、搬送用空間がその搬送用空間とは別の空間の上
側に位置する前提として、物品保持部は、移動体に保持
される物品の下方位置において物品を保持するので、物
品移載手段による物品の昇降移動のみによって、物品保
持部と移動体との間で物品を移載することが可能とな
り、この移載のための他の補助的な手段を必要としない
か、あるいは、必要として簡素な構成のもので済み、全
体として構成の簡素化を図れる。又、上記請求項１０記
載の構成を備えることにより、物品保持部は、案内レー
ルの横幅方向に複数個の物品を保持し、それら複数個の
物品が物品移動手段によって、移動体との物品移載用位
置に選択的に位置される。従って、物品保持部における
物品の収納効率を可及的に向上でき、搬送用空間を物品
の保持のために有効利用できる。According to the ninth aspect of the present invention, the article holding section is premised on the fact that the carrying space is located above a space different from the carrying space. Since the article is held in the lower position of the article, it is possible to transfer the article between the article holding unit and the moving body only by moving the article up and down by the article transfer means. No auxiliary means is needed, or a simple structure is needed as needed, and the structure can be simplified as a whole. Further, by providing the configuration according to claim 10, the article holding unit holds a plurality of articles in the lateral width direction of the guide rail, and the plurality of articles is moved by the article moving means to the moving body. It is selectively positioned at the mounting position. Therefore, the storage efficiency of the articles in the article holding unit can be improved as much as possible, and the transport space can be effectively used for holding the articles.
【００１２】又、上記請求項１１記載の構成を備えるこ
とにより、移動体の物品移載手段は、物品を移動体横幅
方向へ移動させて物品の移載を行うので、物品収容能力
を大きくするために物品保持部を、収納スペースの確保
が容易な、案内レールに対する移動体横幅方向の位置に
設けた場合に、物品を昇降移動させて移載する形式で
は、物品保持部に保持する物品を移動体横幅方向に移動
させるための補助的な手段が必要となる場合があるのに
対して、そのような補助的な手段を必要としないか、設
けるにしても簡素の構成とすることができる。Further, since the article transfer means of the movable body moves the article in the lateral width direction of the movable body to transfer the article by providing the structure according to the eleventh aspect, the article storage capacity is increased. For this reason, when the article holding unit is provided at a position in the lateral width direction of the moving body with respect to the guide rail where it is easy to secure a storage space, the articles to be held in the article holding unit can be moved by moving the articles vertically. In some cases, auxiliary means for moving the moving body in the lateral width direction may be required, but such auxiliary means may not be necessary, or a simple structure can be provided even if provided. .
【００１３】又、上記請求項１２記載の構成を備えるこ
とにより、物品搬送設備は、複数の案内レール間を、物
品搬送用の連絡用移動体を案内する連絡用案内レールに
て連絡して、各案内レール間で物品のやりとりを可能と
するものである。このように、案内レールと連絡用案内
レールとを備えて物品搬送設備を構成することは、例え
ば各種の製造工程のように、ステーションの数が多数と
なり、各ステーションに対応する装置での処理が多岐に
渡る場合に、単一の案内レールにて物品を搬送するのに
較べて、物品を搬送する移動体の制御を単純化すること
ができ、物品の搬送を円滑に行うことができるものとな
る。しかも、案内レールと連絡用案内レールとを備える
物品搬送設備では、各案内レールの物品の出入り部にお
いて出て行く物品と入ってくる物品の数の差を調整する
ために、物品を一時的に保持する手段が必須であり、こ
のような場合に、上記構成の物品保持部を設けること
は、極めて有効に設備全体の設置スペースの低減を図る
ことができる。Further, by providing the structure according to claim 12, in the article transport facility, a plurality of guide rails are communicated with each other by a communication guide rail for guiding a communication mobile body for article transportation, The article can be exchanged between the guide rails. As described above, configuring the article transport facility with the guide rails and the communication guide rails requires a large number of stations, as in various manufacturing processes, for example, so that processing by an apparatus corresponding to each station can be performed. Compared to the case where a single guide rail conveys articles in a wide variety of cases, it is possible to simplify the control of a moving body that conveys articles and to convey articles smoothly. Become. Moreover, in the article transport facility including the guide rails and the guide rails for communication, the articles are temporarily moved in order to adjust the difference between the number of articles going out and the number of articles coming in at the article entrance / exit section of each guide rail. A means for holding is indispensable, and in such a case, providing the article holding section having the above configuration can extremely effectively reduce the installation space of the entire equipment.
【００１４】又、上記請求項１３記載の構成を備えるこ
とにより、複数の案内レール間を連絡する連絡用案内レ
ールはループ状に形成され、そのループ状の連絡用案内
レーールでは、複数個の連絡用移動体が一定方向に走行
するように設定されている。従って、搬送能力を大きく
するための連絡用案内レールに複数個の連絡用移動体を
走行させても、移動体の運行管理を容易に行える。とこ
ろが、その反面、連絡用移動体を一定方向に走行するも
のとすると、連絡用移動体の目的地が移動体移動方向上
流側のすぐ近くに存在する場合でも、連絡用移動体は後
進できないので、そのまま遠回りをして目的地に移動さ
せると物品の搬送効率を低下させる要因となる。Further, by providing the structure according to the thirteenth aspect, the communication guide rail for connecting between the plurality of guide rails is formed in a loop shape, and the loop-shaped communication guide rail has a plurality of communication lines. The mobile unit is set to run in a fixed direction. Therefore, even if a plurality of connecting moving bodies are made to travel on the connecting guide rails for increasing the carrying capacity, the operation management of the moving bodies can be easily performed. However, on the other hand, assuming that the connecting mobile unit travels in a certain direction, the connecting mobile unit cannot move backward even if the destination of the connecting mobile unit is located immediately upstream of the moving unit moving direction. If the vehicle makes a detour as it is and is moved to the destination, it becomes a factor of lowering the transportation efficiency of the article.
【００１５】そこで、連絡用案内レールに設けられた中
間移載部を利用して、連絡用移動体間で物品を移替えて
搬送する。この中間移載部は、連絡用案内レールにおけ
る往路と復路とが接近する部分に設けられ、例えば往路
を移動する連絡用移動体から復路を連絡用移動体に物品
を移替えることによって、往路における中間移載部存在
位置から復路における中間移載部存在位置までの走行距
離を実質的に短縮できる。もって、移動体の運行管理を
容易に行えながらも、更に、物品の搬送効率の向上を図
ることができる。Therefore, the intermediate transfer section provided on the contact guide rail is used to transfer and convey the articles between the contact moving bodies. The intermediate transfer section is provided at a portion of the communication guide rail where the forward path and the return path are close to each other. For example, by transferring the article from the communication mobile body moving on the forward path to the communication mobile body on the return path, The travel distance from the intermediate transfer section existing position to the intermediate transfer section existing position on the return path can be substantially shortened. Therefore, while the operation of the moving body can be easily managed, it is possible to further improve the transportation efficiency of the article.
【００１６】[0016]
【発明の実施の形態】以下、本発明を適用した物品搬送
設備の実施の形態を図面に基づいて説明する。
〔第１実施形態〕物品搬送設備ＴＳは、複数の工程で加
工処理されて完成品となる物品Ｂの製造設備において、
各工程間でその物品Ｂを搬送する設備である。この搬送
のために、設備の全体レイアウト図である図７に示すよ
うに、６個のループ状の案内レール１と、それらの案内
レール１間で物品Ｂを搬送するためのループ状の連絡用
案内レール２とが備えられており、各案内レール１では
複数台の移動体３が案内されて物品Ｂを一定方向（例え
ば反時計周り方向）に搬送し、連絡用案内レール２にお
いても複数台の連絡用移動体４が案内されて物品Ｂを一
定方向（例えば時計周り方向）に搬送する。BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of an article conveying facility to which the present invention is applied will be described below with reference to the drawings. [First Embodiment] The article transport facility TS is a facility for manufacturing an article B that is processed into a finished product by a plurality of steps.
It is a facility that conveys the article B between the processes. For this transportation, as shown in FIG. 7 which is an overall layout diagram of the equipment, six loop-shaped guide rails 1 and a loop-shaped communication rail for conveying the article B between the guide rails 1 are provided. A guide rail 2 is provided, and a plurality of moving bodies 3 are guided in each guide rail 1 to convey the article B in a certain direction (for example, a counterclockwise direction), and a plurality of communication guide rails 2 are also provided. The contact moving body 4 is guided to convey the article B in a certain direction (for example, clockwise direction).
【００１７】各案内レール１は、床面ＦＬと天井ＣＬと
によって区画される作業用空間において、図１に示すよ
うに、天井ＣＬの下側に取り付けられ、天井ＣＬの下側
の、案内レール１，移動体３及び後述する物品保管部Ｂ
Ｓが存在する空間が、物品Ｂの搬送するための搬送用空
間ＴＡを形成し、その搬送用空間ＴＡの下側に位置する
床面ＦＬ上側の空間が搬送用空間ＴＡとは別の空間ＯＡ
を形成し、前記別の空間ＯＡに、案内レール１に沿って
床面ＦＬ上に並ぶ状態で複数台の加工装置５が設置され
ている。移動体３は、図３に示す各加工装置５の物品受
入れ部５ａ及び物品払出し部５ｂに対して物品Ｂの受け
渡しを行うので、厳密には、図３に示すように、各加工
装置５の物品受入れ部５ａ及び物品払出し部５ｂにおけ
る移動体３との物品移載位置が案内レール１における移
動体３のステーションＳＴとなる。尚、一つの案内レー
ル１に沿って設置される加工装置５は、物品Ｂに対して
同一の処理を行う装置である場合が多いが、一連に行わ
れる複数種類の処理をするために複数種類の加工装置５
を並べて配置する場合もある。この他、案内レール１に
沿って物品Ｂを一時的に保持する物品保持部ＢＳが複数
設けられ、案内レール１に対する物品の出入り部ＩＯに
は、案内レール１の移動体３と連絡用案内レール２の連
絡用移動体４との間で物品Ｂを移載するための出入り部
用移載装置６が設けられている。Each guide rail 1 is attached to the lower side of the ceiling CL in the working space defined by the floor FL and the ceiling CL, as shown in FIG. 1, a moving body 3 and an article storage unit B described later
The space in which S exists forms a transport space TA for transporting the article B, and the space above the floor surface FL located below the transport space TA is different from the transport space TA.
And a plurality of processing devices 5 are installed in the other space OA in a state of being lined up on the floor surface FL along the guide rails 1. Since the moving body 3 delivers the article B to the article receiving section 5a and the article paying section 5b of each processing apparatus 5 shown in FIG. 3, strictly speaking, as shown in FIG. The article transfer position with respect to the moving body 3 in the article receiving section 5a and the article paying-out section 5b is the station ST of the moving body 3 in the guide rail 1. It should be noted that the processing device 5 installed along one guide rail 1 is often a device that performs the same processing on the article B, but there are a plurality of processing devices 5 that perform a plurality of types of processing that are performed in series. Processing equipment 5
May be placed side by side. In addition, a plurality of article holding portions BS for temporarily holding the article B along the guide rail 1 are provided, and the moving section 3 of the guide rail 1 and the guide rail for communication are provided in the entry / exit portion IO of the article with respect to the guide rail 1. An entrance / exit transfer device 6 for transferring the article B to / from the communication body 4 for communication is provided.
【００１８】連絡用案内レール２は、各案内レール１の
出入り部ＩＯに沿って連絡用移動体４を案内するように
設置され、又、平面視で偏平状に形成されて、往路２ａ
と復路２ｂが接近している。尚、図７において紙面右側
を往路２ａと、又、紙面左側を復路２ｂとしているが、
この往路及び復路の設定は単に説明の便宜を考慮したも
のである。又、連絡用案内レール２のループ内には、往
路２ａを走行する連絡用移動体４と復路２ｂを移動する
連絡用移動体４との間で物品Ｂを移載するための中間移
載部ＩＴが２箇所設けられている。The contact guide rails 2 are installed so as to guide the contact moving bodies 4 along the entrance / exit portions IO of the respective guide rails 1, and are formed in a flat shape in plan view, and the outward path 2a is provided.
Return path 2b is approaching. In FIG. 7, the right side of the drawing is the forward path 2a and the left side of the drawing is the return path 2b.
The setting of the forward path and the return path is merely for convenience of description. In the loop of the communication guide rail 2, an intermediate transfer section for transferring the article B between the communication mobile body 4 traveling on the outward path 2a and the communication mobile body 4 traveling on the return path 2b. Two ITs are provided.
【００１９】以下、上記した各部分について概略説明す
る。案内レール１を走行する移動体３は、図１及び図２
に示すように、上記の案内レール１によって上下方向並
びに左右方向での位置が規制される図示しない走行輪を
備えた走行部３ａと、走行部３ａにおいて巻き取り駆動
される索状体３ｂにて吊下げ支持されて昇降自在の昇降
部３ｃと、昇降部３ｃの下端から下方に延びる物品把持
用の把持具３ｄとが備えられて構成され、リニアモータ
（例えば移動体３側に駆動用コイルを備えたＬＤＭ）に
て走行駆動される。尚、移動体３の走行や昇降部３ｃの
昇降移動のための電力は、図示を省略するが、案内レー
ル１の側面に設置された給電線から集電子等を経て供給
される。The above-mentioned respective parts will be briefly described below. The moving body 3 traveling on the guide rail 1 is shown in FIGS.
As shown in FIG. 2, a traveling portion 3a including traveling wheels (not shown) whose positions in the up-down direction and the left-right direction are regulated by the guide rail 1 and a cord-shaped body 3b driven to be wound up in the traveling portion 3a. An elevating part 3c that is supported by being suspended and is capable of elevating and lowering, and a gripping tool 3d that extends downward from a lower end of the elevating part 3c are configured to be provided. It is driven and driven by the provided LDM). Although not shown, electric power for traveling the moving body 3 and moving up and down the elevating unit 3c is supplied from a power supply line installed on the side surface of the guide rail 1 through a current collector or the like.
【００２０】この移動体３とステーションＳＴとの間の
物品Ｂの移載は、図１及び図２に示すように、昇降部３
ｃの昇降作動と把持具３ｄの把持作動とにより、案内レ
ール１の直下に位置する加工装置５の物品受入れ部５ａ
及び物品払出し部５ｂとの間で、物品Ｂを昇降移動させ
て行うものであり、後述するように物品保持部ＢＳにお
いても、昇降部３ｃの昇降距離が異なるものの同様の移
載動作を行う。従って、物品保持部ＢＳとの間で物品Ｂ
の移載を行う保持部用移載手段ＢＣと、ステーションＳ
Ｔとの間で物品Ｂの移載を行うステーション用移載手段
ＳＣとは、索状体３ｂ，昇降部３ｃ及び把持具３ｄを主
要部とする単一の物品移載手段ＢＭにて構成されてい
る。As shown in FIGS. 1 and 2, the transfer of the article B between the moving body 3 and the station ST is carried out by the elevating part 3
By the lifting operation of c and the gripping operation of the gripping tool 3d, the article receiving portion 5a of the processing device 5 located immediately below the guide rail 1
The article B is moved up and down between it and the article payout section 5b, and as described later, the article holding section BS also performs the same transfer operation, although the elevation distance of the elevation section 3c is different. Therefore, the article B is exchanged with the article holder BS.
Holding unit transfer means BC for transferring the
The station transfer means SC for transferring the article B to and from the T is constituted by a single article transfer means BM mainly composed of the cord 3b, the elevating part 3c and the gripping tool 3d. ing.
【００２１】連絡用案内レール２を走行する連絡用移動
体４は、図４及び図５に示すように、上記の連絡用案内
レール２によって上下方向並びに左右方向での位置が規
制される図示しない走行輪を備えた走行部４ａと、走行
部４ａに吊下げ状態で固定される荷台４ｂとが備えられ
て構成され、リニアモータ（例えば連絡用移動体４側に
駆動用コイルを備えたＬＤＭ）にて走行駆動される。
尚、上記と同様に、連絡用移動体４の走行等のための電
力は、図示を省略するが、連絡用案内レール２の側面に
設置された給電線から集電子等を経て供給される。物品
保持部ＢＳには、図１，図２及び図７に示すように、天
井ＣＬ近くの移動体移動経路の両側に配置され、一端側
を天井ＣＬに揺動自在に取り付けられたリンク機構１０
と、そのリンク機構１０の他端側が揺動自在に取り付け
られて水平揺動自在の物品載置台１１と、伸縮端１２ａ
がリンク機構１０に取り付けられた油圧シリンダ１２と
が備えられており、油圧シリンダ１２の駆動力により、
物品載置台１１が、移動体３の走行経路に進出する状態
と、走行経路の側脇に引退する状態とに切り換えられ
る。物品載置台１１は、通常、走行経路の側脇に引退す
る状態を維持し、移動体３が案内レール１に沿って走行
するのを許容すると共に、移動体３の昇降部３ｃの昇降
を許容して、ステーションＳＴに対する物品移載を許容
する。尚、一つの物品載置台１１には、図２及び図７に
示すように、移動体移動方向に並ぶ状態で４つの物品Ｂ
を保持可能である。As shown in FIGS. 4 and 5, the connecting moving body 4 traveling on the connecting guide rail 2 is not shown in FIG. 4 and is restricted in vertical and horizontal positions by the connecting guide rail 2. A linear motor (for example, an LDM including a drive coil on the side of the connecting moving body 4) is configured by including a traveling unit 4a having traveling wheels and a loading platform 4b fixed to the traveling unit 4a in a suspended state. Is driven to drive.
In the same manner as above, although not shown, electric power for traveling of the communication vehicle 4 is supplied from a power supply line installed on the side surface of the communication guide rail 2 via a current collector or the like. As shown in FIGS. 1, 2 and 7, the article holding section BS is arranged on both sides of the moving path of the moving body near the ceiling CL, and one end side is attached to the ceiling CL so as to be swingable.
And the other end side of the link mechanism 10 which is swingably mounted so as to be horizontally swingable, and the telescopic end 12a.
Is provided with a hydraulic cylinder 12 attached to the link mechanism 10, and by the driving force of the hydraulic cylinder 12,
The article mounting table 11 is switched between a state of advancing to the traveling route of the moving body 3 and a state of retracting to the side of the traveling route. The article mounting table 11 normally maintains a state of being retracted to the side of the travel route, allows the moving body 3 to travel along the guide rail 1, and allows the lifting / lowering portion 3c of the moving body 3 to move up and down. Then, the transfer of the article to the station ST is allowed. In addition, as shown in FIGS. 2 and 7, one article mounting table 11 has four articles B arranged in the moving body moving direction.
Can be held.
【００２２】物品載置台１１が移動体３の走行経路に進
出する状態では物品載置台１１に載置される物品Ｂが、
移動体３の昇降部３ｃの直下の移載用位置に位置し、こ
の位置で、移動体３と物品の受け渡しを行う。すなわ
ち、物品保持部ＢＳに保持される物品Ｂを移動体３に移
載するときは、移動体３の昇降台３ｃを降下させて、把
持具３ｄにて物品Ｂにおける移動体前後方向の上端部を
把持した後、昇降部３ｃを上昇端まで上昇させる。移動
体１は、物品Ｂをその上昇位置で保持する状態で搬送す
る。移動体３が保持する物品Ｂを物品保持部ＢＳに移載
するときは、上記とほぼ逆の動作となる。従って、リン
ク機構１０及び油圧シリンダ１２を主要部として、案内
レール横幅方向に保持する複数個（具体的には２個）の
物品Ｂの夫々を、移動体３との移載用位置に位置させる
物品移動手段ＭＳが構成されている。In a state in which the article placing table 11 advances into the traveling route of the moving body 3, the article B placed on the article placing table 11 is
It is located at a transfer position just below the elevating part 3c of the moving body 3, and at this position, articles are transferred to and from the moving body 3. That is, when the article B held by the article holding unit BS is transferred to the moving body 3, the elevating table 3c of the moving body 3 is lowered, and the upper end portion of the article B in the moving body front-back direction is held by the gripping tool 3d. After gripping, the elevating part 3c is raised to the rising end. The moving body 1 conveys the article B while holding the article B at its raised position. When the article B held by the moving body 3 is transferred to the article holding section BS, the operation is almost the reverse of the above. Therefore, with the link mechanism 10 and the hydraulic cylinder 12 as the main parts, each of the plurality (specifically two) of the articles B held in the lateral width direction of the guide rail is positioned at the transfer position with the moving body 3. The article moving means MS is configured.
【００２３】案内レール１の出入り部ＩＯは、連絡用案
内レール２を基準にして連絡用移動体４の移動方向の上
流側に位置する物品送り出し部ＢＯと、下流側に位置す
る物品受入れ部ＢＩとから構成され、夫々に対して出入
り部用移載装置６が設けられている。物品送り出し部Ｂ
Ｏの出入り部用移載装置６と、物品受入れ部ＢＩの出入
り部用移載装置６とは基本的に同一構成であり、図４及
び図５に基づいて、物品受入れ部ＢＩの出入り部用移載
装置６について説明する。出入り部用移載装置６は、回
転移載ユニット１６と横動移載ユニット１７とから構成
され、回転移載ユニット１６は、連絡用移動体４から受
け取った物品Ｂを横動移載ユニット１７に移載し、横動
移載ユニット１７は、その受け取った物品を案内レール
１の直下に移動させる。The entry / exit section IO of the guide rail 1 has an article sending-out section BO located upstream of the communication guide rail 2 in the moving direction of the communication guide rail 2 and an article receiving section BI located downstream thereof. And a transfer device 6 for the entrance / exit portion is provided for each of them. Article sending section B
The transfer device 6 for the entrance / exit portion of O and the transfer device 6 for the entrance / exit portion of the article receiving portion BI have basically the same configuration, and for the entrance / exit portion of the article receiving portion BI based on FIGS. 4 and 5. The transfer device 6 will be described. The entrance / exit transfer device 6 includes a rotary transfer unit 16 and a lateral transfer unit 17, and the rotary transfer unit 16 transfers the article B received from the communication moving body 4 to the lateral transfer unit 17. Then, the lateral transfer unit 17 moves the received article directly below the guide rail 1.
【００２４】回転移載ユニット１６は、左右幅方向に接
近離間移動可能な一対の把持アーム１６ａを備えたアー
ム駆動台１６ｂと、アーム駆動台１６ｂをそれの前後方
向にスライド移動させるためのスライド駆動台１６ｃ
と、アーム駆動台１６ｂ及びスライド駆動部１６ｃを縦
軸芯周りに回転駆動する回転駆動台１６ｄと、アーム駆
動台１６ｂ，スライド駆動部１６ｃ及び回転駆動台１６
ｄと昇降移動させる昇降駆動台１６ｅとから構成されて
いる。横動移載ユニット１７は、物品Ｂを載置する横移
動台１７ａと、横移動台１７ａを移動させるボールネジ
式の送り機構１７ｂと、送り機構１７ｂを駆動するモー
タ１７ｃとから構成されている。尚、回転移載ユニット
１６と横動移載ユニット１７とは何れも、天井ＣＬから
吊下げ支持されている。The rotary transfer unit 16 includes an arm drive base 16b having a pair of gripping arms 16a which can move toward and away from each other in the left-right width direction, and a slide drive for sliding the arm drive base 16b in the front-rear direction. Stand 16c
And a rotary drive table 16d for rotationally driving the arm drive table 16b and the slide drive section 16c around the vertical axis, and an arm drive table 16b, a slide drive section 16c and a rotary drive table 16d.
d and an elevating and lowering drive base 16e for moving up and down. The lateral transfer unit 17 includes a lateral moving table 17a on which the article B is placed, a ball screw type feeding mechanism 17b for moving the lateral moving table 17a, and a motor 17c for driving the feeding mechanism 17b. Both the rotary transfer unit 16 and the lateral transfer unit 17 are suspended and supported from the ceiling CL.
【００２５】回転移載ユニット１６及び横動移載ユニッ
ト１７の作動を簡単に説明すると、、図４及び図５に示
す状態から、アーム駆動台１６ｂを連絡用移動体４側へ
スライド移動させ、一対の把持アーム１６ａにて荷台４
ｂに載置されている物品Ｂを把持し、昇降駆動台１６ｅ
の駆動により物品Ｂを持ち上げる。その後、アーム駆動
台１６ｂの後退、スライド駆動台１６ｃの回転、アーム
駆動台１６ｂの前進、アーム駆動台１６ｂの降下及び把
持アーム１６ａによる物品Ｂの把持の解除を順次行っ
て、横動移載ユニット１７の横移動台１７ａ上に物品Ｂ
を載置する。横移動台１７ａに物品Ｂが載置されると、
モータ１７ｃの駆動により、その物品Ｂを案内レール１
の直下に移動させる。この後、案内レール１の直下に移
動した物品Ｂは、移動体３によって拾い上げられて目的
のステーションＳＴ又は物品保持部ＢＳに搬送される。
物品送り出し部ＢＯにおける回転移載ユニット１６及び
横動移載ユニット１７の動作は、上記の物品受入れ部Ｂ
Ｉの場合と逆の動作を行って、移動体３によって搬送さ
れてきた物品Ｂを連絡用移動体４に移載する。The operation of the rotary transfer unit 16 and the lateral transfer unit 17 will be briefly described. From the state shown in FIGS. 4 and 5, the arm driving base 16b is slid to the side of the connecting moving body 4, The loading platform 4 is provided by the pair of gripping arms 16a.
Holds the article B placed on b and lifts / lowers the drive table 16e.
The article B is lifted by driving. After that, the arm driving table 16b is retracted, the slide driving table 16c is rotated, the arm driving table 16b is advanced, the arm driving table 16b is lowered, and the gripping of the article B by the gripping arm 16a is sequentially performed to sequentially move the lateral transfer unit. The article B is placed on the horizontal moving table 17a
To place. When the article B is placed on the lateral movement table 17a,
The article B is guided to the guide rail 1 by driving the motor 17c.
Move it directly below. After that, the article B that has moved directly below the guide rail 1 is picked up by the moving body 3 and conveyed to the target station ST or the article holding section BS.
The operations of the rotary transfer unit 16 and the lateral movement transfer unit 17 in the article sending section BO are the same as those of the article receiving section B described above.
By performing the operation opposite to that in the case of I, the article B conveyed by the moving body 3 is transferred to the communication moving body 4.
【００２６】中間移載部ＩＴには、図６に示すように、
中間移載機１８が設けられている。中間移載機１８は、
上記の回転移載ユニット１６と同様の構成であり、左右
幅方向に接近離間移動可能な一対の把持アーム１８ａを
備えたアーム駆動台１８ｂと、アーム駆動台１８ｂをそ
れの前後方向にスライド移動させるためのスライド駆動
台１８ｃと、アーム駆動台１８ｂ及びスライド駆動部１
８ｃを縦軸芯周りに回転駆動する回転駆動台１８ｄと、
アーム駆動台１８ｂ，スライド駆動部１８ｃ及び回転駆
動台１８ｄと昇降移動させる昇降駆動台１８ｅとから構
成され、回転移載ユニット１６と同様に天井ＣＬから吊
下げ支持されている。In the intermediate transfer section IT, as shown in FIG.
An intermediate transfer machine 18 is provided. The intermediate transfer machine 18
The structure is similar to that of the rotary transfer unit 16 described above, and the arm drive base 18b is provided with a pair of gripping arms 18a that can move toward and away from each other in the left-right width direction, and the arm drive base 18b is slid in the front-back direction thereof. Slide drive base 18c for moving, arm drive base 18b and slide drive unit 1
A rotary drive table 18d for rotationally driving the 8c around the vertical axis,
It is composed of an arm drive base 18b, a slide drive portion 18c, a rotary drive base 18d, and a lift drive base 18e for moving up and down, and is suspended and supported from the ceiling CL like the rotary transfer unit 16.
【００２７】中間移載機１８の作動を簡単に説明する
と、図６に示す状態から、アーム駆動台１８ｂを復路２
ｂに停止中の連絡用移動体４側へスライド移動させ、一
対の把持アーム１８ａにて荷台４ｂに載置されている物
品Ｂを把持し、昇降駆動台１８ｅの駆動により物品Ｂを
持ち上げる。その後、アーム駆動台１８ｂの後退、スラ
イド駆動台１８ｃの回転、アーム駆動台１８ｂの前進、
アーム駆動台１８ｂの降下及び把持アーム１８ａによる
物品Ｂの把持の解除を順次行って、往路２ａに停止中の
連絡用移動体４の荷台４ｂ上に物品Ｂを載置する。往路
２ａの連絡用移動体４から復路２ｂの連絡用移動体４に
物品Ｂを移載するときは、上記と逆の動作を行う。The operation of the intermediate transfer machine 18 will be briefly described. From the state shown in FIG.
The article B placed on the loading platform 4b is gripped by the pair of gripping arms 18a, and the article B is lifted by driving the elevating drive platform 18e. After that, the arm drive base 18b is retracted, the slide drive base 18c is rotated, the arm drive base 18b is moved forward,
The descending of the arm drive base 18b and the release of the grip of the article B by the gripping arm 18a are sequentially performed, and the article B is placed on the loading platform 4b of the communication moving body 4 which is stopped on the outward path 2a. When the article B is transferred from the communication vehicle 4 on the outward path 2a to the communication vehicle 4 on the return path 2b, the operation reverse to the above is performed.
【００２８】上記構成の物品搬送設備における制御は、
図８に示すように、案内レール１の夫々に対応して複数
設けられた工程内搬送用コントローラＣ１と、連絡用案
内レール２に対応して設けられた工程間搬送用コントロ
ーラＣ２とが相互に通信を行いながら、物品Ｂの搬送制
御を行う。工程内搬送用コントローラＣ１は、一つの案
内レール１を走行する移動体３の走行制御、出入り部用
移載装置６の制御、及び、物品保持部ＢＳの油圧シリン
ダ１２の作動制御等を実行し、工程間搬送用コントロー
ラＣ２は、連絡用移動体４の走行制御、及び、中間移載
機１８の制御を実行する。以下、工程内搬送用コントロ
ーラＣ１及び工程間搬送用コントローラＣ２の制御によ
る物品搬送設備の作動を概略的に説明する。他の工程に
おける加工処理が終了した物品Ｂを搬送してきた連絡用
移動体４が物品受入れ部ＢＩにて停止して、工程間搬送
用コントローラＣ２が、その連絡用移動体４に備えられ
た図示しない光通信装置から停止完了信号を、光通信装
置１９を経由して受け取ると、工程内搬送用コントロー
ラＣ１に対して搬送してきた物品Ｂの受け取り要求を、
その物品Ｂに関する情報と共に送信する。The control in the article transport facility having the above-mentioned configuration is as follows.
As shown in FIG. 8, a plurality of in-process transfer controllers C1 provided corresponding to the respective guide rails 1 and an inter-process transfer controller C2 provided corresponding to the communication guide rails 2 are mutually connected. The conveyance control of the article B is performed while communicating. The in-process transportation controller C1 executes traveling control of the moving body 3 traveling on one guide rail 1, control of the transfer device 6 for the entrance / exit portion, operation control of the hydraulic cylinder 12 of the article holding portion BS, and the like. The inter-process transfer controller C2 executes the traveling control of the communication moving body 4 and the control of the intermediate transfer machine 18. The operation of the article transport facility under the control of the in-process transport controller C1 and the inter-process transport controller C2 will be schematically described below. The communication vehicle 4 that has conveyed the article B that has been processed in another step stops at the article receiving portion BI, and the inter-step transportation controller C2 is provided in the communication vehicle 4 as illustrated. When a stop completion signal is received from the optical communication device via the optical communication device 19, a request to receive the article B conveyed to the in-process conveyance controller C1 is issued.
It is transmitted together with the information about the article B.
【００２９】工程内搬送用コントローラＣ１は、それら
の情報を受け取ると、出入り部用移載装置６を作動させ
て物品Ｂを移動体３に移載し、目的のステーションＳＴ
（加工装置５）が物品Ｂの受入れが可能な状態であれ
ば、そのまま目的のステーションＳＴに物品Ｂを搬送
し、受入れが不能な状態であれば、空きのある物品保持
部ＢＳに移動体３を移動させる。移動体３が目的の位置
で停止したのを、その移動体３に備えられた図示しない
光通信装置からの停止完了信号を光通信装置１５を経由
して受信することで検出すると、油圧シリンダ１２を作
動させて、物品保持部ＢＳに物品Ｂを収納する。その
後、その物品Ｂについて目的のステーションＳＴが物品
受入れ可能な状態となれば、その物品Ｂを目的のステー
ションＳＴ（この場合は、加工装置５の物品受入れ部５
ａ）に移動させて、図１及び図２に示すように、昇降部
３ｃを降下させて、加工装置５の物品受入れ部５ａのコ
ンベア５ｃ上に載置する。コンベア５ｃに物品Ｂが載置
されると、加工装置５は、コンベア５ｃを作動させて物
品Ｂを加工装置５の本体内に送り、加工処理を開始す
る。When the in-process transfer controller C1 receives the information, it operates the transfer device 6 for the entrance / exit section to transfer the article B to the moving body 3, and the target station ST.
If the (processing device 5) can accept the article B, it conveys the article B to the target station ST as it is, and if it cannot accept the article B, the moving object 3 is placed in the empty article holding section BS. To move. When it is detected that the moving body 3 has stopped at the target position by receiving a stop completion signal from an optical communication device (not shown) provided in the moving body 3 via the optical communication device 15, the hydraulic cylinder 12 Is operated to store the article B in the article holding unit BS. After that, when the target station ST for the article B is ready to receive the article, the target station ST for the article B (in this case, the article receiving section 5 of the processing device 5).
a), and as shown in FIGS. 1 and 2, the elevating part 3c is lowered and placed on the conveyor 5c of the article receiving part 5a of the processing apparatus 5. When the article B is placed on the conveyor 5c, the processing apparatus 5 operates the conveyor 5c to send the article B into the main body of the processing apparatus 5, and starts the processing process.
【００３０】加工装置５において加工処理の終了した物
品Ｂは、物品払出し部５ｂから送り出され、工程内搬送
用コントローラＣ１は、加工装置５からの物品受け取り
要求に応じて、移動体３にて加工処理後の物品Ｂを受け
取り、その工程内の他の加工装置５によって更に加工処
理する場合は、その加工装置５の物品受入れ部５ａであ
るステーションＳＴに搬送するか、あるいは、その加工
装置５が未だ物品受入れ不能の状態であれば、その物品
Ｂを空きの物品保持部ＢＳに搬送して収納する。ある物
品Ｂについて、その工程内での加工処理が全て終了した
ときは、移動体３にて物品送り出し部ＢＯに搬送し、そ
の物品Ｂを、出入り部用移載装置６にて連絡用移動体４
に移載する。The article B, which has been processed by the processing apparatus 5, is delivered from the article delivery section 5b, and the in-process transfer controller C1 is processed by the moving body 3 in response to the article receiving request from the processing apparatus 5. When the processed article B is received and further processed by another processing apparatus 5 in the process, it is conveyed to the station ST which is the article receiving section 5a of the processing apparatus 5, or the processing apparatus 5 If the article cannot be accepted yet, the article B is transported to and stored in the empty article holding section BS. When all the processing in a process of a certain article B is completed, the moving body 3 conveys the article B to the article sending-out section BO, and the transfer apparatus 6 for the entering / exiting section transfers the article B to the moving body for communication. Four
Reprinted to.
【００３１】工程間搬送用コントローラＣ２は、連絡用
移動体４が受け取った物品Ｂを次の工程に搬送するので
あるが、例えば、図７の紙面上側左端の案内レール１の
出入り部ＩＯから受け取った物品Ｂを同図紙面下側左端
の案内レール１の出入り部ＩＯに搬送する場合、物品Ｂ
をそのまま時計周り方向に搬送したのでは、搬送距離が
長くなり過ぎるので、直近に存在する中間移載部ＩＴ
（同図紙面左側の中間移載部ＩＴ）において連絡用移動
体４を停止させて、復路２ｂ側で停止させてある連絡用
移動体４に物品Ｂを移載し、同図紙面下側左端の案内レ
ール１の出入り部ＩＯに搬送する。The inter-process transport controller C2 transports the article B received by the communication vehicle 4 to the next process. For example, the inter-process transport controller C2 receives the article B from the entrance / exit portion IO of the guide rail 1 at the upper left end of the paper surface of FIG. When the article B is conveyed to the entrance / exit section IO of the guide rail 1 on the lower left side of the drawing, the article B
If the sheet is conveyed in the clockwise direction as it is, the conveying distance becomes too long.
(Intermediate transfer section IT on the left side of the drawing), the moving body for communication 4 is stopped, and the article B is transferred to the moving body for communication 4 stopped on the return path 2b side. The guide rail 1 is conveyed to the entrance / exit section IO.
【００３２】〔第２実施形態〕次に、本発明の第２実施
形態について説明する。第２実施形態は、連絡用移動体
４の構成が上記第１実施例と異なり、案内レール１及び
連絡用案内レール２の配置等の全体的なレイアウトは上
記第１実施例と同様である。第２実施形態における連絡
用移動体４は、図９に示すように、連絡用案内レール２
上を走行する形式であり、連絡用移動体４の上面側に荷
台２０ａに物品Ｂを載置して物品Ｂを搬送する。荷台２
０ａは、屈曲アーム２０ｂにて、連絡用移動体４の本体
部に取り付けられ、屈曲アーム２０ｂの伸縮動作によっ
て、連絡用移動体４の移動方向の左右両側に出退自在で
あり、又、屈曲アーム２０ｂ自体の昇降動作によって、
物品Ｂを僅かに昇降させることができるように、屈曲ア
ーム２０ｂの関節部及び連絡用移動体４の本体部に図示
しないモータを備えている。[Second Embodiment] Next, a second embodiment of the present invention will be described. The second embodiment is different from the first embodiment in the configuration of the moving body 4 for communication, and the overall layout such as the arrangement of the guide rails 1 and the guide rails 2 for communication is the same as that of the first embodiment. As shown in FIG. 9, the communication moving body 4 in the second embodiment has a communication guide rail 2
It is a type of traveling above, and the article B is placed on the loading platform 20a on the upper surface side of the communication moving body 4 to convey the article B. Loading platform 2
0a is attached to the main body of the connecting moving body 4 by the bending arm 20b, and can be extended and retracted to the left and right sides in the moving direction of the connecting moving body 4 by the expansion and contraction operation of the bending arm 20b. By raising and lowering the arm 20b itself,
A motor (not shown) is provided in the joint portion of the bending arm 20b and the main body portion of the connecting moving body 4 so that the article B can be moved up and down slightly.
【００３３】連絡用移動体４が上記のような構成である
ことに対応して、案内レール１の出入り部ＩＯでは、出
入り部用移載装置６としては、第１実施形態のような回
転移載ユニット１６及び横動移載ユニット１７が不要と
なり、図１０及び図１１に示すように、物品中継台２１
が設けられ、更に、中間移載部ＩＴでは中間移載機１８
が不要となる。物品中継台２１は、案内レール１におけ
る連絡用案内レール２と平行となる部分の直下に設置さ
れ、基枠２１ａ上に物品載置枠２１ｂが取り付けられて
構成されている。物品載置枠２１ｂは、移動体移動方向
に沿って３つの物品Ｂを載置可能であり、夫々の載置箇
所において物品Ｂの底部の前後両端を支持する。又、何
れの載置箇所に対しても、移動体３及び連絡用移動体４
の両方が、物品Ｂを移載可能としてある。Corresponding to the structure of the moving body 4 for communication, as described in the first embodiment, the transfer device 6 for the entrance / exit section in the entrance / exit section IO of the guide rail 1 is the same as in the first embodiment. The loading unit 16 and the lateral movement transfer unit 17 are no longer required, and as shown in FIGS.
In addition, the intermediate transfer unit IT is provided with an intermediate transfer machine 18
Is unnecessary. The article relay table 21 is installed immediately below a portion of the guide rail 1 that is parallel to the communication guide rail 2, and is configured by mounting the article placement frame 21b on the base frame 21a. The article placement frame 21b can place three articles B along the moving direction of the moving body, and supports the front and rear ends of the bottom of the article B at the respective placement points. In addition, the moving body 3 and the connecting moving body 4 can be attached to any mounting location.
Both are capable of transferring the article B.
【００３４】移動体３にて案内レール１を搬送されてき
た物品Ｂを連絡用案内レール２の連絡用移動体４に移載
するときは、先ず、図１０に示すように移動体３が搬送
してきた物品Ｂを物品中継台２１に載置した後、連絡用
移動体４の荷台２０ｂを、物品中継台２１の物品載置枠
２１ｂの下側に挿入し、屈曲アーム２０ｂ全体を上昇さ
せて物品Ｂを持ち上げ、更に、荷台２０ｂを連絡用移動
体４側に引退させて、連絡用移動体４への移載を完了す
る。又、連絡用移動体４の物品Ｂを移動体３に移載する
ときは、上記と逆の動作になる。中間移載部ＩＴでは、
図示を省略するが、上記のように第１実施形態における
中間移載機１８の代わりに、上記の物品中継台２１と同
一構成の中継台を設けることで、往路２ａを移動する連
絡用移動体４と復路２ｂを移動する連絡用移動体４との
間で物品Ｂの移載を行える。When the article B conveyed on the guide rail 1 by the moving body 3 is transferred onto the connecting moving body 4 on the connecting guide rail 2, first, the moving body 3 is conveyed as shown in FIG. After the article B has been placed on the article relay table 21, the loading platform 20b of the communication vehicle 4 is inserted below the article placement frame 21b of the article relay table 21, and the entire bending arm 20b is raised. The article B is lifted, the loading platform 20b is further retracted toward the communication vehicle 4, and the transfer to the communication vehicle 4 is completed. Further, when the article B of the moving body for communication 4 is transferred to the moving body 3, the operation is reverse to the above. In the intermediate transfer section IT,
Although not shown in the drawings, as described above, instead of the intermediate transfer machine 18 in the first embodiment, a relay stand having the same configuration as the article relay stand 21 is provided, so that the communication moving body moves on the outward path 2a. The article B can be transferred between the communication unit 4 and the communication vehicle 4 that moves on the return path 2b.
【００３５】〔その他の別実施形態〕以下、その他の別
実施形態を列記する。
上記第１実施形態及び第２実施形態では、案内レー
ル１を走行する移動体３は、物品Ｂを吊下げ状態で保持
して搬送する形態のものを例示しているが、図１２に示
すように、移動体３の構成も、上記第２実施形態におけ
る連絡用移動体４と同一構成として、物品Ｂを移動体横
幅方向に移動させて物品Ｂの移載を行うようにしても良
い。この場合、物品保持部ＢＳは、図１２及び図１３に
示すように、図９等に示す物品中継台２１と同じ構成
（物品Ｂの収容能力は異なる）の物品保持台３０を、ス
テーションＳＴに設置箇所を除いて案内レール１の両脇
に設ければ良い。このように物品保持台３０を案内レー
ル１の両脇に設けることで、移動体３によるステーショ
ン間の物品搬送及びステーションＳＴに対する物品移載
を許容している。又、図１３においては、加工装置５
は、物品受入れ部５ａと物品払出し部５ｂとを兼用する
構成であり、物品受入れ部５ａ（物品払出し部５ｂ）に
おける移動体３との物品移載位置がステーションＳＴと
なる。尚、この加工装置５における物品移載位置は昇降
台５ｄにて構成され、昇降台５ｄにて加工装置５の本体
部と物品Ｂの受け渡しが行われる。[Other Other Embodiments] Other other embodiments will be listed below. In the first and second embodiments described above, the moving body 3 traveling on the guide rail 1 exemplifies a form that holds and conveys the article B in a suspended state, but as shown in FIG. In addition, the configuration of the moving body 3 may be the same as that of the moving body 4 for communication in the second embodiment, and the article B may be moved by moving the article B in the lateral width direction of the moving body. In this case, as shown in FIGS. 12 and 13, the article holding unit BS attaches to the station ST the article holding table 30 having the same configuration as that of the article relay table 21 shown in FIG. It may be provided on both sides of the guide rail 1 except the installation location. By thus providing the article holders 30 on both sides of the guide rail 1, the article transfer between the stations by the moving body 3 and the article transfer to the station ST are allowed. Further, in FIG. 13, the processing device 5
Has a configuration in which the article receiving section 5a and the article paying-out section 5b are also used, and the article transfer position of the moving body 3 in the article receiving section 5a (the article paying-out section 5b) is the station ST. The article transfer position in the processing device 5 is configured by the lift table 5d, and the body B of the processing device 5 and the article B are transferred by the lift table 5d.
【００３６】 上記第１実施形態及び第２実施形態で
は、物品保持部ＢＳは、案内レール１の側脇に設けた水
平揺動式の物品載置台１１上に物品Ｂを載置する構成と
しているが、図１４及び図１５に示すように、複数個の
物品Ｂを移動体移動方向に対して横並び状態で載置台２
２上に保持し（図１４及び図１５では、横幅方向に３個
並ぶ場合を例示）、その載置台２２をガイド枠２２ａに
案内される状態で移動体横幅方向にスライド移動自在と
して、複数個の物品Ｂを移動体３との移載用位置である
案内レール１の直下に選択的に位置させる構成としても
良い。In the above-described first and second embodiments, the article holding section BS is configured to place the article B on the horizontally swingable article placing table 11 provided on the side of the guide rail 1. However, as shown in FIGS. 14 and 15, the plurality of articles B are placed side by side on the mounting table 2 in the moving body moving direction.
2 (in FIG. 14 and FIG. 15, a case where three are arranged side by side in the lateral width direction is illustrated), and a plurality of mounting bases 22 are slidably movable in the lateral width direction of the moving body while being guided by the guide frame 22a. The article B may be selectively positioned directly below the guide rail 1 which is a transfer position for the moving body 3.
【００３７】上記のスライド移動させるための構成とし
ては、例えば、図１４に示すように、移動体横幅方向に
巻回されたチェーン２３の一部にピン２４を取り付け、
載置台２２の下面にそのピン２４と係合する係合孔２２
ａを形成して、チェーン２３をモータ２５にて駆動する
ことで、載置台２２をスライド移動させれば良い。又、
図１４に例示する物品保持部ＢＳは、案内レール１の直
下に位置するので、移動体３の移動体３によるステーシ
ョン間の物品搬送を許容するため、図１４に示すよう
に、移動体３に保持される物品Ｂの下方位置において物
品Ｂを保持し、ステーションＳＴに対する物品移載を許
容するため、図１５に示すように、ステーションＳＴの
上方には物品保持部ＢＳを設けていない。尚、図１５に
示すものでは、加工装置５は、物品受入れ部５ａと物品
払出し部５ｂとを兼用する構成としてある。As the structure for the sliding movement, for example, as shown in FIG. 14, a pin 24 is attached to a part of a chain 23 wound in the lateral direction of the moving body,
An engaging hole 22 that engages with the pin 24 on the lower surface of the mounting table 22.
By forming a and driving the chain 23 by the motor 25, the mounting table 22 may be slid. or,
Since the article holder BS illustrated in FIG. 14 is located immediately below the guide rail 1, the article holder BS is allowed to move to the moving body 3 as shown in FIG. As shown in FIG. 15, the article holding section BS is not provided above the station ST in order to hold the article B below the held article B and allow the article transfer to the station ST. In addition, in the apparatus shown in FIG. 15, the processing device 5 is configured to serve as both the article receiving section 5a and the article paying section 5b.
【００３８】更に、物品保持部ＢＳの別実施形態として
は、図１６及び図１７に示すように、移動体１にて搬送
される物品Ｂの下方に位置する状態で、案内レール１に
沿って一列に並べて物品Ｂを保持する構成としても良
い。この場合も、図１５に示すものと同様に、加工装置
５は、物品受入れ部５ａと物品払出し部５ｂとを兼用す
る構成としてあり、又、物品保持部ＢＳは、図１４及び
図１５に示すのと同様にして、移動体３によるステーシ
ョン間の物品搬送及びステーションＳＴに対する物品移
載を許容するように配置されている。Further, as another embodiment of the article holding section BS, as shown in FIGS. 16 and 17, along the guide rail 1 in a state of being located below the article B conveyed by the moving body 1. A configuration may be used in which the articles B are held in a line. Also in this case, similarly to the one shown in FIG. 15, the processing device 5 is configured to also serve as the article receiving section 5a and the article paying-out section 5b, and the article holding section BS is shown in FIGS. 14 and 15. In the same manner as described above, the movable body 3 is arranged so as to allow the conveyance of articles between stations and the transfer of articles to the station ST.
【００３９】 上記各実施の形態では、天井ＣＬの下
側に搬送用空間ＴＡが形成されているが、図１８に示す
ように、床下に搬送用空間ＴＡを形成し、床面ＦＬの上
側を搬送用空間ＴＡとは別の空間ＯＡとするようにして
も良い。すなわち、床面ＦＬの下側に、案内レール１を
敷設し、図１２の場合と同様に、移動体３に物品Ｂを移
動体横幅方向に移動させて物品Ｂの移載を行う物品移載
手段ＢＭを備えさせ、案内レール１の側脇に物品保持台
３０と同一構成の物品保持台４０を設置する構成として
も良い。図１８に示す例では、移動体３との物品Ｂの移
載のために、加工装置５の一部も、床下に没入する状態
で設置しているが、加工装置５の本体は、床面ＦＬ上に
設置し、物品Ｂの昇降機構のみを床下に位置させる構成
としても良い。又、天井ＣＬの上側の空間を搬送用空間
ＴＡとし、天井ＣＬと床面ＦＬとの間の空間を前記別の
空間ＯＡとしても良い。In each of the above embodiments, the transfer space TA is formed below the ceiling CL, but as shown in FIG. 18, the transfer space TA is formed below the floor and the transfer space TA is located above the floor surface FL. The space OA different from the transport space TA may be used. That is, the guide rail 1 is laid on the lower side of the floor FL, and the article B is transferred to the moving body 3 by moving the article B to the moving body 3 in the lateral direction of the moving body as in the case of FIG. The means BM may be provided, and the article holding table 40 having the same configuration as the article holding table 30 may be installed on the side of the guide rail 1. In the example shown in FIG. 18, part of the processing device 5 is also installed under the floor in order to transfer the article B to the moving body 3, but the main body of the processing device 5 is the floor surface. The configuration may be such that it is installed on the FL and only the lifting mechanism for the article B is positioned under the floor. Further, the space above the ceiling CL may be the transfer space TA, and the space between the ceiling CL and the floor surface FL may be the other space OA.
【００４０】 上記第１実施形態及び第２実施形態で
は、本発明の物品搬送設備を、複数の加工装置５によっ
て、物品Ｂを加工処理する工程における物品Ｂの搬送に
適用する場合を例示しているが、目的地別等の複数の物
品集配窓口をステーションＳＴとする物品集配設備に適
用する等、種々の用途に適用できる。
上記第１実施形態及び第２実施形態では、物品保持
部ＢＳを案内レール１に沿ってのみ設置しているが、連
絡用案内レール２にも同様の物品保持部ＢＳを設けても
良い。In the first embodiment and the second embodiment, the case where the article conveying facility of the present invention is applied to the conveyance of the article B in the step of processing the article B by the plurality of processing devices 5 is exemplified. However, the present invention can be applied to various uses such as applying to a goods collecting and delivering facility having a plurality of goods collecting and delivering windows for each destination as stations ST. In the first and second embodiments described above, the article holder BS is installed only along the guide rail 1, but a similar article holder BS may be provided on the communication guide rail 2.
【図１】本発明の第１実施形態にかかる要部正面図FIG. 1 is a front view of a main part according to a first embodiment of the present invention.
【図２】本発明の第１実施形態にかかる要部側面図FIG. 2 is a side view of a main part according to the first embodiment of the present invention.
【図３】本発明の第１実施形態にかかる要部平面図FIG. 3 is a plan view of a main part according to the first embodiment of the present invention.
【図４】本発明の第１実施形態にかかる要部側面図FIG. 4 is a side view of a main part according to the first embodiment of the present invention.
【図５】本発明の第１実施形態にかかる要部平面図FIG. 5 is a plan view of a main part according to the first embodiment of the present invention.
【図６】本発明の第１実施形態にかかる要部正面図FIG. 6 is a front view of a main part according to the first embodiment of the present invention.
【図７】本発明の第１実施形態にかかる全体レイアウト
図FIG. 7 is an overall layout diagram according to the first embodiment of the present invention.
【図８】本発明の第１実施形態にかかる制御ブロック図FIG. 8 is a control block diagram according to the first embodiment of the present invention.
【図９】本発明の第２実施形態にかかる要部斜視図FIG. 9 is a perspective view of a main part according to a second embodiment of the present invention.
【図１０】本発明の第２実施形態にかかる要部側面図FIG. 10 is a side view of a main part according to the second embodiment of the present invention.
【図１１】本発明の第２実施形態にかかる平面図FIG. 11 is a plan view according to a second embodiment of the present invention.
【図１２】本発明のその他の実施形態にかかる要部正面
図FIG. 12 is a front view of a main part according to another embodiment of the present invention.
【図１３】本発明のその他の実施形態にかかる要部平面
図FIG. 13 is a plan view of a main part according to another embodiment of the present invention.
【図１４】本発明のその他の実施形態にかかる要部正面
図FIG. 14 is a front view of a main part according to another embodiment of the present invention.
【図１５】本発明のその他の実施形態にかかる要部平面
図FIG. 15 is a plan view of a main part according to another embodiment of the present invention.
【図１６】本発明のその他の実施形態にかかる要部正面
図FIG. 16 is a front view of a main part according to another embodiment of the present invention.
【図１７】本発明のその他の実施形態にかかる要部平面
図FIG. 17 is a plan view of a main part according to another embodiment of the present invention.
【図１８】本発明のその他の実施形態にかかる要部正面
図FIG. 18 is a front view of a main part according to another embodiment of the present invention.
１ 案内レール ２ 連絡用案内レール ３ 移動体 ４ 連絡用移動体 Ｂ 物品 ＢＣ 保持部用移載手段 ＢＳ 物品保持部 ＢＭ 物品移載手段 ＩＯ 出入り部 ＭＳ 物品移動手段 ＯＡ 別の空間 ＳＣ ステーション用移載手段 ＳＴ ステーション ＴＡ 搬送用空間 1 Guide rail 2 Communication guide rails 3 moving bodies 4 Mobile for communication B goods Transferring means for BC holder BS article holder BM article transfer means IO entrance / exit MS article transportation Space by OA Transfer station for SC station ST station TA transport space
───────────────────────────────────────────────────── フロントページの続き (58)調査した分野(Int.Cl.7，ＤＢ名) B65G 1/04 B61B 3/02 B61B 13/06 ─────────────────────────────────────────────────── ─── Continuation of front page (58) Fields surveyed (Int.Cl. 7 , DB name) B65G 1/04 B61B 3/02 B61B 13/06
Claims (13)
空間とが上下に並ぶ状態で設けられ、 前記搬送用空間に、案内レールと、その案内レールに案
内されて走行する移動体とが設けられ、 前記移動体が、複数のステーション間で物品を搬送する
ように構成されている物品搬送設備であって、 前記搬送用空間に、前記移動体による前記ステーション
間の物品搬送及び前記移動体による前記ステーションに
対する物品移載を許容する状態で、前記移動体との間で
物品を移載可能に複数の物品を保持する物品保持部が移
動体移動方向に並べて設けられている物品搬送設備。1. A transporting space and a space different from the transporting space are provided in a vertically aligned state, and a guide rail and a moving body which is guided by the guide rail to travel in the transporting space. Is provided, the moving body is an article conveying facility configured to convey articles between a plurality of stations, in the conveying space, the article conveying between the stations by the moving body and the a state that allows the article transfer with respect to the station by the mobile, the article holding portion for holding a plurality of articles to the article to be transferred between said moving body moves
Article transport equipment installed side by side in the moving direction of moving objects.
側若しくは下側又は床下の空間が、前記搬送用空間とし
て設定され、 床上の空間が、前記別の空間として設定されている請求
項１記載の物品搬送設備。2. A space above or below a ceiling or under the floor of a work space divided into upper and lower parts is set as the transfer space, and a space on the floor is set as the different space. 1. The article transport facility according to 1.
って設けられ、且つ、前記案内レールにおける、前記ス
テーションに対する停止位置間の途中箇所に位置する移
動体との間で物品を移載可能に構成されている請求項１
又は２記載の物品搬送設備。3. The article holder is provided along the guide rail, and is capable of transferring an article to and from a moving body located at an intermediate position between stop positions for the station on the guide rail. Claim 1 comprised in
Or the article transportation facility according to 2.
で、物品を移載するための保持部用移載手段が設けられ
ている請求項１〜３のいずれか１項に記載の物品搬送設
備。4. The holding unit transfer means for transferring an article between the moving body and the article holding section is provided in the moving body. Goods transportation equipment.
で、物品を移載するためのステーション用移載手段が設
けられている請求項１〜４のいずれか１項に記載の物品
搬送設備。5. The article transfer facility according to claim 1, wherein the moving body is provided with station transfer means for transferring articles to and from the station. .
ン用移載手段とが、単一の物品移載手段にて兼用される
状態で設けられている請求項５記載の物品搬送設備。6. The article transfer facility according to claim 5, wherein the holding section transfer means and the station transfer means are provided in a state in which a single article transfer means is used in common.
せて物品の移載を行うように構成されている請求項６記
載の物品搬送設備。7. The article transfer facility according to claim 6, wherein the article transfer means is configured to move the article up and down to transfer the article.
を上昇位置で保持する状態で、物品を搬送し、且つ、前
記物品移載手段が物品を下降位置に位置させた状態で、
前記ステーションに物品を供給するように構成され、 前記物品保持部は、前記移動体にて搬送される物品と、
側面視において、ほぼ同高さで物品を保持するように構
成されている請求項７記載の物品搬送設備。8. The moving body conveys an article in a state where the article transfer means holds the article in a raised position, and in a state in which the article transfer means positions the article in a lowered position,
It is configured to supply an article to the station, the article holder is an article conveyed by the moving body,
The article transporting facility according to claim 7, which is configured to hold the articles at substantially the same height in a side view.
れる物品の下方位置において前記物品を保持するように
構成されている請求項７記載の物品搬送設備。9. The article transport facility according to claim 7, wherein the article holding unit is configured to hold the article at a position below the article held by the moving body.
横幅方向に複数個の物品を保持可能に構成され、 前記物品保持部に、保持される前記複数個の物品の夫々
を、前記移動体との移載用位置に選択的に位置させる物
品移動手段が備えられている請求項８又は９記載の物品
搬送設備。10. The article holder is configured to hold a plurality of articles in the lateral width direction of the guide rail, and the article holder holds each of the plurality of articles held by the movable body. 10. The article transport facility according to claim 8 or 9, further comprising article moving means for selectively locating the article transfer position at the transfer position.
体横幅方向へ移動させて前記物品の移載を行うように構
成されている請求項６記載の物品搬送設備。11. The article transfer facility according to claim 6, wherein the article transfer means is configured to transfer the article by moving the article in a lateral direction of a moving body.
おいて物品を移載可能な連絡用移動体を案内する連絡用
案内レールが設けられている請求項１〜１１のいずれか
１項に記載の物品搬送設備。12. The communication guide rail is provided, wherein a plurality of the guide rails are provided, and a contact guide rail for guiding a contact moving body capable of transferring an article at each of the entry / exit portions of the article with respect to the plurality of guide rails. Item 11. The article transport facility according to any one of items 1 to 11.
いて往路と復路とが互いに接近する部分を有するループ
状に形成され、 複数個の前記連絡用移動体が、前記ループ状の連絡用案
内レールにおいて一定方向に走行するように構成され、 前記往路と復路とが互いに接近する部分において、前記
往路に位置する連絡用移動体と前記復路に位置する連絡
用移動体との間で物品を移載するための中間移載部が設
けられている請求項１２記載の物品搬送設備。13. The connecting guide rail is formed in a loop shape having a portion where an outward path and a returning path are close to each other in a plan view, and a plurality of the connecting movable bodies are the loop-shaped connecting guide rail. In a part where the forward path and the return path are close to each other, the article is transferred between the communication vehicle located on the forward path and the communication vehicle located on the return path. The article transfer facility according to claim 12, further comprising an intermediate transfer section for performing the transfer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20681996A JP3436334B2 (en) | 1996-08-06 | 1996-08-06 | Goods transport equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20681996A JP3436334B2 (en) | 1996-08-06 | 1996-08-06 | Goods transport equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH1045213A JPH1045213A (en) | 1998-02-17 |
| JP3436334B2 true JP3436334B2 (en) | 2003-08-11 |
Family
ID=16529619
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20681996A Expired - Lifetime JP3436334B2 (en) | 1996-08-06 | 1996-08-06 | Goods transport equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3436334B2 (en) |
Families Citing this family (20)
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|---|---|---|---|---|
| JP3375907B2 (en) | 1998-12-02 | 2003-02-10 | 神鋼電機株式会社 | Ceiling traveling transfer device |
| EP1535143A4 (en) | 2002-06-19 | 2010-05-05 | Brooks Automation Inc | Automated material handling system for semiconductor manufacturing based on a combination of vertical carousels and overhead hoists |
| KR101446511B1 (en) † | 2002-10-11 | 2014-10-07 | 무라다기카이가부시끼가이샤 | Automated material handling system |
| JP4045451B2 (en) * | 2003-12-26 | 2008-02-13 | 村田機械株式会社 | Overhead traveling vehicle system |
| JP2006051886A (en) | 2004-08-12 | 2006-02-23 | Murata Mach Ltd | Ceiling traveling vehicle system |
| CN101048861B (en) | 2004-08-23 | 2010-05-26 | 布鲁克斯自动化公司 | Elevator-based tool loading and buffering system |
| JP2006096427A (en) | 2004-09-28 | 2006-04-13 | Murata Mach Ltd | Article storage facility |
| JP2006285915A (en) * | 2005-04-05 | 2006-10-19 | Murata Mach Ltd | Ceiling running vehicle system |
| JP4538738B2 (en) * | 2005-05-19 | 2010-09-08 | 村田機械株式会社 | Overhead traveling vehicle system |
| JP4632091B2 (en) | 2005-08-30 | 2011-02-16 | 株式会社ダイフク | Goods transport equipment |
| KR101340786B1 (en) * | 2006-08-18 | 2013-12-11 | 엘지디스플레이 주식회사 | Delivering equipment using over head shuttle |
| JP4849331B2 (en) * | 2006-11-14 | 2012-01-11 | 株式会社ダイフク | Goods transport equipment |
| JP5041207B2 (en) * | 2006-11-14 | 2012-10-03 | 株式会社ダイフク | Goods transport equipment |
| JP2008195471A (en) * | 2007-02-09 | 2008-08-28 | Daifuku Co Ltd | Article conveying facility |
| JP4378656B2 (en) | 2007-03-07 | 2009-12-09 | 株式会社ダイフク | Goods transport equipment |
| JP4378655B2 (en) | 2007-03-07 | 2009-12-09 | 株式会社ダイフク | Article processing equipment |
| JP5062485B2 (en) * | 2008-04-09 | 2012-10-31 | 株式会社ダイフク | Goods transport equipment |
| JP4807424B2 (en) * | 2009-03-17 | 2011-11-02 | 村田機械株式会社 | Ceiling transfer system and article transfer method |
| JP5590420B2 (en) * | 2011-12-21 | 2014-09-17 | 株式会社ダイフク | Goods transport equipment |
| US9633879B2 (en) | 2014-05-14 | 2017-04-25 | Murata Machinery, Ltd. | Storage system in the ceiling space and storage method for goods thereby |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6368458A (en) * | 1986-09-11 | 1988-03-28 | 株式会社東芝 | Conveyor |
| JPH01133801A (en) * | 1987-11-16 | 1989-05-25 | Murata Mach Ltd | Article storing equipment |
| JP3212087B2 (en) * | 1988-10-21 | 2001-09-25 | 株式会社日立製作所 | Multi-product transfer method and device |
| JPH02117506A (en) * | 1988-10-24 | 1990-05-02 | Itoki Kosakusho Co Ltd | Automatic storage and retrieval device |
| JP2927838B2 (en) * | 1989-10-25 | 1999-07-28 | 日立精機株式会社 | Automatic processing system |
| JPH0423702A (en) * | 1990-05-17 | 1992-01-28 | Matsushita Electric Ind Co Ltd | Physical distribution device |
| JPH05181527A (en) * | 1991-12-27 | 1993-07-23 | Mitsubishi Electric Corp | Automatic conveyer |
| DE4203799C2 (en) * | 1992-02-10 | 1995-11-16 | Grapha Holding Ag | Plant for the distribution of piece goods |
| JPH06321316A (en) * | 1993-03-19 | 1994-11-22 | Yamaha Motor Co Ltd | Carrying system |
| JPH07323905A (en) * | 1994-06-03 | 1995-12-12 | Daifuku Co Ltd | Carrying device |
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1996
- 1996-08-06 JP JP20681996A patent/JP3436334B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH1045213A (en) | 1998-02-17 |
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