WO2024070630A1 - Conveyance device and storage device - Google Patents
Conveyance device and storage device Download PDFInfo
- Publication number
- WO2024070630A1 WO2024070630A1 PCT/JP2023/033029 JP2023033029W WO2024070630A1 WO 2024070630 A1 WO2024070630 A1 WO 2024070630A1 JP 2023033029 W JP2023033029 W JP 2023033029W WO 2024070630 A1 WO2024070630 A1 WO 2024070630A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- arm
- drive unit
- rotation
- base
- transfer mechanism
- Prior art date
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- 239000003638 chemical reducing agent Substances 0.000 claims description 33
- 230000005540 biological transmission Effects 0.000 description 19
- 230000002452 interceptive effect Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 239000000758 substrate Substances 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- VYQRBKCKQCRYEE-UHFFFAOYSA-N ctk1a7239 Chemical compound C12=CC=CC=C2N2CC=CC3=NC=CC1=C32 VYQRBKCKQCRYEE-UHFFFAOYSA-N 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 239000011261 inert gas Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 235000012431 wafers Nutrition 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
Definitions
- the present invention relates to a transport device and a storage device.
- a storage device that stores items on multiple shelves arranged in the vertical and horizontal directions is known.
- This storage device is equipped with a transport device for transferring items.
- This transport device uses, for example, a stacker crane, and is equipped with a traveling cart that travels along the shelves, a mast erected on the traveling cart, and a transfer mechanism that is arranged on the mast and transfers items.
- the transfer mechanism is disclosed to have a configuration that includes a base that rises and falls along the mast, a first arm rotatably supported on the base, a second arm rotatably supported on the first arm, and an item holder rotatably supported on the second arm (see, for example, Patent Document 1).
- a first drive unit that rotates the first arm and a second drive unit that rotates the second arm are each provided in a state where they protrude downward from the base.
- the transfer mechanism becomes larger in the vertical direction, making it difficult to place the lowest shelf at a low position, which is a factor in reducing the storage efficiency of items.
- the second drive unit on the first arm. In this case, if the second drive unit is provided hanging down from the underside of the first arm, it is not preferable because the second drive unit interferes with the base when the first arm rotates and restricts the rotation range of the first arm. Also, even if the second drive unit is provided protruding from the upper surface of the first arm, it is not preferable because the second drive unit interferes with the second arm.
- the present invention aims to provide a transport device and storage device that can thin the transfer mechanism in the vertical direction.
- the transport device comprises a traveling carriage, a mast erected on the traveling carriage, and a transfer mechanism arranged on the mast for transferring an item, the transfer mechanism having a base which rises and falls along the mast, a first arm rotatably supported on the base, a second arm rotatably supported on the first arm, an item holder which holds an item and is supported on the second arm, a first drive unit which rotates the first arm, and a second drive unit which rotates the second arm, the center of rotation of the second arm being arranged on one end side as viewed from the center of rotation of the first arm on the upper surface of the first arm, and the second drive unit being provided on the other end side of the first arm as viewed from the center of rotation of the first arm, at a position outside the rotation orbit of the second arm.
- a storage device includes a shelf for storing items and a transport device according to the above aspect for transferring items between the shelf.
- the second drive unit is provided on the other end side of the first arm as viewed from the center of rotation of the first arm, and is positioned outside the rotation orbit of the second arm, so that interference with the second drive unit can be avoided when the second arm rotates.
- the second drive unit is provided on the first arm, the base does not need to be made larger than when the second drive unit is provided on the base.
- the upper surface of the second drive unit may be higher than the lower surface of the second arm. According to this configuration, the height positions of the second drive unit and the second arm at least partially overlap, so that the transfer mechanism can be made thinner. Furthermore, in the transport device according to the above aspect, the item holding unit has a mounting surface on which an item is placed, and the upper surface of the second drive unit may be lower than the mounting surface of the item holding unit. According to this configuration, it is possible to prevent the item held on the mounting surface from interfering with the second drive unit. Furthermore, in the transport device according to the above aspect, the second drive unit may be stored inside a cover provided on the first arm, and the upper surface of the cover may be lower than the mounting surface. According to this configuration, it is possible to prevent interference between the cover storing the second drive unit and the item held on the mounting surface.
- the transport device may further include a second reducer located near the second drive unit, which reduces the rotation transmitted from the second drive unit to the second arm. This configuration makes it possible to prevent the second reducer from interfering with the rotation of the second arm.
- the transport device may further include a first drive unit below the first arm, and a first reducer located below the first arm, which reduces the rotation transmitted from the first drive unit to the first arm. This configuration makes it possible to prevent the first drive unit and the first reducer from interfering with the first arm when the first arm rotates.
- the first drive unit and the first reducer may be provided at a position on the base spaced apart from the mast. This configuration makes it possible to reduce the thermal impact on the mast, since the first drive unit and the first reducer, which are heat sources, are spaced apart from the mast.
- the base may have a rib along the vertical direction between the first drive unit and the mast.
- the transfer mechanism may be capable of transferring items to both the left and right sides of the traveling direction of the traveling cart. With this configuration, the range over which items can be transferred can be expanded compared to a configuration in which transfer is only possible to one side, either left or right.
- the item holding unit may be rotated relative to the second arm in synchronization with the rotation of the second arm. With this configuration, the item holding unit can be oriented in an appropriate direction when the second arm is rotated.
- FIG. 2 is a front view illustrating an example of a transport device and a storage device according to an embodiment.
- FIG. 2 is a side view illustrating an example of a transport device and a storage device according to an embodiment.
- FIG. 4 is a front view showing an example of a transfer mechanism.
- 11 is a plan view showing a state in which an article is placed above a base in the transfer mechanism.
- FIG. 11 is a plan view showing a state in which an article is handed over in the transfer mechanism.
- FIG. 5A and 5B are front and plan views showing the relationship between a base and a first arm in a transfer mechanism.
- 4 is a plan view showing the relationship between a first arm and a second arm in the transfer mechanism.
- FIG. 13 is a front view showing a state in which an article is held by an article holding section in the transfer mechanism.
- FIG. 13 is a diagram illustrating a schematic diagram of a transmission path of a driving force to a first arm, a second arm, and an article holding portion.
- FIG. 10 is an enlarged view of a portion of FIG. 9 .
- 13 is a plan view showing another example in which an article is placed above a base in the transfer mechanism.
- FIG. 13 is a plan view showing another example of the transfer mechanism for transferring an article.
- FIG. 1 is a front view showing an example of a conveying device 1 and a storage device 2 according to an embodiment.
- FIG. 2 is a side view showing an example of a conveying device 1 and a storage device 2 according to this embodiment.
- the running direction of the conveying device 1 is the X direction
- the conveying device 1 and the storage device 2 are viewed from the Y direction perpendicular to the X direction, respectively.
- the conveying device 1 and the storage device 2 are viewed from the Y direction, respectively.
- the storage device 2 includes a conveying device 1 that conveys items OB, and a plurality of shelves 3 on which the items OB are placed and stored.
- the object OB is a storage container such as a FOUP that contains glass substrates, semiconductor wafers, etc.
- the weight of the object OB may be 25 kg or more depending on the size of the glass substrates contained and the number of substrates contained.
- the object OB may be another storage container other than a FOUP, such as a reticle case. This embodiment is also applicable even when the object OB is a heavy object weighing tens of kg.
- the conveying device 1 conveys an item OB and transfers the item OB between any of the multiple shelves 3.
- the conveying device 1 includes a transfer mechanism 4, a traveling cart 5, and a mast 6.
- the transfer mechanism 4 will be described in detail later.
- the traveling cart 5 includes a base frame 7 and drive wheels 8.
- the base frame 7 includes a traveling drive unit (not shown), such as an electric motor, for driving the drive wheels 8 to rotate.
- the drive wheels 8 are rotatably provided on the base frame 7 and are driven to rotate by a traveling drive unit (not shown).
- the drive wheels 8 roll on rails 9 installed on the floor F. In this embodiment, there is one drive wheel 8, but multiple drive wheels 8 may be provided, or a driven wheel may be provided in addition to the drive wheels 8.
- the rails 9 are laid on the floor F along the X direction.
- the traveling cart 5 travels in the X direction by driving the drive wheels 8 to rotate by a traveling drive unit (not shown). That is, the conveying device 1 travels along the rails 9 in the +X direction or the -X direction.
- the traveling carriage 5 may also be provided with a pair of rollers 8a on the underside of the base frame 7 that grip the sides of the rails 9. By providing a pair of rollers 8a, it is possible to prevent the drive wheels 8 from falling off the rails 9.
- the mast 6 is erected on the traveling cart 5.
- the mast 6 is provided so as to extend upward (in the +Z direction) from the upper surface of the base frame 7.
- the mast 6 is set, for example, at a height that allows the transfer mechanism 4 to transfer the item OB to the top shelf 3.
- An upper frame 10 is provided at the upper end of the mast 6.
- the upper frame 10 has a pair of rollers 11 on the upper surface side.
- the pair of rollers 11 are arranged so as to sandwich the sides of the ceiling rail 12 installed on the ceiling C.
- the ceiling rail 12 is provided on the ceiling C along the X direction.
- rollers 11 are rotated and driven in synchronization with the drive wheels 8 by a drive device (not shown), and move the upper frame 10, which is the upper end of the mast 6, in the traveling direction of the traveling cart 5.
- the drive of the drive wheels 8 and the drive of the rollers 11 are controlled by a control device (not shown).
- the rollers 11 are not limited to being drive rollers driven by a drive device, and may be driven rollers.
- the shelves 3 are arranged in a line in the X direction and the vertical direction (Z direction) along the rails 9.
- the shelves 3 store items OB.
- Each shelf 3 is formed so that the item OB can be placed on it, and a space capable of accommodating the item OB is formed on the upper surface of each shelf 3.
- Each shelf 3 has a cutout portion 3a and a pin 3b.
- the cutout portion 3a is provided with a size that allows the item holding portion 23 of the transfer mechanism 4 described later to pass through in the vertical direction.
- the pins 3b are provided, for example, in three pieces on the upper surface of the shelf 3, and position the item OB placed on the shelf 3 by entering a groove portion provided on the bottom surface of the item OB.
- a positioning guide that guides the side of the item OB may be provided.
- the shelf board 3 may be separated into left and right, and one pin 3b may be provided on each of the left and right shelf boards 3, and the item OB may be positioned by the two pins 3b.
- a cutout 3a is formed between the left and right shelf boards 3, and the item holder 23 can pass through this cutout 3a in the vertical direction.
- Each shelf 3 may be equipped with a gas supply device that supplies an inert gas into the placed item OB.
- FIG. 2 a form in which multiple shelves 3 are provided on both sides of the conveying device 1 in the Y direction is shown, but this is not limited to this form.
- a form in which multiple shelves 3 are arranged only on the +Y side or only on the -Y side of the conveying device 1 may also be used.
- the transport device 1 of this embodiment shows a form in which the transfer mechanism 4 is provided on the -X side of one mast 6. In other words, the transfer mechanism 4 is supported by one mast 6.
- the transport device 1 is not limited to the above form.
- the transfer mechanism 4 may be provided between two masts 6 spaced apart in the X direction, and the transfer mechanism 4 may be supported by the two masts 6.
- the overall length of the transport device 1 in the X direction can be shortened.
- Figure 3 is a front view showing an example of the transfer mechanism 4.
- Figure 3 shows a front view of the transfer mechanism 4 as seen from a direction (Y direction) perpendicular to the running direction (X direction) of the conveying device 1.
- the transfer mechanism 4 has a base 20, a first arm 21, a second arm 22, an item holding unit 23, a first drive unit 31, and a second drive unit 32.
- the base 20 is formed in an L shape having a horizontal portion 20a and a vertical portion 20b extending upward from one end of the horizontal portion 20a.
- a guided portion 20c having a concave cross section and extending in the vertical direction is provided on the +X surface of the vertical portion 20b.
- the guided portion 20c is provided on the -X surface of the mast 6 and fits into a linear guide 26 having a convex cross section and extending in the vertical direction.
- the vertical portion 20b is guided in the vertical direction along the linear guide 26.
- the transport device 1 is equipped with a lifting device (not shown) that raises and lowers the base 20. By driving this lifting device, the base 20 (transfer mechanism 4) is raised and lowered along the mast 6.
- the lifting device has, for example, a drive unit such as an electric motor, a sprocket that is rotated by the drive unit, and a chain that is attached to the outer circumference of the sprocket.
- the chain is stretched from the upper end to the lower end of the mast 6, and moves (or rotates) as the sprocket rotates.
- the base 20 is connected to the chain, and rises or falls along the linear guide 26 as the chain moves.
- the lifting device is not limited to the above configuration, and an endless belt may be used instead of the chain.
- the lifting device is not limited to raising and lowering the base 20 by a chain or belt, and may use, for example, a rack gear installed along the mast 6 and a pinion gear installed on the base 20, and the pinion gear may be rotated to raise and lower the base 20.
- the lifting and lowering operation and height position of the base 20 are controlled by a control device (not shown).
- the first arm 21 is rotatably supported on the upper surface 20d side of the base 20.
- the first arm 21 is a rod-shaped body extending in a straight line.
- a first rotating shaft 27 extending downward is provided in the middle part (e.g., the center part) of the longitudinal direction of the first arm 21.
- the first arm 21 is connected to the base 20 via the first rotating shaft 27.
- the first arm 21 is rotatable around the first rotating shaft 27 relative to the base 20.
- the vertical direction passing through the center of the first rotating shaft 27 is the rotation center P1 of the first arm 21.
- the first arm 21 has a first end 21a and a second end 21b. In the first arm 21, one end seen from the rotation center P1 is the first end 21a, and the other end seen from the rotation center P1 is the second end 21b.
- the second arm 22 is rotatably supported on the upper surface 21c side of the first arm 21.
- the second arm 22 is supported at the first end 21a of the first arm 21.
- the second arm 22 is a rod-shaped body extending in a straight line.
- the longitudinal dimension of the second arm 22 is shorter than that of the first arm 21.
- One longitudinal end of the second arm 22 is the base end 22a, and the other longitudinal end is the tip end 22b.
- a second rotating shaft 28 extending downward is provided at the base end 22a of the second arm 22.
- the second arm 22 is connected to the first arm 21 via the second rotating shaft 28.
- the second arm 22 is rotatable around the second rotating shaft 28 relative to the first arm 21.
- the vertical direction passing through the center of the second rotating shaft 28 is the rotation center P2 of the second arm 22.
- the rotation center P2 of the second arm 22 is located on the upper surface 21c of the first arm 21, on the first end 21a side as viewed from the rotation center P1 of the first arm 21
- the first arm 21 and the second arm 22 are capable of positioning the tip 22b of the second arm 22 anywhere within a predetermined range by adjusting their respective rotation angles. This predetermined range is determined by the lengths of the first arm 21 and the second arm 22 and the rotation angles of both.
- the first arm 21 and the second arm 22 can control the direction of movement of the tip 22b of the second arm 22 by synchronously driving the respective drive units described below.
- the item holding part 23 is rotatably supported on the upper surface 22c side of the second arm 22. It is supported on the tip portion 22b of the second arm 22.
- the item holding part 23 is a plate-shaped body on which the item OB can be placed.
- the item holding part 23 has a mounting surface 23a on the upper surface side.
- the item holding part 23 supports the lower surface of the item OB on the mounting surface 23a.
- the mounting surface 23a of the item holding part 23 is provided with, for example, three pins 23b.
- the pins 23b can be inserted into grooves provided on the bottom surface of the item OB to position the item OB.
- the item holding part 23 is provided with a third rotation shaft 29 extending downward.
- the item holding part 23 is connected to the second arm 22 via the third rotation shaft 29.
- the item holding part 23 is rotatable around the third rotation shaft 29 relative to the second arm 22.
- the vertical direction passing through the center of the third rotation shaft 29 is the rotation center P3 of the item holding part 23.
- the rotation center P3 of the item holding part 23 is located on the top surface 22c of the second arm 22, on the tip end 22b side of the second arm 22.
- the transfer mechanism 4 includes a first drive unit 31 and a second drive unit 32.
- a first drive unit 31 For example, an electric motor or the like is used for the first drive unit 31 and the second drive unit 32.
- the first drive unit 31 rotates the first arm 21.
- the first drive unit 31 is disposed on the horizontal portion 20a of the base 20 below the first arm 21.
- the first drive unit 31 is disposed on the tip side of the horizontal portion 20a of the base 20 as viewed from the rotation center P1 of the first arm 21, that is, on the opposite side to the vertical portion 20b.
- the first drive unit 31 may be configured to include a first reducer 33, which will be described later.
- the second drive unit 32 drives the second arm 22 to rotate.
- the second drive unit 32 is provided on the first arm 21.
- the second drive unit 32 is provided on the second end 21b side of the first arm 21 when viewed from the rotation center P1.
- the second drive unit 32 is arranged with a part of it protruding upward from the upper surface 21c of the first arm 21.
- the second arm 22 is provided with a cover 25 for covering the protruding part of the second drive unit 32. Therefore, the cover 25 is provided in a state where it protrudes upward from the upper surface 21c of the first arm 21. It is optional whether or not to provide the cover 25. Therefore, the second arm 22 may be in a form without the cover 25. It is also possible for the second drive unit 32 to be configured to include a second reducer 34 described later.
- Figure 4 is a plan view showing the state in which the item OB is placed above the base 20 in the transfer mechanism 4.
- the item holding part 23 can be positioned above the base 20 by setting the first arm 21 and the second arm 22 to a predetermined angular position (standby position or item holding position). At this time, the item holding part 23 is separated from the shelf 3.
- the transport device 1 can move in the X direction by the traveling cart 5, and the transfer mechanism 4 can be raised and lowered.
- FIG. 5 is a plan view showing the state in which the transfer mechanism 4 transfers the article OB.
- the first drive unit 31 and the second drive unit 32 are driven to set the first arm 21 and the second arm 22 to a predetermined angular position (transfer position), so that the article holding unit 23 can be inserted above or below the shelf 3.
- the shelf 3 is provided with a cutout portion 3a through which the article holding unit 23 can pass in the vertical direction.
- the article holding unit 23 is placed at a position higher than the shelf 3, and in this state, the article holding unit 23 (transfer mechanism 4) is lowered, so that the article OB is transferred from the article holding unit 23 to the shelf 3.
- the article holding unit 23 is returned to the position shown in FIG. 4 (standby position), completing the operation of transferring the article OB to the shelf 3.
- the item holding unit 23 When receiving an item OB from the shelf 3, the item holding unit 23 is positioned at a lower position than the shelf 3 on which the item OB is placed, and the item holding unit 23 (transfer mechanism 4) is raised in this state, whereby the item OB is transferred from the shelf 3 to the item holding unit 23. After the item OB is placed on the item holding unit 23, the item holding unit 23 is returned to the position shown in Figure 4 (item holding position), completing the operation of receiving the item OB by the transfer mechanism 4.
- Figure 6 shows the relationship between the base 20 and the first arm 21 in the transfer mechanism 4, (A) being a front view and (B) being a plan view. In Figure 6, some components are omitted for ease of explanation.
- the second drive unit 32 is stored inside the cover 25 of the first arm 21.
- the cover 25 is disposed on the upper surface 21c of the first arm 21 and protrudes upward from the first arm 21.
- the second drive unit 32 is disposed so as not to protrude downward from the first arm 21, and the cover 25 or the like is not provided on the underside of the first arm 21. In other words, there is no part that protrudes from the underside of the first arm 21.
- the second drive unit 32 does not interfere with the base 20.
- the rotation range of the first arm 21 is not restricted, and the first arm 21 can be rotated to any angle position.
- FIG. 7 is a plan view showing the relationship between the first arm 21 and the second arm 22 in the transfer mechanism 4.
- the rotation center P2 of the second arm 22 is disposed on the first end 21a side of the first arm 21 as viewed from the rotation center P1 of the first arm 21.
- the second drive unit 32 is disposed on the first arm 21 as viewed from the second end 21b side of the first arm 21 as viewed from the rotation center P1 of the first arm 21.
- the second arm 22 is provided such that the length from the base end 22a to the tip end 22b does not reach the cover 25 (the second drive unit 32 when the cover 25 is not present).
- the cover 25 is provided with a distance L1 between the tip end 22b of the second arm 22.
- the second arm 22 does not interfere with the second drive unit 32.
- the rotation range of the second arm 22 is not restricted, and the second arm 22 can be rotated to any angle position.
- the distance L1 can be set arbitrarily as long as the tip 22b of the second arm 22 does not reach the cover 25 (or the second drive unit 32 if there is no cover 25).
- Figure 8 is a front view showing the state in which the item holding section 23 holds an item OB in the transfer mechanism 4.
- the upper surface 25a of the cover 25 (or the upper surface 32c of the second drive section 32 when the cover 25 is not present) is set at a position higher than the lower surface 22d of the second arm 22.
- the height positions of the cover 25 (second drive section 32) and the second arm 22 are formed so as to at least partially overlap. This makes it possible to make the transfer mechanism 4 thinner.
- the upper surface 25a of the cover 25 is disposed at a lower position than the placement surface 23a of the item holding unit 23. Specifically, the upper surface 25a of the cover 25 is disposed at a distance L2 below the placement surface 23a of the item holding unit 23. Therefore, even when the first arm 21 and the second arm 22 are rotated with the item OB placed on the item holding unit 23, the item OB is prevented from interfering with the cover 25. Therefore, the rotation angle of the first arm 21 and the second arm 22 can be set arbitrarily with the item OB placed on the item holding unit 23.
- the upper surface 32c of the second driving unit 32 is disposed at a lower position than the placement surface 23a by a distance L2 or more. Therefore, as described above, the item OB is prevented from interfering with the second driving unit 32, and the rotation angle of the first arm 21 and the second arm 22 can be set arbitrarily with the item OB placed on the item holding unit 23.
- Figure 9 is a schematic diagram showing the path of transmission of driving force for the first arm 21, the second arm 22, and the item holding part 23.
- Figure 10 is an enlarged view of a portion of Figure 9. To facilitate explanation, some components have been omitted from Figures 9 and 10.
- the first drive unit 31 includes, for example, an electric motor and an encoder that detects the rotation of the electric motor. An electric motor that generates the torque required to rotate the first arm 21 is used.
- the first drive unit 31 drives the first arm 21 to rotate via the first reduction gear 33, causing the first arm 21 to rotate relative to the base 20.
- the rotation of the first drive unit 31 is controlled by a control device (not shown). This control device servo-controls the electric motor using the detection results of the encoder. Note that the control device may be the same as the control device that controls the traveling drive unit of the traveling cart 5, or may be a different control device.
- the output of the first drive unit 31 is transmitted to the first rotating shaft 27.
- the output shaft 31a of the first drive unit 31 is arranged to protrude downward from the first drive unit 31.
- a pulley 31b is provided on the output shaft 31a.
- a pulley 27a is provided on the first rotating shaft 27.
- the first rotating shaft 27 is rotatably supported on the first arm 21.
- An endless transmission belt 35 is stretched between the pulleys 31b and 27a, and the rotation of the pulley 31b is transmitted to the pulley 27a via the transmission belt 35.
- the first reducer 33 is provided on the first rotating shaft 27.
- the first reducer 33 reduces the speed of the rotation of the pulley 27a and transmits it to the rotation of the first arm 21.
- the first drive unit 31 and the first reducer 33 are disposed below the first arm 21. This configuration makes it possible to prevent both the first drive unit 31 and the first reducer 33 from interfering with the first arm 21 when the first arm 21 rotates. Furthermore, the first drive unit 31 and the first reducer 33 are provided at a position on the base 20 away from the mast 6. With this configuration, the first drive unit 31 and the first reducer 33, which are heat sources, are separated from the mast 6, so that the thermal effects on the linear guide 26 of the mast 6, the guided portion 20c of the base 20, etc. can be reduced.
- the speed is reduced by the first reducer 33 to rotate the output shaft 31a.
- the pulley 31b rotates together with the output shaft 31a, moving the transmission belt 35 (circular movement).
- This movement of the transmission belt 35 rotates the pulley 27a, which in turn rotates the first rotating shaft 27 integrated with the pulley 27a.
- the first arm 21 integrated with the first rotating shaft 27 rotates around the axis of the rotation center P1 relative to the base 20.
- the rotational position of the first arm 21 can be maintained by servo control of the first drive unit 31 (electric motor).
- the amount of rotation of pulley 27a relative to the amount of rotation of pulley 31b is set by the ratio of the diameters of pulley 31b and pulley 27a. Therefore, by making the diameter of pulley 27a larger than the diameter of pulley 31b, the rotation of pulley 31b can be decelerated and transmitted to the rotation of pulley 27a. Therefore, as shown in FIG. 9, instead of providing the first reducer 33 in the first drive unit 31, it is possible to make the pulley 31b and pulley 27a function as a reducer by appropriately setting the diameters of the pulleys 31b and 27a. Note that sprockets may be used instead of pulley 31b and pulley 27a, and an endless chain may be used instead of the transmission belt 35.
- the second drive unit 32 includes, for example, an electric motor and an encoder that detects the rotation of the electric motor.
- An electric motor that generates the torque required to rotate the second arm 22 is used.
- the electric motor of the first drive unit 31 and the electric motor of the second drive unit 32 may be the same or different.
- the second drive unit 32 drives and rotates the second arm 22 via the second reducer 34, causing the second arm 22 to rotate relative to the first arm 21.
- the rotation of the second drive unit 32 is controlled by the control device (not shown) described above. As with the above, the control device servo-controls the electric motor using the detection results of the encoder.
- the output of the second drive unit 32 is output to the output shaft 32a after being reduced in speed via the second reducer 34.
- the second reducer 34 reduces the speed of the rotation transmitted from the second drive unit 32 to the output shaft 32a.
- the second reducer 34 is disposed in the vicinity of the second drive unit 32. With this configuration, it is possible to prevent the second reducer 34 from interfering with the second arm 22, allowing the second arm 22 to rotate without hindrance.
- the output shaft 32a is provided so as to protrude downward from the second reducer 34.
- a pulley 32b is provided on the output shaft 32a.
- a pulley 28a is provided on the second rotating shaft 28.
- the second rotating shaft 28 is rotatably supported on the first arm 21.
- An endless transmission belt 36 is stretched between the pulleys 32b and 28a, and the rotation of the pulley 32b is transmitted to the pulley 28a via the transmission belt 35.
- the second reducer 34 reduces the speed and rotates the output shaft 32a.
- the pulley 32b rotates together with the output shaft 32a, moving (circulating) the transmission belt 36.
- This movement of the transmission belt 36 rotates the pulley 28a, which in turn rotates the second rotating shaft 28 integral with the pulley 28a.
- the second arm 22 integral with the second rotating shaft 28 rotates around the axis of the rotation center P2 relative to the first arm 21.
- the rotation position of the second arm 22 can be maintained by servo control of the second drive unit 32 (electric motor).
- the drive timing of the second drive unit 32 may be simultaneous with the drive timing of the first drive unit 31, or may be different.
- the amount of rotation of pulley 28a relative to the amount of rotation of pulley 32b is set by the ratio of the diameters of pulley 32b and pulley 28a. Therefore, by making the diameter of pulley 28a larger than the diameter of pulley 32b, the rotation of pulley 32b can be reduced and transmitted to the rotation of pulley 28a. Therefore, as shown in FIG. 9, instead of providing a second reducer 34 in the second drive unit 32, it is possible to make the pulley 32b and pulley 28a function as a reducer by appropriately setting the diameters of the pulleys 32b and 28a. Note that sprockets may be used instead of pulley 32b and pulley 28a, and an endless chain may be used instead of the transmission belt 36.
- the second rotating shaft 28 is formed in a cylindrical shape.
- a support shaft 37 is provided inside the second rotating shaft 28 in a state where it is inserted through the second rotating shaft 28.
- the support shaft 37 is fixed to the first arm 21 so as not to rotate around the axis of the rotation center P2. In other words, even if the second rotating shaft 28 rotates relative to the first arm 21, the support shaft 37 is configured not to rotate relative to the first arm 21.
- a pulley 37a is provided at the upper end of the support shaft 37.
- the pulley 37a is disposed within the second arm 22.
- a pulley 29a is provided on a third rotating shaft 29 that is integral with the item holding section 23.
- the third rotating shaft 29 is rotatably supported by the second arm 22.
- An endless transmission belt 38 is stretched between the pulleys 37a and 29a, and the rotation of the pulley 37a is transmitted to the pulley 29a via the transmission belt 38.
- the second drive unit 32 When the second drive unit 32 is driven to rotate the second arm 22, as described above, the second arm 22 and the second rotating shaft 28 rotate around the axis of the rotation center P2 relative to the first arm 21.
- the support shaft 37 since the support shaft 37 is fixed to the first arm 21, the support shaft 37 and the pulley 37a rotate relative to the second arm 22. That is, when the second arm 22 rotates, the second rotating shaft 28 and the support shaft 37 rotate relatively.
- the rotation of the pulley 37a moves (circulates) the transmission belt 38, rotating the pulley 29a and the third rotating shaft 29.
- the item holding unit 23 integrated with the third rotating shaft 29 rotates around the axis of the rotation center P3 relative to the second arm 22. That is, the item holding unit 23 rotates relative to the second arm 22 in synchronization with the rotation of the second arm 22.
- the rotational position of the article holding unit 23 is maintained by maintaining the rotational position of the second arm 22 relative to the first arm 21.
- the orientation of the article holding unit 23 is set so that when the first arm 21 and the second arm 22 are rotated to a state where the article OB can be transferred to the shelf 3, the tip of the article holding unit 23 fits within the cutout portion 3a of the shelf 3 in a plan view (see FIG. 5).
- the orientation of the article holding unit 23 is set by the rotation ratio of the pulley 37a and the pulley 29a.
- the desired rotation ratio of the pulley 37a and the pulley 29a can be achieved by appropriately setting the diameter of the pulley 37a and the diameter of the pulley 29a. Note that a configuration in which sprockets are used instead of the pulleys 37a and 29a, and an endless chain is used instead of the transmission belt 38 may also be used.
- the above-mentioned configuration is applied to rotate the item holding part 23 relative to the second arm 22, but this configuration is not limited to this.
- a drive unit such as an electric motor may be used to rotate the item holding part 23.
- the drive unit (electric motor, etc.) is arranged on the second end 21b side of the first arm 21, similar to the second drive unit 32, and a configuration may be applied in which the support shaft 37 is rotated around the axis of the rotation center P2 by a transmission belt, thereby rotating the item holding part 23 relative to the second arm 22.
- FIG. 11 is a plan view showing another example in which the item OB is arranged above the base 20 in the transfer mechanism 4.
- the first arm 21 and the second arm 22 can be respectively placed at a predetermined angular position (standby position or item holding position) to position the item holding section 23 above the base 20.
- the first arm 21 is rotated 180 degrees from the position shown in FIG. 4.
- the item holding section 23 is facing in the -Y direction.
- the item OB is placed on the placement surface 23a and positioned above the base 20.
- the transport device 1 can be moved in the X direction by the traveling cart 5, and the transfer mechanism 4 can be raised and lowered.
- FIG. 12 is a plan view showing another example of transferring an item OB in the transfer mechanism 4.
- the item holding unit 23 can be moved in the -Y direction and inserted above or below the shelf 3.
- the operation of transferring an item OB to the shelf 3 is the same as that described above with reference to FIGS. 4 and 5.
- the transfer mechanism 4 of this embodiment can transfer an item OB to the shelves 3 on the +Y side and -Y side, respectively.
- Figure 13 is a view of the base 20 as seen from the back side.
- the first drive unit 31 is provided at the tip side of the horizontal portion 20a (the opposite side to the vertical portion 20b).
- no drive unit or the like is provided on the opposite side of the horizontal portion 20a to the first drive unit 31 across the first rotation shaft 27.
- This portion can be used as a space to reduce the weight of the base 20, but if the object OB becomes heavy, the rigidity of the base 20 (especially the horizontal portion 20a) may be insufficient.
- the horizontal part 20a of the base 20 is provided with a rib 41 along the vertical direction between the first drive unit 31 and the mast 6.
- a plurality of ribs 41 are provided in the horizontal part 20a in the space between the first rotation shaft 27 and the vertical part 20b.
- the load of the object OB acts on the first rotation shaft 27. Therefore, the rib 41 is provided so as to extend in the X direction, the Y direction, a direction obtained by combining the X direction and the Y direction, and a curved direction surrounding the first rotation shaft 27, taking into consideration the case where a large load acts on the first rotation shaft 27.
- the rigidity of the base 20 can be increased while reducing the weight of the base 20.
- the shape of the rib 41 shown in FIG. 13 is one example, and the shape of the rib 41 is arbitrary as long as it is possible to increase the rigidity of the base 20.
- the second drive unit 32 is provided on the first arm 21 at a position on the second end 21b side as viewed from the rotation center P1 of the first arm 21 and away from the rotation path R2 of the second arm 22, so that interference with the second drive unit 32 when the second arm 22 rotates can be avoided. Therefore, there is no need to increase the vertical distance between the first arm 21 and the second arm 22, and a transfer mechanism 4 that is thin in the vertical direction can be realized. Also, because the second drive unit 32 is provided on the first arm 21, it is possible to avoid an increase in the size of the base 20.
- the first drive unit 31 is arranged on the base 20, but the present invention is not limited to this.
- the first drive unit 31 may be provided on the first arm 21.
- the first drive unit 31 may be arranged on the second end 21b side of the first arm 21, similar to the second drive unit 32, and may be housed together with the second drive unit 32 within the cover 25.
- the storage device 2 is described as having one transport device 1, but this is not limited to this.
- the storage device 2 may have two or more transport devices 1.
- the storage device 2 is described as having the transport device 1 and the shelf 3 of the storage device 2 installed on the floor F, but this is not limited to this.
- One or both of the transport device 1 and the shelf 3 may be suspended from the ceiling C.
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Abstract
[Problem] To reduce the thickness of a transfer mechanism in the vertical direction. [Solution] A conveyance device 1 includes: a travel cart 5; a mast 6 erected on the travel cart 5; and a transfer mechanism 4 that is disposed on the mast 6 and transfers an object OB. The transfer mechanism 4 includes: a base 20 that moves vertically along the mast 6; a first arm 21 rotatably supported by the base 20; a second arm 22 rotatably supported by the first arm 21; an object holding part 23 that holds the object OB and is supported by the second arm 22; a first driving part 31 that rotates the first arm 21; and a second driving part 32 that rotates the second arm 22. The rotational center P2 of the second arm 22 is at, relative to the first arm 21, a first end 21a of the first arm 21. The second driving part 32 is provided on a second end 21b of the first arm 21 on an upper surface 21c of the first arm 21, at a position separated from a rotational orbit R2 of the second arm 22.
Description
本発明は、搬送装置及び保管装置に関する。
The present invention relates to a transport device and a storage device.
上下方向及び左右方向に複数配置された棚に物品を保管する保管装置が知られている。この保管装置では物品を移載するために搬送装置を備えている。この搬送装置は、例えばスタッカクレーンが用いられ、棚に沿って走行する走行台車と、走行台車に立設されたマストと、マストに配置されて物品を移載する移載機構と、を備えている。移載機構は、マストに沿って昇降する基台と、基台に回転可能に支持された第1アームと、第1アームに回転可能に支持された第2アームと、第2アームに回転可能に支持された物品保持部とを備える構成が開示されている(例えば、特許文献1参照)。このスタッカクレーンでは、移載機構において、第1アームを回転駆動させる第1駆動部、及び第2アームを回転駆動させる第2駆動部が、それぞれ基台から下方に突出した状態で設けられている。
A storage device that stores items on multiple shelves arranged in the vertical and horizontal directions is known. This storage device is equipped with a transport device for transferring items. This transport device uses, for example, a stacker crane, and is equipped with a traveling cart that travels along the shelves, a mast erected on the traveling cart, and a transfer mechanism that is arranged on the mast and transfers items. The transfer mechanism is disclosed to have a configuration that includes a base that rises and falls along the mast, a first arm rotatably supported on the base, a second arm rotatably supported on the first arm, and an item holder rotatably supported on the second arm (see, for example, Patent Document 1). In this stacker crane, in the transfer mechanism, a first drive unit that rotates the first arm and a second drive unit that rotates the second arm are each provided in a state where they protrude downward from the base.
第1駆動部及び第2駆動部が基台から下方に突出して設けられる形態では、移載機構が上下方向に大型化し、最下段の棚を低い位置に配置することが困難となり、物品の保管効率を低下させる要因となる。また、第2駆動部を第1アームに配置することも考えられる。この場合、第2駆動部が第1アームの下面から垂下して設けられると、第1アームの回転時に第2駆動部が基台と干渉し、第1アームの回転範囲を規制するので好ましくない。また、第2駆動部が第1アームの上面に突出して設けられる場合でも、第2駆動部が第2アームと干渉するので好ましくない。このように、第2駆動部が第1アームに配置される場合、第2駆動部と基台との干渉、又は第2駆動部と第1アームとの干渉を避けるために、基台と第1アームとの間隔、第1アームと第2アームとの間隔を上下方向に拡げる必要があり、その結果、移載機構が上下方向に大型化することで、物品の保管効率を低下させる要因となる。
In a configuration in which the first drive unit and the second drive unit are provided protruding downward from the base, the transfer mechanism becomes larger in the vertical direction, making it difficult to place the lowest shelf at a low position, which is a factor in reducing the storage efficiency of items. It is also possible to arrange the second drive unit on the first arm. In this case, if the second drive unit is provided hanging down from the underside of the first arm, it is not preferable because the second drive unit interferes with the base when the first arm rotates and restricts the rotation range of the first arm. Also, even if the second drive unit is provided protruding from the upper surface of the first arm, it is not preferable because the second drive unit interferes with the second arm. In this way, when the second drive unit is arranged on the first arm, it is necessary to increase the distance between the base and the first arm and the distance between the first arm and the second arm in the vertical direction in order to avoid interference between the second drive unit and the base or between the second drive unit and the first arm, and as a result, the transfer mechanism becomes larger in the vertical direction, which is a factor in reducing the storage efficiency of items.
本発明は、移載機構を上下方向に薄型化することが可能な搬送装置及び保管装置を提供することを目的とする。
The present invention aims to provide a transport device and storage device that can thin the transfer mechanism in the vertical direction.
本発明の態様に係る搬送装置は、走行台車と、走行台車に立設されるマストと、マストに配置されて物品を移載する移載機構と、を備え、移載機構は、マストに沿って昇降する基台と、基台に回転可能に支持される第1アームと、第1アームに回転可能に支持される第2アームと、物品を保持しかつ第2アームに支持される物品保持部と、第1アームを回転させる第1駆動部と、第2アームを回転させる第2駆動部と、を有し、第2アームの回転中心は、第1アームの上面において第1アームの回転中心から見た一方の端部側に配置され、第2駆動部は、第1アームにおいて第1アームの回転中心から見た他方の端部側であって第2アームの回転軌道から外れた位置に設けられる。
The transport device according to this aspect of the present invention comprises a traveling carriage, a mast erected on the traveling carriage, and a transfer mechanism arranged on the mast for transferring an item, the transfer mechanism having a base which rises and falls along the mast, a first arm rotatably supported on the base, a second arm rotatably supported on the first arm, an item holder which holds an item and is supported on the second arm, a first drive unit which rotates the first arm, and a second drive unit which rotates the second arm, the center of rotation of the second arm being arranged on one end side as viewed from the center of rotation of the first arm on the upper surface of the first arm, and the second drive unit being provided on the other end side of the first arm as viewed from the center of rotation of the first arm, at a position outside the rotation orbit of the second arm.
本発明の態様に係る保管装置は、物品を保管する棚と、棚との間で物品を移載する上記態様の搬送装置と、を備える。
A storage device according to this aspect of the present invention includes a shelf for storing items and a transport device according to the above aspect for transferring items between the shelf.
上記態様に係る搬送装置及び保管装置によれば、第2駆動部が第1アームにおいて第1アームの回転中心から見た他方の端部側であって第2アームの回転軌道から外れた位置に設けられるため、第2アームが回転する際に第2駆動部と干渉することを回避できる。そのため、第1アームと第2アームとの上下方向の間隔を拡げる必要がなく、上下方向に薄型化した移載機構を実現できる。また、第2駆動部が第1アームに設けられるので、第2駆動部が基台に設けられる場合と比較して基台の大型化を回避できる。
In the transport device and storage device according to the above aspect, the second drive unit is provided on the other end side of the first arm as viewed from the center of rotation of the first arm, and is positioned outside the rotation orbit of the second arm, so that interference with the second drive unit can be avoided when the second arm rotates. This eliminates the need to increase the vertical distance between the first arm and the second arm, and allows for the realization of a transfer mechanism that is thin in the vertical direction. In addition, because the second drive unit is provided on the first arm, the base does not need to be made larger than when the second drive unit is provided on the base.
また、上記態様に係る搬送装置において、第2駆動部の上面は、第2アームの下面よりも高くてもよい。この構成によれば、第2駆動部と第2アームとの高さ位置が少なくとも一部重複するため、移載機構の薄型化を図ることができる。また、上記態様に係る搬送装置において、物品保持部は、物品を載置する載置面を有し、第2駆動部の上面は、物品保持部の載置面よりも低くてもよい。この構成によれば、載置面に保持される物品が第2駆動部と干渉することを回避できる。また、上記態様に係る搬送装置において、第2駆動部は、第1アームに備えるカバーの内部に格納され、カバーの上面は、載置面よりも低くてもよい。この構成によれば、第2駆動部を格納したカバーと、載置面に保持される物品とが干渉することを回避できる。
Furthermore, in the transport device according to the above aspect, the upper surface of the second drive unit may be higher than the lower surface of the second arm. According to this configuration, the height positions of the second drive unit and the second arm at least partially overlap, so that the transfer mechanism can be made thinner. Furthermore, in the transport device according to the above aspect, the item holding unit has a mounting surface on which an item is placed, and the upper surface of the second drive unit may be lower than the mounting surface of the item holding unit. According to this configuration, it is possible to prevent the item held on the mounting surface from interfering with the second drive unit. Furthermore, in the transport device according to the above aspect, the second drive unit may be stored inside a cover provided on the first arm, and the upper surface of the cover may be lower than the mounting surface. According to this configuration, it is possible to prevent interference between the cover storing the second drive unit and the item held on the mounting surface.
また、上記態様に係る搬送装置は、第2駆動部の近傍に、第2駆動部から第2アームに伝達する回転を減速させる第2減速機を備えてもよい。この構成によれば、第2減速機が第2アームの回転の支障となるのを回避できる。また、上記態様に係る搬送装置は、第1アームの下方に、第1駆動部、及び第1駆動部から第1アームに伝達する回転を減速させる第1減速機を備えてもよい。この構成によれば、第1アームの回転時に、第1駆動部及び第1減速機が第1アームと干渉するのを回避できる。また、上記態様に係る搬送装置において、第1駆動部及び第1減速機は、基台においてマストから離間した位置に設けられてもよい。この構成によれば、熱源となる第1駆動部及び第1減速機がマストから離れるので、マストに対する熱影響を軽減できる。
The transport device according to the above aspect may further include a second reducer located near the second drive unit, which reduces the rotation transmitted from the second drive unit to the second arm. This configuration makes it possible to prevent the second reducer from interfering with the rotation of the second arm. The transport device according to the above aspect may further include a first drive unit below the first arm, and a first reducer located below the first arm, which reduces the rotation transmitted from the first drive unit to the first arm. This configuration makes it possible to prevent the first drive unit and the first reducer from interfering with the first arm when the first arm rotates. In the transport device according to the above aspect, the first drive unit and the first reducer may be provided at a position on the base spaced apart from the mast. This configuration makes it possible to reduce the thermal impact on the mast, since the first drive unit and the first reducer, which are heat sources, are spaced apart from the mast.
また、上記態様に係る搬送装置において、基台は、第1駆動部とマストとの間において、上下方向に沿ったリブを有してもよい。この構成によれば、基台の剛性を容易に高めることができる。また、上記態様に係る搬送装置において、移載機構は、走行台車の走行方向に対して左右両側に物品を移載可能であってもよい。この構成によれば、左右の片側のみに移載可能な構成に比べて、物品を移載できる範囲を広げることができる。また、上記態様に係る搬送装置において、物品保持部は、第2アームの回転に同期して、第2アームに対して回転させてもよい。この構成によれば、第2アーム回転させた際に物品保持部を適切な方向に向けることができる。
Furthermore, in the conveying device according to the above aspect, the base may have a rib along the vertical direction between the first drive unit and the mast. With this configuration, the rigidity of the base can be easily increased. Furthermore, in the conveying device according to the above aspect, the transfer mechanism may be capable of transferring items to both the left and right sides of the traveling direction of the traveling cart. With this configuration, the range over which items can be transferred can be expanded compared to a configuration in which transfer is only possible to one side, either left or right. Furthermore, in the conveying device according to the above aspect, the item holding unit may be rotated relative to the second arm in synchronization with the rotation of the second arm. With this configuration, the item holding unit can be oriented in an appropriate direction when the second arm is rotated.
以下、本発明の実施形態について図面を参照しながら説明する。ただし、本発明は以下に説明する内容に限定されない。また、図面においては実施形態を説明するため、一部分を大きく又は強調して記載するなど適宜縮尺を変更して表現しており、実際の製品とは寸法又は形状等が異なっている場合がある。以下の各図において、XYZ座標系を用いて図中の方向を説明する。このXYZ座標系において、鉛直方向をZ方向とし、水平方向の一方向をX方向とし、X方向に直交する方向をY方向とする。X方向、Y方向、及びZ方向のそれぞれは、図中の矢印の指す方向が+方向であり、矢印の指す方向とは反対の方向が-方向であるとして説明する。
Below, an embodiment of the present invention will be described with reference to the drawings. However, the present invention is not limited to the contents described below. Furthermore, in order to explain the embodiment, the drawings are appropriately scaled, such as by enlarging or emphasizing some parts, and the dimensions or shape may differ from those of the actual product. In each of the figures below, the directions in the figures will be explained using an XYZ coordinate system. In this XYZ coordinate system, the vertical direction is the Z direction, one horizontal direction is the X direction, and the direction perpendicular to the X direction is the Y direction. The X, Y, and Z directions will be explained assuming that the direction indicated by the arrow in the figure is the + direction, and the direction opposite to the direction indicated by the arrow is the - direction.
図1は、実施形態に係る搬送装置1及び保管装置2の一例を示す正面図である。図2は、本実施形態に係る搬送装置1及び保管装置2の一例を示す側面図である。本実施形態では、搬送装置1の走行方向をX方向とし、このX方向に直交するY方向から搬送装置1及び保管装置2を見たときを正面側とする。また、Y方向から搬送装置1及び保管装置2を見たときを側面側とする。図1及び図2に示すように、保管装置2は、物品OBを搬送する搬送装置1と、物品OBを載置して保管する複数の棚3を備える。
FIG. 1 is a front view showing an example of a conveying device 1 and a storage device 2 according to an embodiment. FIG. 2 is a side view showing an example of a conveying device 1 and a storage device 2 according to this embodiment. In this embodiment, the running direction of the conveying device 1 is the X direction, and the conveying device 1 and the storage device 2 are viewed from the Y direction perpendicular to the X direction, respectively. Also, the conveying device 1 and the storage device 2 are viewed from the Y direction, respectively. As shown in FIGS. 1 and 2, the storage device 2 includes a conveying device 1 that conveys items OB, and a plurality of shelves 3 on which the items OB are placed and stored.
物品OBは、例えば、ガラス基板、半導体ウエハなどが収容されたフープ(FOUP)などの収容容器である。なお、物品OBがフープである場合、収容するガラス基板のサイズ、収容枚数によって、物品OBの重量が25kg以上になる場合がある。なお、物品OBは、フープ以外に、例えばレチクルケースなど他の収容容器であってもよい。本実施形態は、物品OBが数十kgとなるような重量物である場合でも適用可能である。
The object OB is a storage container such as a FOUP that contains glass substrates, semiconductor wafers, etc. When the object OB is a FOUP, the weight of the object OB may be 25 kg or more depending on the size of the glass substrates contained and the number of substrates contained. The object OB may be another storage container other than a FOUP, such as a reticle case. This embodiment is also applicable even when the object OB is a heavy object weighing tens of kg.
搬送装置1は、物品OBを搬送し、複数の棚3のいずれかとの間で物品OBの受け渡しを行う。搬送装置1は、移載機構4と、走行台車5と、マスト6と、を備える。なお、移載機構4の詳細については後述する。走行台車5は、ベースフレーム7と、駆動輪8とを備える。ベースフレーム7は、駆動輪8を回転駆動するための電動モータ等の不図示の走行駆動部を備える。駆動輪8は、ベースフレーム7に回転可能に設けられ、不図示の走行駆動部により回転駆動する。駆動輪8は、床Fに設置されたレール9上を転動する。本実施形態では、駆動輪8は一輪であるが、駆動輪8が複数設けられてもよいし、駆動輪8の他に従動輪が設けられてもよい。レール9は、床FにおいてX方向に沿って敷設されている。走行台車5は、不図示の走行駆動部によって駆動輪8を回転駆動することでX方向に走行する。すなわち、搬送装置1は、レール9に沿って+X方向又は-X方向に走行する。なお、走行台車5は、ベースフレーム7の下面に、レール9の側面を挟み込む一対のローラ8aを備えてもよい。一対のローラ8aを備えることで、駆動輪8がレール9から脱落することを防止できる。
The conveying device 1 conveys an item OB and transfers the item OB between any of the multiple shelves 3. The conveying device 1 includes a transfer mechanism 4, a traveling cart 5, and a mast 6. The transfer mechanism 4 will be described in detail later. The traveling cart 5 includes a base frame 7 and drive wheels 8. The base frame 7 includes a traveling drive unit (not shown), such as an electric motor, for driving the drive wheels 8 to rotate. The drive wheels 8 are rotatably provided on the base frame 7 and are driven to rotate by a traveling drive unit (not shown). The drive wheels 8 roll on rails 9 installed on the floor F. In this embodiment, there is one drive wheel 8, but multiple drive wheels 8 may be provided, or a driven wheel may be provided in addition to the drive wheels 8. The rails 9 are laid on the floor F along the X direction. The traveling cart 5 travels in the X direction by driving the drive wheels 8 to rotate by a traveling drive unit (not shown). That is, the conveying device 1 travels along the rails 9 in the +X direction or the -X direction. The traveling carriage 5 may also be provided with a pair of rollers 8a on the underside of the base frame 7 that grip the sides of the rails 9. By providing a pair of rollers 8a, it is possible to prevent the drive wheels 8 from falling off the rails 9.
マスト6は、走行台車5に立設される。マスト6は、ベースフレーム7の上面から上方(+Z方向)に向けて延びるように設けられる。マスト6は、例えば、移載機構4が最上段の棚3に物品OBを移載することが可能な高さに設定される。マスト6の上端部には、上部フレーム10が設けられる。上部フレーム10は、上面側に一対のローラ11を備える。一対のローラ11は、天井Cに設置された天井レール12の側面を挟むように配置される。天井レール12は、天井CにおいてX方向に沿って設けられている。ローラ11は、不図示の駆動装置によって駆動輪8と同期して回転駆動し、マスト6の上端部である上部フレーム10を走行台車5の進行方向に進行させる。駆動輪8の駆動、及びローラ11の駆動は不図示の制御装置によって制御される。なお、ローラ11は、駆動装置により駆動する駆動ローラであることに限定されず、従動ローラであってもよい。
The mast 6 is erected on the traveling cart 5. The mast 6 is provided so as to extend upward (in the +Z direction) from the upper surface of the base frame 7. The mast 6 is set, for example, at a height that allows the transfer mechanism 4 to transfer the item OB to the top shelf 3. An upper frame 10 is provided at the upper end of the mast 6. The upper frame 10 has a pair of rollers 11 on the upper surface side. The pair of rollers 11 are arranged so as to sandwich the sides of the ceiling rail 12 installed on the ceiling C. The ceiling rail 12 is provided on the ceiling C along the X direction. The rollers 11 are rotated and driven in synchronization with the drive wheels 8 by a drive device (not shown), and move the upper frame 10, which is the upper end of the mast 6, in the traveling direction of the traveling cart 5. The drive of the drive wheels 8 and the drive of the rollers 11 are controlled by a control device (not shown). Note that the rollers 11 are not limited to being drive rollers driven by a drive device, and may be driven rollers.
複数の棚3は、レール9に沿ったX方向及び上下方向(Z方向)に複数並んだ状態で配置される。複数の棚3は、それぞれ物品OBが保管される。各棚3は、物品OBを載置可能に形成され、各棚3の上面側には物品OBを収容可能な空間が形成されている。各棚3は、切り欠き部3a及びピン3bを備えている。切り欠き部3aは、後述する移載機構4の物品保持部23が上下方向に通過可能な大きさに設けられる。ピン3bは、棚3の上面に例えば3本設けられており、物品OBの底面に設けられた溝部に入り込むことで、棚3に載置された物品OBを位置決めする。なお、ピン3bに代えて、物品OBの側面をガイドする位置決めガイドが設けられる形態であってもよい。また、棚板3が左右に分離し、左右の棚板3のそれぞれに1本のピン3bが設けられ、2本のピン3bで物品OBを位置決めする形態であってもよい。この場合、左右の棚板3の間に切り欠き部3aが形成され、この切り欠き部3aを介して物品保持部23が上下方向に通過可能である。なお、各棚3は、載置された物品OB内に不活性ガスを供給するガス供給装置を備えていてもよい。本実施形態では、図2に示すように、複数の棚3が、搬送装置1を挟んだY方向の両側に設けられる形態を示しているが、この形態に限定されない。例えば、複数の棚3が、搬送装置1の+Y側のみ又は-Y側のみに配置される形態であってもよい。
The shelves 3 are arranged in a line in the X direction and the vertical direction (Z direction) along the rails 9. The shelves 3 store items OB. Each shelf 3 is formed so that the item OB can be placed on it, and a space capable of accommodating the item OB is formed on the upper surface of each shelf 3. Each shelf 3 has a cutout portion 3a and a pin 3b. The cutout portion 3a is provided with a size that allows the item holding portion 23 of the transfer mechanism 4 described later to pass through in the vertical direction. The pins 3b are provided, for example, in three pieces on the upper surface of the shelf 3, and position the item OB placed on the shelf 3 by entering a groove portion provided on the bottom surface of the item OB. Note that instead of the pins 3b, a positioning guide that guides the side of the item OB may be provided. Alternatively, the shelf board 3 may be separated into left and right, and one pin 3b may be provided on each of the left and right shelf boards 3, and the item OB may be positioned by the two pins 3b. In this case, a cutout 3a is formed between the left and right shelf boards 3, and the item holder 23 can pass through this cutout 3a in the vertical direction. Each shelf 3 may be equipped with a gas supply device that supplies an inert gas into the placed item OB. In this embodiment, as shown in FIG. 2, a form in which multiple shelves 3 are provided on both sides of the conveying device 1 in the Y direction is shown, but this is not limited to this form. For example, a form in which multiple shelves 3 are arranged only on the +Y side or only on the -Y side of the conveying device 1 may also be used.
なお、本実施形態の搬送装置1は、1本のマスト6の-X側に移載機構4が設けられる形態を示している。すなわち、移載機構4は、1本のマスト6で支持されている。ただし、搬送装置1は、上記した形態に限定されない。例えば、X方向に離間する2本のマスト6の間に移載機構4が設けられ、2本のマスト6で移載機構4を支持する形態であってもよい。なお、本実施形態では、1本のマスト6に移載機構4が設けられるため、搬送装置1のX方向の全長を短くすることができる。その結果、複数の棚3のうち最も-X側端部の棚3、又は最も+X側端部の棚3に搬送装置1がアクセスする際、X方向にレール9を伸ばす必要がなく、保管装置2の設置面積が広くなるのを回避できる。
In addition, the transport device 1 of this embodiment shows a form in which the transfer mechanism 4 is provided on the -X side of one mast 6. In other words, the transfer mechanism 4 is supported by one mast 6. However, the transport device 1 is not limited to the above form. For example, the transfer mechanism 4 may be provided between two masts 6 spaced apart in the X direction, and the transfer mechanism 4 may be supported by the two masts 6. In addition, since the transfer mechanism 4 is provided on one mast 6 in this embodiment, the overall length of the transport device 1 in the X direction can be shortened. As a result, when the transport device 1 accesses the shelf 3 at the end closest to the -X side or the shelf 3 at the end closest to the +X side among the multiple shelves 3, there is no need to extend the rail 9 in the X direction, and the installation area of the storage device 2 can be prevented from becoming large.
図3は、移載機構4の一例を示す正面図である。図3では、搬送装置1の走行方向(X方向)と直交する方向(Y方向)から見た移載機構4の正面図を示している。図3に示すように、移載機構4は、基台20と、第1アーム21と、第2アーム22と、物品保持部23と、第1駆動部31と、第2駆動部32とを有する。
Figure 3 is a front view showing an example of the transfer mechanism 4. Figure 3 shows a front view of the transfer mechanism 4 as seen from a direction (Y direction) perpendicular to the running direction (X direction) of the conveying device 1. As shown in Figure 3, the transfer mechanism 4 has a base 20, a first arm 21, a second arm 22, an item holding unit 23, a first drive unit 31, and a second drive unit 32.
基台20は、水平部分20aと、水平部分20aの一端から上方に延びる鉛直部分20bとを有するL状に形成されている。鉛直部分20bの+X面には、断面が凹状でかつ鉛直方向の被ガイド部20cが設けられている。被ガイド部20cは、マスト6の-X面に設けられ、断面が凸状でかつ鉛直方向のリニアガイド26に嵌り合う。鉛直部分20bは、リニアガイド26に沿って鉛直方向にガイドされる。すなわち、基台20は、マスト6に沿って昇降可能である。搬送装置1は、基台20を昇降させる不図示の昇降装置を備えている。この昇降装置を駆動することで基台20(移載機構4)をマスト6に沿って昇降させる。
The base 20 is formed in an L shape having a horizontal portion 20a and a vertical portion 20b extending upward from one end of the horizontal portion 20a. A guided portion 20c having a concave cross section and extending in the vertical direction is provided on the +X surface of the vertical portion 20b. The guided portion 20c is provided on the -X surface of the mast 6 and fits into a linear guide 26 having a convex cross section and extending in the vertical direction. The vertical portion 20b is guided in the vertical direction along the linear guide 26. In other words, the base 20 can be raised and lowered along the mast 6. The transport device 1 is equipped with a lifting device (not shown) that raises and lowers the base 20. By driving this lifting device, the base 20 (transfer mechanism 4) is raised and lowered along the mast 6.
昇降装置は、例えば、電動モータなどの駆動部と、駆動部によって回転駆動されるスプロケットと、スプロケットの外周に掛けられたチェーンとを有する。このチェーンは、マスト6の上端部分から下端部分にわたって架け渡されており、スプロケットの回転に伴って移動(又は周回)する。基台20は、チェーンに接続されており、チェーンの移動に伴ってリニアガイド26に沿って上昇又は下降する。なお、昇降装置としては、上記した構成に限定されず、チェーンに代えて無端状のベルトが用いられてもよい。また、チェーンやベルトによって基台20を昇降させることに限定されず、例えばマスト6に沿って設置されたラックギアと、基台20に設置されたピニオンギアと、を用いて、このピニオンギアを回転させて基台20を昇降させてもよい。なお、基台20の昇降動作及び高さ位置は不図示の制御装置によって制御される。
The lifting device has, for example, a drive unit such as an electric motor, a sprocket that is rotated by the drive unit, and a chain that is attached to the outer circumference of the sprocket. The chain is stretched from the upper end to the lower end of the mast 6, and moves (or rotates) as the sprocket rotates. The base 20 is connected to the chain, and rises or falls along the linear guide 26 as the chain moves. The lifting device is not limited to the above configuration, and an endless belt may be used instead of the chain. Furthermore, the lifting device is not limited to raising and lowering the base 20 by a chain or belt, and may use, for example, a rack gear installed along the mast 6 and a pinion gear installed on the base 20, and the pinion gear may be rotated to raise and lower the base 20. The lifting and lowering operation and height position of the base 20 are controlled by a control device (not shown).
第1アーム21は、基台20の上面20d側において回転可能に支持される。第1アーム21は、直線方向に延びた棒状体が用いられる。第1アーム21の長手方向の中間部分(例えば中央部)には、下方に延びる第1回転軸27が設けられる。第1アーム21は、第1回転軸27を介して基台20と接続される。第1アーム21は、基台20に対して第1回転軸27の周りに回転可能である。第1回転軸27の中心を通過する鉛直方向が、第1アーム21の回転中心P1である。第1アーム21は、第1端部21a及び第2端部21bを有する。第1アーム21において、回転中心P1から見た一方の端部が第1端部21aであり、回転中心P1から見た他方の端部が第2端部21bである。
The first arm 21 is rotatably supported on the upper surface 20d side of the base 20. The first arm 21 is a rod-shaped body extending in a straight line. A first rotating shaft 27 extending downward is provided in the middle part (e.g., the center part) of the longitudinal direction of the first arm 21. The first arm 21 is connected to the base 20 via the first rotating shaft 27. The first arm 21 is rotatable around the first rotating shaft 27 relative to the base 20. The vertical direction passing through the center of the first rotating shaft 27 is the rotation center P1 of the first arm 21. The first arm 21 has a first end 21a and a second end 21b. In the first arm 21, one end seen from the rotation center P1 is the first end 21a, and the other end seen from the rotation center P1 is the second end 21b.
第2アーム22は、第1アーム21の上面21c側において回転可能に支持される。第2アーム22は、第1アーム21の第1端部21aに支持されている。第2アーム22は、直線方向に延びた棒状体が用いられる。第2アーム22は、長手方向の寸法が第1アーム21よりも短い。第2アーム22のうち、長手方向の一方の端部が基端部22aであり、他方の端部が先端部22bである。第2アーム22の基端部22aには、下方に延びる第2回転軸28が設けられる。第2アーム22は、第2回転軸28を介して第1アーム21と接続される。第2アーム22は、第1アーム21に対して第2回転軸28の周りに回転可能である。第2回転軸28の中心を通過する鉛直方向が、第2アーム22の回転中心P2である。第2アーム22の回転中心P2は、第1アーム21の上面21cにおいて第1アーム21の回転中心P1から見た第1端部21a側に配置される。
The second arm 22 is rotatably supported on the upper surface 21c side of the first arm 21. The second arm 22 is supported at the first end 21a of the first arm 21. The second arm 22 is a rod-shaped body extending in a straight line. The longitudinal dimension of the second arm 22 is shorter than that of the first arm 21. One longitudinal end of the second arm 22 is the base end 22a, and the other longitudinal end is the tip end 22b. A second rotating shaft 28 extending downward is provided at the base end 22a of the second arm 22. The second arm 22 is connected to the first arm 21 via the second rotating shaft 28. The second arm 22 is rotatable around the second rotating shaft 28 relative to the first arm 21. The vertical direction passing through the center of the second rotating shaft 28 is the rotation center P2 of the second arm 22. The rotation center P2 of the second arm 22 is located on the upper surface 21c of the first arm 21, on the first end 21a side as viewed from the rotation center P1 of the first arm 21.
第1アーム21及び第2アーム22は、それぞれの回転角度によって第2アーム22の先端部22bを所定範囲内で任意に位置させることが可能となっている。この所定範囲は、第1アーム21及び第2アーム22の長さ、両者の回転角度によって規定される。また、第1アーム21及び第2アーム22は、後述する各駆動部の駆動を同期して行うことにより、第2アーム22の先端部22bの移動方向を制御することができる。
The first arm 21 and the second arm 22 are capable of positioning the tip 22b of the second arm 22 anywhere within a predetermined range by adjusting their respective rotation angles. This predetermined range is determined by the lengths of the first arm 21 and the second arm 22 and the rotation angles of both. In addition, the first arm 21 and the second arm 22 can control the direction of movement of the tip 22b of the second arm 22 by synchronously driving the respective drive units described below.
物品保持部23は、第2アーム22の上面22c側において回転可能に支持される。第2アーム22の先端部22bに支持されている。物品保持部23は、物品OBを載置可能な板状体が用いられる。物品保持部23は、上面側に載置面23aを有する。物品保持部23は、載置面23aにおいて物品OBの下面を支持する。物品保持部23の載置面23aには、例えば3本のピン23bが設けられる。ピン23bが物品OBの底面に設けられた溝部に入り込むことで、物品OBを位置決めすることができる。物品保持部23には、下方に延びる第3回転軸29が設けられる。物品保持部23は、第3回転軸29を介して第2アーム22と接続される。物品保持部23は、第2アーム22に対して第3回転軸29の周りに回転可能である。第3回転軸29の中心を通過する鉛直方向が、物品保持部23の回転中心P3である。物品保持部23の回転中心P3は、第2アーム22の上面22cにおいて第2アーム22の先端部22b側に配置される。
The item holding part 23 is rotatably supported on the upper surface 22c side of the second arm 22. It is supported on the tip portion 22b of the second arm 22. The item holding part 23 is a plate-shaped body on which the item OB can be placed. The item holding part 23 has a mounting surface 23a on the upper surface side. The item holding part 23 supports the lower surface of the item OB on the mounting surface 23a. The mounting surface 23a of the item holding part 23 is provided with, for example, three pins 23b. The pins 23b can be inserted into grooves provided on the bottom surface of the item OB to position the item OB. The item holding part 23 is provided with a third rotation shaft 29 extending downward. The item holding part 23 is connected to the second arm 22 via the third rotation shaft 29. The item holding part 23 is rotatable around the third rotation shaft 29 relative to the second arm 22. The vertical direction passing through the center of the third rotation shaft 29 is the rotation center P3 of the item holding part 23. The rotation center P3 of the item holding part 23 is located on the top surface 22c of the second arm 22, on the tip end 22b side of the second arm 22.
また、図3に示すように、移載機構4は、第1駆動部31及び第2駆動部32を備える。第1駆動部31及び第2駆動部32は、例えば、電動モータ等が用いられる。第1駆動部31は、第1アーム21を回転駆動する。第1駆動部31は、第1アーム21の下方である基台20の水平部分20aに配置される。第1駆動部31は、基台20の水平部分20aにおいて第1アーム21の回転中心P1から見た先端側、すなわち鉛直部分20bとは反対側に設けられる。なお、第1駆動部31は、後述する第1減速機33を含んで構成されてもよい。
As shown in FIG. 3, the transfer mechanism 4 includes a first drive unit 31 and a second drive unit 32. For example, an electric motor or the like is used for the first drive unit 31 and the second drive unit 32. The first drive unit 31 rotates the first arm 21. The first drive unit 31 is disposed on the horizontal portion 20a of the base 20 below the first arm 21. The first drive unit 31 is disposed on the tip side of the horizontal portion 20a of the base 20 as viewed from the rotation center P1 of the first arm 21, that is, on the opposite side to the vertical portion 20b. The first drive unit 31 may be configured to include a first reducer 33, which will be described later.
第2駆動部32は、第2アーム22を回転駆動する。第2駆動部32は、第1アーム21に設けられる。第2駆動部32は、第1アーム21において回転中心P1から見た第2端部21b側に設けられる。第2駆動部32は、一部が第1アーム21の上面21cから上方に突出した状態で配置される。第2アーム22は、第2駆動部32の突出部分を覆うためのカバー25を備える。従って、カバー25は、第1アーム21の上面21cから上方に突出した状態で設けられる。なお、カバー25を設けるか否かは任意である。従って、第2アーム22は、カバー25がない形態であってもよい。なお、第2駆動部32は、後述する第2減速機34を含んで構成されてもよい。
The second drive unit 32 drives the second arm 22 to rotate. The second drive unit 32 is provided on the first arm 21. The second drive unit 32 is provided on the second end 21b side of the first arm 21 when viewed from the rotation center P1. The second drive unit 32 is arranged with a part of it protruding upward from the upper surface 21c of the first arm 21. The second arm 22 is provided with a cover 25 for covering the protruding part of the second drive unit 32. Therefore, the cover 25 is provided in a state where it protrudes upward from the upper surface 21c of the first arm 21. It is optional whether or not to provide the cover 25. Therefore, the second arm 22 may be in a form without the cover 25. It is also possible for the second drive unit 32 to be configured to include a second reducer 34 described later.
次に、移載機構4の動作について説明する。図4は、移載機構4において、物品OBを基台20の上方に配置した状態を示す平面図である。図4に示すように、第1アーム21及び第2アーム22をそれぞれ所定角度位置(待機位置又は物品保持位置)にすることで、物品保持部23を基台20の上方に位置させることができる。このとき、物品保持部23は、棚3から離れている。この状態で載置面23aに物品OBを載置している場合、物品OBは、基台20の上方に配置される。図4に示す状態で、搬送装置1は、走行台車5によってX方向に移動可能であり、また、移載機構4を昇降可能である。
Next, the operation of the transfer mechanism 4 will be described. Figure 4 is a plan view showing the state in which the item OB is placed above the base 20 in the transfer mechanism 4. As shown in Figure 4, the item holding part 23 can be positioned above the base 20 by setting the first arm 21 and the second arm 22 to a predetermined angular position (standby position or item holding position). At this time, the item holding part 23 is separated from the shelf 3. When the item OB is placed on the placement surface 23a in this state, the item OB is positioned above the base 20. In the state shown in Figure 4, the transport device 1 can move in the X direction by the traveling cart 5, and the transfer mechanism 4 can be raised and lowered.
図5は、移載機構4において、物品OBを受け渡す状態を示す平面図である。図5に示すように、第1駆動部31及び第2駆動部32を駆動して、第1アーム21及び第2アーム22をそれぞれ所定角度位置(受け渡し位置)にすることで、物品保持部23を棚3の上方又は下方に差し込むことができる。棚3には、物品保持部23を鉛直方向に通行可能な切り欠き部3aが設けられている。棚3に物品OBを渡す場合、物品保持部23を棚3よりも高い位置に配置し、この状態で物品保持部23(移載機構4)を下降させることにより、物品OBは、物品保持部23から棚3に渡される。物品OBが棚3に載置された後、物品保持部23を図4に示す位置(待機位置)に戻すことで、物品OBを棚3に渡す動作が完了する。
FIG. 5 is a plan view showing the state in which the transfer mechanism 4 transfers the article OB. As shown in FIG. 5, the first drive unit 31 and the second drive unit 32 are driven to set the first arm 21 and the second arm 22 to a predetermined angular position (transfer position), so that the article holding unit 23 can be inserted above or below the shelf 3. The shelf 3 is provided with a cutout portion 3a through which the article holding unit 23 can pass in the vertical direction. When transferring the article OB to the shelf 3, the article holding unit 23 is placed at a position higher than the shelf 3, and in this state, the article holding unit 23 (transfer mechanism 4) is lowered, so that the article OB is transferred from the article holding unit 23 to the shelf 3. After the article OB is placed on the shelf 3, the article holding unit 23 is returned to the position shown in FIG. 4 (standby position), completing the operation of transferring the article OB to the shelf 3.
また、棚3から物品OBを受け取る場合、物品OBが載置された棚3よりも低い位置に物品保持部23を配置し、この状態で物品保持部23(移載機構4)を上昇させることにより、物品OBは、棚3から物品保持部23に渡される。物品OBが物品保持部23に載置された後、物品保持部23を図4に示す位置(物品保持位置)に戻すことで、移載機構4による物品OBの受け取り動作が完了する。
When receiving an item OB from the shelf 3, the item holding unit 23 is positioned at a lower position than the shelf 3 on which the item OB is placed, and the item holding unit 23 (transfer mechanism 4) is raised in this state, whereby the item OB is transferred from the shelf 3 to the item holding unit 23. After the item OB is placed on the item holding unit 23, the item holding unit 23 is returned to the position shown in Figure 4 (item holding position), completing the operation of receiving the item OB by the transfer mechanism 4.
上記のように、移載機構4により物品OBの受け渡しを行う場合、第1アーム21及び第2アーム22の動作について説明する。図6は、移載機構4において、基台20と第1アーム21との関係を示し、(A)は正面図、(B)は平面図である。図6では、説明を容易にするため、一部の部材を省略して表している。図6(A)に示すように、第2駆動部32は、第1アーム21のカバー25の内部に格納されている。カバー25は、第1アーム21の上面21cに配置されており、第1アーム21に対して上方に突出している。一方、第2駆動部32は第1アーム21に対して下方側には突出しないように配置されており、第1アーム21の下面側にカバー25等が設けられない。すなわち、第1アーム21の下面側に突出する部分が設けられていない。
As described above, when transferring and receiving the article OB by the transfer mechanism 4, the operation of the first arm 21 and the second arm 22 will be described. Figure 6 shows the relationship between the base 20 and the first arm 21 in the transfer mechanism 4, (A) being a front view and (B) being a plan view. In Figure 6, some components are omitted for ease of explanation. As shown in Figure 6 (A), the second drive unit 32 is stored inside the cover 25 of the first arm 21. The cover 25 is disposed on the upper surface 21c of the first arm 21 and protrudes upward from the first arm 21. On the other hand, the second drive unit 32 is disposed so as not to protrude downward from the first arm 21, and the cover 25 or the like is not provided on the underside of the first arm 21. In other words, there is no part that protrudes from the underside of the first arm 21.
従って、図6(B)に示すように、第1アーム21が回転中心P1を中心として紙面上における時計回り又は反時計回りにいずれに回転しても、第2駆動部32が基台20に干渉しない。その結果、第1アーム21の回転範囲が規制されず、第1アーム21を任意の角度位置まで回転させることができる。
Therefore, as shown in FIG. 6(B), regardless of whether the first arm 21 rotates clockwise or counterclockwise around the rotation center P1 on the paper, the second drive unit 32 does not interfere with the base 20. As a result, the rotation range of the first arm 21 is not restricted, and the first arm 21 can be rotated to any angle position.
図7は、移載機構4において、第1アーム21と第2アーム22との関係を示す平面図である。図7では、説明を容易にするため、一部の部材を省略して表している。図7に示すように、第2アーム22の回転中心P2は、第1アーム21において、第1アーム21の回転中心P1から見た第1端部21a側に配置されている。また、第2駆動部32は、第1アーム21において、第1アーム21の回転中心P1から見た第2端部21b側に配置されている。さらに、第2アーム22は、基端部22aから先端部22bまでの長さが、カバー25(カバー25がない場合は第2駆動部32)に達しない長さに設けられている。すなわち、カバー25は、第2アーム22の先端部22bとの間に距離L1が設けられた状態となっている。
FIG. 7 is a plan view showing the relationship between the first arm 21 and the second arm 22 in the transfer mechanism 4. In FIG. 7, some components are omitted for ease of explanation. As shown in FIG. 7, the rotation center P2 of the second arm 22 is disposed on the first end 21a side of the first arm 21 as viewed from the rotation center P1 of the first arm 21. Also, the second drive unit 32 is disposed on the first arm 21 as viewed from the second end 21b side of the first arm 21 as viewed from the rotation center P1 of the first arm 21. Furthermore, the second arm 22 is provided such that the length from the base end 22a to the tip end 22b does not reach the cover 25 (the second drive unit 32 when the cover 25 is not present). In other words, the cover 25 is provided with a distance L1 between the tip end 22b of the second arm 22.
従って、図7に示すように、第2アーム22が回転中心P2を中心として紙面上における時計回り又は反時計回りのいずれに回転しても、第2アーム22が第2駆動部32に干渉しない。その結果、第2アーム22の回転範囲が規制されず、第2アーム22を任意の角度位置まで回転させることができる。なお、距離L1は、カバー25(カバー25がない場合は第2駆動部32)に第2アーム22の先端部22bが達しなければ、任意に設定可能である。
Therefore, as shown in FIG. 7, whether the second arm 22 rotates clockwise or counterclockwise on the page around the rotation center P2, the second arm 22 does not interfere with the second drive unit 32. As a result, the rotation range of the second arm 22 is not restricted, and the second arm 22 can be rotated to any angle position. Note that the distance L1 can be set arbitrarily as long as the tip 22b of the second arm 22 does not reach the cover 25 (or the second drive unit 32 if there is no cover 25).
図8は、移載機構4において、物品保持部23で物品OBを保持した状態を示す正面図である。図8に示すように、カバー25の上面25a(カバー25がない場合は第2駆動部32の上面32c)は、第2アーム22の下面22dよりも高い位置に設定されている。すなわち、カバー25(第2駆動部32)と第2アーム22との高さ位置が少なくとも一部重複するように形成されている。そのため、移載機構4の薄型化が可能となっている。
Figure 8 is a front view showing the state in which the item holding section 23 holds an item OB in the transfer mechanism 4. As shown in Figure 8, the upper surface 25a of the cover 25 (or the upper surface 32c of the second drive section 32 when the cover 25 is not present) is set at a position higher than the lower surface 22d of the second arm 22. In other words, the height positions of the cover 25 (second drive section 32) and the second arm 22 are formed so as to at least partially overlap. This makes it possible to make the transfer mechanism 4 thinner.
また、カバー25の上面25aは、物品保持部23の載置面23aよりも低い位置に配置されている。具体的には、カバー25の上面25aは、物品保持部23の載置面23aから下方に距離L2を空けて配置される。このため、物品OBを物品保持部23に載置した状態で第1アーム21及び第2アーム22を回転させる場合であっても、物品OBがカバー25と干渉するのを回避する。従って、物品OBを物品保持部23に載置した状態で第1アーム21及び第2アーム22の回転角度を任意に設定することができる。なお、カバー25がない場合であっても、第2駆動部32の上面32cは、載置面23aよりも距離L2以上、低い位置に配置されている。従って、上記と同様に、物品OBが第2駆動部32と干渉するのを回避するので、物品OBを物品保持部23に載置した状態で第1アーム21及び第2アーム22の回転角度を任意に設定できる。
Also, the upper surface 25a of the cover 25 is disposed at a lower position than the placement surface 23a of the item holding unit 23. Specifically, the upper surface 25a of the cover 25 is disposed at a distance L2 below the placement surface 23a of the item holding unit 23. Therefore, even when the first arm 21 and the second arm 22 are rotated with the item OB placed on the item holding unit 23, the item OB is prevented from interfering with the cover 25. Therefore, the rotation angle of the first arm 21 and the second arm 22 can be set arbitrarily with the item OB placed on the item holding unit 23. Note that even if the cover 25 is not provided, the upper surface 32c of the second driving unit 32 is disposed at a lower position than the placement surface 23a by a distance L2 or more. Therefore, as described above, the item OB is prevented from interfering with the second driving unit 32, and the rotation angle of the first arm 21 and the second arm 22 can be set arbitrarily with the item OB placed on the item holding unit 23.
次に、第1アーム21、第2アーム22、及び物品保持部23をそれぞれ回転させるための駆動系(駆動力の伝達経路)について説明する。図9は、第1アーム21、第2アーム22、及び物品保持部23に対して駆動力の伝達経路を模式的に示す図である。図10は、図9の一部を拡大して示す図である。図9及び図10では、説明を容易にするため、一部の部材を省略して表している。
Next, the drive system (path of transmission of driving force) for rotating the first arm 21, the second arm 22, and the item holding part 23 will be described. Figure 9 is a schematic diagram showing the path of transmission of driving force for the first arm 21, the second arm 22, and the item holding part 23. Figure 10 is an enlarged view of a portion of Figure 9. To facilitate explanation, some components have been omitted from Figures 9 and 10.
まず、第1アーム21の駆動系について説明する。第1駆動部31は、例えば、電動モータと、電動モータの回転を検出するエンコーダとを備える。電動モータは、第1アーム21を回転させるのに必要なトルクを発生するものが使用される。第1駆動部31は、第1減速機33を介して第1アーム21を回転駆動し、第1アーム21を基台20に対して回転させる。第1駆動部31は、不図示の制御装置によって、回転が制御される。この制御装置は、エンコーダの検出結果を用いて電動モータをサーボ制御する。なお、制御装置は、走行台車5の走行駆動部を制御する制御装置と同一であってもよいし、別の制御装置であってもよい。
First, the drive system of the first arm 21 will be described. The first drive unit 31 includes, for example, an electric motor and an encoder that detects the rotation of the electric motor. An electric motor that generates the torque required to rotate the first arm 21 is used. The first drive unit 31 drives the first arm 21 to rotate via the first reduction gear 33, causing the first arm 21 to rotate relative to the base 20. The rotation of the first drive unit 31 is controlled by a control device (not shown). This control device servo-controls the electric motor using the detection results of the encoder. Note that the control device may be the same as the control device that controls the traveling drive unit of the traveling cart 5, or may be a different control device.
第1駆動部31の出力は、第1回転軸27に伝達される。第1駆動部31の出力軸31aは、第1駆動部31から下方に突出した状態で設けられる。出力軸31aには、プーリ31bが設けられる。また、第1回転軸27には、プーリ27aが設けられる。第1回転軸27は、第1アーム21において回転可能に支持されている。プーリ31bとプーリ27aとの間には、無端状の伝達ベルト35が架け渡され、プーリ31bの回転が伝達ベルト35を介してプーリ27aに伝達される。第1減速機33は、第1回転軸27に設けられる。第1減速機33は、プーリ27aの回転を減速して第1アーム21の回転へと伝達する。第1減速機33が第1回転軸27に設けられることで、第1駆動部31と第1減速機33とを上下方向に重ねることと比較して上方方向に省スペース化でき、その結果、基台20を上下方向に薄くすることができる。
The output of the first drive unit 31 is transmitted to the first rotating shaft 27. The output shaft 31a of the first drive unit 31 is arranged to protrude downward from the first drive unit 31. A pulley 31b is provided on the output shaft 31a. A pulley 27a is provided on the first rotating shaft 27. The first rotating shaft 27 is rotatably supported on the first arm 21. An endless transmission belt 35 is stretched between the pulleys 31b and 27a, and the rotation of the pulley 31b is transmitted to the pulley 27a via the transmission belt 35. The first reducer 33 is provided on the first rotating shaft 27. The first reducer 33 reduces the speed of the rotation of the pulley 27a and transmits it to the rotation of the first arm 21. By providing the first reducer 33 on the first rotating shaft 27, space can be saved in the upward direction compared to stacking the first drive unit 31 and the first reducer 33 in the vertical direction, and as a result, the base 20 can be made thinner in the vertical direction.
第1駆動部31及び第1減速機33は、第1アーム21の下方に配置されている。この構成により、第1アーム21の回転時に、第1駆動部31及び第1減速機33の双方が第1アーム21と干渉するのを回避できる。また、第1駆動部31及び第1減速機33は、基台20においてマスト6から離間した位置に設けられる。この構成によれば、熱源となる第1駆動部31及び第1減速機33がマスト6から離れるので、マスト6のリニアガイド26、基台20の被ガイド部20c等に対する熱影響を軽減することができる。
The first drive unit 31 and the first reducer 33 are disposed below the first arm 21. This configuration makes it possible to prevent both the first drive unit 31 and the first reducer 33 from interfering with the first arm 21 when the first arm 21 rotates. Furthermore, the first drive unit 31 and the first reducer 33 are provided at a position on the base 20 away from the mast 6. With this configuration, the first drive unit 31 and the first reducer 33, which are heat sources, are separated from the mast 6, so that the thermal effects on the linear guide 26 of the mast 6, the guided portion 20c of the base 20, etc. can be reduced.
第1駆動部31を駆動すると、第1減速機33により減速されて出力軸31aを回転させる。出力軸31aとともにプーリ31bが回転し、伝達ベルト35を移動(周回移動)させる。この伝達ベルト35の移動によりプーリ27aを回転させ、プーリ27aと一体の第1回転軸27を回転させる。その結果、第1回転軸27と一体の第1アーム21は、基台20に対して回転中心P1の軸まわりに回転する。なお、第1アーム21の回転位置は、第1駆動部31(電動モータ)のサーボ制御により保持可能である。
When the first drive unit 31 is driven, the speed is reduced by the first reducer 33 to rotate the output shaft 31a. The pulley 31b rotates together with the output shaft 31a, moving the transmission belt 35 (circular movement). This movement of the transmission belt 35 rotates the pulley 27a, which in turn rotates the first rotating shaft 27 integrated with the pulley 27a. As a result, the first arm 21 integrated with the first rotating shaft 27 rotates around the axis of the rotation center P1 relative to the base 20. The rotational position of the first arm 21 can be maintained by servo control of the first drive unit 31 (electric motor).
なお、プーリ31bの回転量に対するプーリ27aの回転量は、プーリ31b及びプーリ27aの直径の比により設定される。従って、プーリ27aの直径をプーリ31bの直径より大きくすることで、プーリ31bの回転を減速してプーリ27aの回転へと伝達できる。そのため、図9に示すように、第1駆動部31に第1減速機33を設けることに代えて、プーリ31b及びプーリ27aの直径を適宜設定することで減速機として機能させることが可能である。なお、プーリ31b及びプーリ27aに代えてスプロケットが用いられ、かつ伝達ベルト35に代えて無端状のチェーンが用いられる形態であってもよい。
The amount of rotation of pulley 27a relative to the amount of rotation of pulley 31b is set by the ratio of the diameters of pulley 31b and pulley 27a. Therefore, by making the diameter of pulley 27a larger than the diameter of pulley 31b, the rotation of pulley 31b can be decelerated and transmitted to the rotation of pulley 27a. Therefore, as shown in FIG. 9, instead of providing the first reducer 33 in the first drive unit 31, it is possible to make the pulley 31b and pulley 27a function as a reducer by appropriately setting the diameters of the pulleys 31b and 27a. Note that sprockets may be used instead of pulley 31b and pulley 27a, and an endless chain may be used instead of the transmission belt 35.
次に、第2アーム22の駆動系について説明する。第2駆動部32は、第1駆動部31と同様に、例えば、電動モータと、電動モータの回転を検出するエンコーダとを備える。電動モータは、第2アーム22を回転させるのに必要なトルクを発生するものが使用される。なお、第1駆動部31の電動モータと第2駆動部32の電動モータとは、同一であってもよいし、異なってもよい。第2駆動部32は、第2減速機34を介して第2アーム22を回転駆動し、第2アーム22を第1アーム21に対して回転させる。第2駆動部32は、上記した不図示の制御装置によって、回転が制御される。なお、制御装置が、エンコーダの検出結果を利用して、電動モータをサーボ制御する点は上記と同様である。
Next, the drive system of the second arm 22 will be described. As with the first drive unit 31, the second drive unit 32 includes, for example, an electric motor and an encoder that detects the rotation of the electric motor. An electric motor that generates the torque required to rotate the second arm 22 is used. The electric motor of the first drive unit 31 and the electric motor of the second drive unit 32 may be the same or different. The second drive unit 32 drives and rotates the second arm 22 via the second reducer 34, causing the second arm 22 to rotate relative to the first arm 21. The rotation of the second drive unit 32 is controlled by the control device (not shown) described above. As with the above, the control device servo-controls the electric motor using the detection results of the encoder.
第2駆動部32の出力は、第2減速機34を介して減速された状態で出力軸32aに出力される。第2減速機34は、第2駆動部32から出力軸32aに伝達する回転を減速させる。第2減速機34は、第2駆動部32の近傍に配置される。この構成により、第2減速機34が第2アーム22と干渉するのを回避でき、第2アーム22を支障なく回転させることができる。
The output of the second drive unit 32 is output to the output shaft 32a after being reduced in speed via the second reducer 34. The second reducer 34 reduces the speed of the rotation transmitted from the second drive unit 32 to the output shaft 32a. The second reducer 34 is disposed in the vicinity of the second drive unit 32. With this configuration, it is possible to prevent the second reducer 34 from interfering with the second arm 22, allowing the second arm 22 to rotate without hindrance.
出力軸32aは、第2減速機34から下方に突出した状態で設けられる。出力軸32aには、プーリ32bが設けられる。また、第2回転軸28には、プーリ28aが設けられる。第2回転軸28は、第1アーム21において回転可能に支持されている。プーリ32bとプーリ28aとの間には、無端状の伝達ベルト36が架け渡され、プーリ32bの回転が伝達ベルト35を介してプーリ28aに伝達される。
The output shaft 32a is provided so as to protrude downward from the second reducer 34. A pulley 32b is provided on the output shaft 32a. A pulley 28a is provided on the second rotating shaft 28. The second rotating shaft 28 is rotatably supported on the first arm 21. An endless transmission belt 36 is stretched between the pulleys 32b and 28a, and the rotation of the pulley 32b is transmitted to the pulley 28a via the transmission belt 35.
第2駆動部32を駆動すると、第2減速機34により減速されて出力軸32aを回転させる。出力軸32aとともにプーリ32bが回転し、伝達ベルト36を移動(周回移動)させる。この伝達ベルト36の移動によりプーリ28aを回転させ、プーリ28aと一体の第2回転軸28を回転させる。その結果、第2回転軸28と一体の第2アーム22は、第1アーム21に対して回転中心P2の軸まわりに回転する。なお、第2アーム22の回転位置は、第2駆動部32(電動モータ)のサーボ制御により保持可能である。また、第2駆動部32の駆動タイミングは、第1駆動部31の駆動タイミングと同時であってもよいし、異なるタイミングであってもよい。
When the second drive unit 32 is driven, the second reducer 34 reduces the speed and rotates the output shaft 32a. The pulley 32b rotates together with the output shaft 32a, moving (circulating) the transmission belt 36. This movement of the transmission belt 36 rotates the pulley 28a, which in turn rotates the second rotating shaft 28 integral with the pulley 28a. As a result, the second arm 22 integral with the second rotating shaft 28 rotates around the axis of the rotation center P2 relative to the first arm 21. The rotation position of the second arm 22 can be maintained by servo control of the second drive unit 32 (electric motor). The drive timing of the second drive unit 32 may be simultaneous with the drive timing of the first drive unit 31, or may be different.
なお、プーリ32bの回転量に対するプーリ28aの回転量は、プーリ32b及びプーリ28aの直径の比により設定される。従って、プーリ28aの直径をプーリ32bの直径より大きくすることで、プーリ32bの回転を減速してプーリ28aの回転へと伝達できる。そのため、図9に示すように、第2駆動部32に第2減速機34を設けることに代えて、プーリ32b及びプーリ28aの直径を適宜設定することで減速機として機能させることが可能である。なお、プーリ32b及びプーリ28aに代えてスプロケットが用いられ、かつ伝達ベルト36に代えて無端状のチェーンが用いられる形態であってもよい。
The amount of rotation of pulley 28a relative to the amount of rotation of pulley 32b is set by the ratio of the diameters of pulley 32b and pulley 28a. Therefore, by making the diameter of pulley 28a larger than the diameter of pulley 32b, the rotation of pulley 32b can be reduced and transmitted to the rotation of pulley 28a. Therefore, as shown in FIG. 9, instead of providing a second reducer 34 in the second drive unit 32, it is possible to make the pulley 32b and pulley 28a function as a reducer by appropriately setting the diameters of the pulleys 32b and 28a. Note that sprockets may be used instead of pulley 32b and pulley 28a, and an endless chain may be used instead of the transmission belt 36.
次に、物品保持部23の駆動系について説明する。図9及び図10に示すように、第2回転軸28は、円筒状に形成されている。第2回転軸28の内側には、支持軸37が第2回転軸28に対して挿通した状態で設けられる。支持軸37は、回転中心P2の軸まわりに回転しないように、第1アーム21に固定されている。つまり、第2回転軸28が第1アーム21に対して回転しても、支持軸37は第1アーム21に対して回転しないように構成されている。
Next, the drive system of the item holding unit 23 will be described. As shown in Figures 9 and 10, the second rotating shaft 28 is formed in a cylindrical shape. A support shaft 37 is provided inside the second rotating shaft 28 in a state where it is inserted through the second rotating shaft 28. The support shaft 37 is fixed to the first arm 21 so as not to rotate around the axis of the rotation center P2. In other words, even if the second rotating shaft 28 rotates relative to the first arm 21, the support shaft 37 is configured not to rotate relative to the first arm 21.
支持軸37の上端には、プーリ37aが設けられる。プーリ37aは、第2アーム22内に配置される。物品保持部23と一体の第3回転軸29には、プーリ29aが設けられる。第3回転軸29は、第2アーム22において回転可能に支持されている。プーリ37aとプーリ29aとの間には、無端状の伝達ベルト38が架け渡され、プーリ37aの回転が伝達ベルト38を介してプーリ29aに伝達される。
A pulley 37a is provided at the upper end of the support shaft 37. The pulley 37a is disposed within the second arm 22. A pulley 29a is provided on a third rotating shaft 29 that is integral with the item holding section 23. The third rotating shaft 29 is rotatably supported by the second arm 22. An endless transmission belt 38 is stretched between the pulleys 37a and 29a, and the rotation of the pulley 37a is transmitted to the pulley 29a via the transmission belt 38.
第2駆動部32を駆動して第2アーム22を回転させると、上記したように、第2アーム22及び第2回転軸28は、第1アーム21に対して回転中心P2の軸まわりに回転する。このとき、支持軸37が第1アーム21に固定されているので、支持軸37及びプーリ37aは、第2アーム22に対して回転することになる。すなわち、第2アーム22の回転時に、第2回転軸28と支持軸37とは相対的に回転する。プーリ37aが回転することで伝達ベルト38を移動(周回移動)させ、プーリ29a及び第3回転軸29を回転させる。その結果、第3回転軸29と一体の物品保持部23は、第2アーム22に対して回転中心P3の軸まわりに回転する。つまり、物品保持部23は、第2アーム22の回転に同期して、第2アーム22に対して回転する。
When the second drive unit 32 is driven to rotate the second arm 22, as described above, the second arm 22 and the second rotating shaft 28 rotate around the axis of the rotation center P2 relative to the first arm 21. At this time, since the support shaft 37 is fixed to the first arm 21, the support shaft 37 and the pulley 37a rotate relative to the second arm 22. That is, when the second arm 22 rotates, the second rotating shaft 28 and the support shaft 37 rotate relatively. The rotation of the pulley 37a moves (circulates) the transmission belt 38, rotating the pulley 29a and the third rotating shaft 29. As a result, the item holding unit 23 integrated with the third rotating shaft 29 rotates around the axis of the rotation center P3 relative to the second arm 22. That is, the item holding unit 23 rotates relative to the second arm 22 in synchronization with the rotation of the second arm 22.
物品保持部23は、第1アーム21に対する第2アーム22の回転位置が保持されることで、その回転位置が保持される。物品保持部23の向きは、棚3に対して物品OBの受け渡しを行う状態まで第1アーム21及び第2アーム22を回転させた際、平面視において物品保持部23の先端部分が棚3の切り欠き部3a内に収まるように設定される(図5参照)。物品保持部23の向きは、プーリ37aとプーリ29aとの回転比により設定される。プーリ37aとプーリ29aとを所望の回転比とするには、プーリ37aの直径、及びプーリ29aの直径を適宜設定することで実現される。なお、プーリ37a及びプーリ29aに代えてスプロケットが用いられ、かつ伝達ベルト38に代えて無端状のチェーンが用いられる形態であってもよい。
The rotational position of the article holding unit 23 is maintained by maintaining the rotational position of the second arm 22 relative to the first arm 21. The orientation of the article holding unit 23 is set so that when the first arm 21 and the second arm 22 are rotated to a state where the article OB can be transferred to the shelf 3, the tip of the article holding unit 23 fits within the cutout portion 3a of the shelf 3 in a plan view (see FIG. 5). The orientation of the article holding unit 23 is set by the rotation ratio of the pulley 37a and the pulley 29a. The desired rotation ratio of the pulley 37a and the pulley 29a can be achieved by appropriately setting the diameter of the pulley 37a and the diameter of the pulley 29a. Note that a configuration in which sprockets are used instead of the pulleys 37a and 29a, and an endless chain is used instead of the transmission belt 38 may also be used.
本実施形態では、物品保持部23を第2アーム22に対して回転させるために上記した形態を適用しているが、この形態に限定されない。物品保持部23を回転させるために、例えば電動モータ等の駆動部が用いられてもよい。この場合、駆動部(電動モータ等)は、第2駆動部32と同様に、第1アーム21の第2端部21b側に配置され、伝達ベルトによって支持軸37を回転中心P2の軸まわりに回転させることで、物品保持部23を第2アーム22に対して回転させる形態が適用されてもよい。
In this embodiment, the above-mentioned configuration is applied to rotate the item holding part 23 relative to the second arm 22, but this configuration is not limited to this. A drive unit such as an electric motor may be used to rotate the item holding part 23. In this case, the drive unit (electric motor, etc.) is arranged on the second end 21b side of the first arm 21, similar to the second drive unit 32, and a configuration may be applied in which the support shaft 37 is rotated around the axis of the rotation center P2 by a transmission belt, thereby rotating the item holding part 23 relative to the second arm 22.
なお、上記した説明では、物品OBを受け渡すために、物品保持部23を+Y方向に移動させる場合について説明しているが、物品保持部23を-Y方向に移動させる場合についても同様である。すなわち、図2に示すように、搬送装置1の-Y側に棚3が配置されている場合についても、この-Y側の棚3に対して物品OBを受け渡す場合、移載機構4の動作は、上記した説明と同様である。図11は、移載機構4において、物品OBを基台20の上方に配置した他の例を示す平面図である。
Note that the above explanation describes the case where the item holding unit 23 is moved in the +Y direction to transfer the item OB, but the same applies to the case where the item holding unit 23 is moved in the -Y direction. That is, even if a shelf 3 is arranged on the -Y side of the transport device 1 as shown in Figure 2, when transferring an item OB to the shelf 3 on the -Y side, the operation of the transfer mechanism 4 is the same as that described above. Figure 11 is a plan view showing another example in which the item OB is arranged above the base 20 in the transfer mechanism 4.
図11に示すように、第1アーム21及び第2アーム22をそれぞれ所定角度位置(待機位置又は物品保持位置)にすることで、物品保持部23を基台20の上方に位置させることができる。このとき、第1アーム21は、図4に示す位置から180度回転した状態となっている。物品保持部23は、-Y方向に向けられている。物品OBは、載置面23aに載置されて基台20の上方に配置される。なお、図11に示す状態で、搬送装置1は、走行台車5によってX方向に移動可能であり、また、移載機構4を昇降可能である。
As shown in FIG. 11, the first arm 21 and the second arm 22 can be respectively placed at a predetermined angular position (standby position or item holding position) to position the item holding section 23 above the base 20. At this time, the first arm 21 is rotated 180 degrees from the position shown in FIG. 4. The item holding section 23 is facing in the -Y direction. The item OB is placed on the placement surface 23a and positioned above the base 20. In the state shown in FIG. 11, the transport device 1 can be moved in the X direction by the traveling cart 5, and the transfer mechanism 4 can be raised and lowered.
図12は、移載機構4において、物品OBを受け渡す他の例を示す平面図である。図12に示すように、第1駆動部31及び第2駆動部32を駆動して、第1アーム21及び第2アーム22をそれぞれ所定角度位置(受け渡し位置)にすることで、物品保持部23を-Y方向に移動させ、棚3の上方又は下方に差し込むことができる。棚3に対する物品OBの受け渡しの動作は、上記した図4及び図5に関する説明と同様である。このように、本実施形態の移載機構4は、+Y側及び-Y側の棚3に対してそれぞれ物品OBを受け渡すことができる。
FIG. 12 is a plan view showing another example of transferring an item OB in the transfer mechanism 4. As shown in FIG. 12, by driving the first drive unit 31 and the second drive unit 32 to place the first arm 21 and the second arm 22 in a predetermined angular position (transfer position), the item holding unit 23 can be moved in the -Y direction and inserted above or below the shelf 3. The operation of transferring an item OB to the shelf 3 is the same as that described above with reference to FIGS. 4 and 5. In this way, the transfer mechanism 4 of this embodiment can transfer an item OB to the shelves 3 on the +Y side and -Y side, respectively.
図13は、基台20を裏面側から見た図である。図13に示すように、基台20の水平部分20aでは、第1駆動部31が水平部分20aの先端側(鉛直部分20bとは反対側)に設けられている。一方、水平部分20aのうち第1回転軸27を挟んで第1駆動部31と反対側には駆動部等が設けられない。この部分は空間部分として基台20の軽量化を図ることも可能であるが、物品OBが重くなると基台20(特に水平部分20a)の剛性が不足する可能性がある。
Figure 13 is a view of the base 20 as seen from the back side. As shown in Figure 13, in the horizontal portion 20a of the base 20, the first drive unit 31 is provided at the tip side of the horizontal portion 20a (the opposite side to the vertical portion 20b). On the other hand, no drive unit or the like is provided on the opposite side of the horizontal portion 20a to the first drive unit 31 across the first rotation shaft 27. This portion can be used as a space to reduce the weight of the base 20, but if the object OB becomes heavy, the rigidity of the base 20 (especially the horizontal portion 20a) may be insufficient.
従って、基台20の水平部分20aには、第1駆動部31とマスト6との間において、上下方向に沿ったリブ41が設けられる、本実施形態では、水平部分20aにおいて、第1回転軸27と鉛直部分20bとの間の空間部分に複数のリブ41が設けられる。物品OB等の荷重は、第1回転軸27に作用する。従って、リブ41は、第1回転軸27に大きな荷重が作用した場合を考慮してX方向、Y方向、X方向及びY方向を合成した方向、並びに第1回転軸27を囲んだ曲線方向に延びるように設けられる。基台20にリブ41が設けられることで、基台20の軽量化を図りつつ、基台20の剛性を高めることができる。なお、図13に示すリブ41の形態は一例であり、基台20の剛性を高めることが可能であれば、リブ41の形態は任意である。
Therefore, the horizontal part 20a of the base 20 is provided with a rib 41 along the vertical direction between the first drive unit 31 and the mast 6. In this embodiment, a plurality of ribs 41 are provided in the horizontal part 20a in the space between the first rotation shaft 27 and the vertical part 20b. The load of the object OB acts on the first rotation shaft 27. Therefore, the rib 41 is provided so as to extend in the X direction, the Y direction, a direction obtained by combining the X direction and the Y direction, and a curved direction surrounding the first rotation shaft 27, taking into consideration the case where a large load acts on the first rotation shaft 27. By providing the rib 41 on the base 20, the rigidity of the base 20 can be increased while reducing the weight of the base 20. Note that the shape of the rib 41 shown in FIG. 13 is one example, and the shape of the rib 41 is arbitrary as long as it is possible to increase the rigidity of the base 20.
このように、本実施形態によれば、第2駆動部32が第1アーム21において第1アーム21の回転中心P1から見た第2端部21b側であって第2アーム22の回転軌道R2から外れた位置に設けられるため、第2アーム22が回転する際に第2駆動部32と干渉することを回避できる。そのため、第1アーム21と第2アーム22との上下方向の間隔を拡げる必要がなく、上下方向に薄型化した移載機構4を実現できる。また、第2駆動部32が第1アーム21に設けられるので、基台20の大型化を回避できる。
In this way, according to this embodiment, the second drive unit 32 is provided on the first arm 21 at a position on the second end 21b side as viewed from the rotation center P1 of the first arm 21 and away from the rotation path R2 of the second arm 22, so that interference with the second drive unit 32 when the second arm 22 rotates can be avoided. Therefore, there is no need to increase the vertical distance between the first arm 21 and the second arm 22, and a transfer mechanism 4 that is thin in the vertical direction can be realized. Also, because the second drive unit 32 is provided on the first arm 21, it is possible to avoid an increase in the size of the base 20.
以上、本発明の実施形態について説明したが、本発明の技術的範囲は、上記した実施形態に限定されない。上記した実施形態に、多様な変更又は改良を加えることが可能であることは当業者において明らかである。また、そのような変更又は改良を加えた形態も本発明の技術的範囲に含まれる。上記した実施形態で説明した要件の1つ以上は、省略されることがある。また、上記した実施形態で説明した要件は、適宜組み合わせることができる。さらに、法律で許可される範囲内で、日本特許出願番号2022-153344および上記の実施形態で引用された全ての文献の開示は、本文の記載の一部として参照されることとする。
Although the embodiments of the present invention have been described above, the technical scope of the present invention is not limited to the above-mentioned embodiments. It will be clear to those skilled in the art that various modifications or improvements can be made to the above-mentioned embodiments. Furthermore, forms with such modifications or improvements are also included in the technical scope of the present invention. One or more of the requirements described in the above-mentioned embodiments may be omitted. Furthermore, the requirements described in the above-mentioned embodiments may be combined as appropriate. Furthermore, to the extent permitted by law, the disclosures of Japanese Patent Application No. 2022-153344 and all documents cited in the above-mentioned embodiments are incorporated by reference as part of the description in this text.
上記した実施形態では、第1駆動部31が基台20に配置される形態を例に挙げて説明しているが、この形態に限定されない。例えば、第1駆動部31は、第1アーム21に設けられる形態であってもよい。この場合、第1駆動部31は、第2駆動部32と同様に、第1アーム21の第2端部21b側に配置され、第2駆動部32とともにカバー25内に収容される形態であってもよい。
In the above embodiment, the first drive unit 31 is arranged on the base 20, but the present invention is not limited to this. For example, the first drive unit 31 may be provided on the first arm 21. In this case, the first drive unit 31 may be arranged on the second end 21b side of the first arm 21, similar to the second drive unit 32, and may be housed together with the second drive unit 32 within the cover 25.
また、上記した実施形態では、保管装置2が1台の搬送装置1を備える形態を例に挙げて説明しているが、この形態に限定されない。例えば、保管装置2に2台以上の搬送装置1を備える形態であってもよい。また、上記した実施形態では、搬送装置1、及び保管装置2の棚3が床Fに設置された形態を例に挙げて説明しているが、この形態に限定されない。搬送装置1及び棚3のうちの一方又は双方が天井Cから吊り下げられて構成される形態であってもよい。
In addition, in the above embodiment, the storage device 2 is described as having one transport device 1, but this is not limited to this. For example, the storage device 2 may have two or more transport devices 1. In addition, in the above embodiment, the storage device 2 is described as having the transport device 1 and the shelf 3 of the storage device 2 installed on the floor F, but this is not limited to this. One or both of the transport device 1 and the shelf 3 may be suspended from the ceiling C.
OB・・・物品
P1、P2、P3・・・回転中心
1・・・搬送装置
2・・・保管装置
3・・・棚
4・・・移載機構
5・・・走行台車
6・・・マスト
20・・・基台
21・・・第1アーム
21a・・・第1端部(一方の端部)
21b・・・第2端部(他方の端部)
21c・・・上面
22・・・第2アーム
22a・・・基端部
22b・・・先端部
22c・・・上面
22d・・・下面
23・・・物品保持部
23a・・・載置面
25・・・カバー
25a・・・上面
27・・・第1回転軸
28・・・第2回転軸
29・・・第3回転軸
27a、28a、29a、31b、32b、37a・・・プーリ
31・・・第1駆動部
32・・・第2駆動部
32c・・・上面
33・・・第1減速機
34・・・第2減速機
35、36、38・・・伝達ベルト
41・・・リブ OB...Items P1, P2, P3...Center ofrotation 1...Transportation device 2...Storage device 3...Shelf 4...Transfer mechanism 5...Traveling cart 6...Mast 20...Base 21...First arm 21a...First end (one end)
21b: Second end (the other end)
21c...upper surface 22...second arm 22a...base end 22b...tip end 22c...upper surface 22d...lower surface 23...article holding portion 23a...mounting surface 25...cover 25a...upper surface 27...first rotating shaft 28...second rotating shaft 29...third rotating shaft 27a, 28a, 29a, 31b, 32b, 37a...pulley 31...first drive portion 32...second drive portion 32c...upper surface 33...first reducer 34... second reducer 35, 36, 38...transmission belt 41...rib
P1、P2、P3・・・回転中心
1・・・搬送装置
2・・・保管装置
3・・・棚
4・・・移載機構
5・・・走行台車
6・・・マスト
20・・・基台
21・・・第1アーム
21a・・・第1端部(一方の端部)
21b・・・第2端部(他方の端部)
21c・・・上面
22・・・第2アーム
22a・・・基端部
22b・・・先端部
22c・・・上面
22d・・・下面
23・・・物品保持部
23a・・・載置面
25・・・カバー
25a・・・上面
27・・・第1回転軸
28・・・第2回転軸
29・・・第3回転軸
27a、28a、29a、31b、32b、37a・・・プーリ
31・・・第1駆動部
32・・・第2駆動部
32c・・・上面
33・・・第1減速機
34・・・第2減速機
35、36、38・・・伝達ベルト
41・・・リブ OB...Items P1, P2, P3...Center of
21b: Second end (the other end)
21c...
Claims (11)
- 走行台車と、前記走行台車に立設されるマストと、前記マストに配置されて物品を移載する移載機構と、を備え、
前記移載機構は、前記マストに沿って昇降する基台と、前記基台に回転可能に支持される第1アームと、前記第1アームに回転可能に支持される第2アームと、物品を保持しかつ前記第2アームに支持される物品保持部と、前記第1アームを回転させる第1駆動部と、前記第2アームを回転させる第2駆動部と、を有し、
前記第2アームの回転中心は、前記第1アームにおいて前記第1アームの回転中心から見た一方の端部側に配置され、
前記第2駆動部は、前記第1アームの上面において前記第1アームの回転中心から見た他方の端部側であって前記第2アームの回転軌道から外れた位置に設けられる、搬送装置。 The present invention relates to a transport vehicle, a mast that is erected on the transport vehicle, and a transfer mechanism that is disposed on the mast and transfers an article,
the transfer mechanism includes a base that moves up and down along the mast, a first arm rotatably supported on the base, a second arm rotatably supported on the first arm, an article holding unit that holds an article and is supported by the second arm, a first drive unit that rotates the first arm, and a second drive unit that rotates the second arm;
a rotation center of the second arm is disposed on one end side of the first arm as viewed from the rotation center of the first arm,
A transport device, wherein the second drive unit is provided on the upper surface of the first arm at a position on the other end side of the first arm as viewed from the center of rotation of the first arm and away from the rotation orbit of the second arm. - 前記第2駆動部の上面は、前記第2アームの下面よりも高い、請求項1に記載の搬送装置。 The conveying device according to claim 1, wherein the upper surface of the second drive unit is higher than the lower surface of the second arm.
- 前記物品保持部は、物品を載置する載置面を有し、
前記第2駆動部の上面は、前記物品保持部の前記載置面よりも低い、請求項1に記載の搬送装置。 The article holding portion has a placement surface on which an article is placed,
The transport device according to claim 1 , wherein an upper surface of the second drive portion is lower than the placement surface of the article holder. - 前記第2駆動部は、前記第1アームに備えるカバーの内部に格納され、
前記カバーの上面は、前記載置面よりも低い、請求項3に記載の搬送装置。 The second driving unit is stored inside a cover provided on the first arm,
The transport device according to claim 3 , wherein an upper surface of the cover is lower than the placement surface. - 前記第2駆動部の近傍に、前記第2駆動部から前記第2アームに伝達する回転を減速させる第2減速機を備える、請求項1に記載の搬送装置。 The conveying device according to claim 1, further comprising a second reducer disposed near the second drive unit to reduce the speed of rotation transmitted from the second drive unit to the second arm.
- 前記第1アームの下方に、前記第1駆動部、及び前記第1駆動部から前記第1アームに伝達する回転を減速させる第1減速機を備える、請求項1に記載の搬送装置。 The conveying device according to claim 1, further comprising: a first drive unit below the first arm; and a first reducer that reduces the speed of rotation transmitted from the first drive unit to the first arm.
- 前記第1駆動部及び第1減速機は、前記基台において前記マストから離間した位置に設けられる、請求項6に記載の搬送装置。 The conveying device according to claim 6, wherein the first drive unit and the first reducer are provided at a position on the base spaced apart from the mast.
- 前記基台は、前記第1駆動部と前記マストとの間において、上下方向に沿ったリブを有する、請求項7に記載の搬送装置。 The conveying device according to claim 7, wherein the base has a rib extending in the vertical direction between the first drive unit and the mast.
- 前記移載機構は、前記走行台車の走行方向に対して左右両側に物品を移載可能である、請求項1に記載の搬送装置。 The conveying device according to claim 1, wherein the transfer mechanism is capable of transferring objects to both the left and right sides of the traveling direction of the traveling carriage.
- 前記物品保持部は、前記第2アームの回転に同期して、前記第2アームに対して回転する、請求項1に記載の搬送装置。 The conveying device according to claim 1, wherein the item holder rotates relative to the second arm in synchronization with the rotation of the second arm.
- 物品を保管する棚と、
前記棚との間で物品を移載する請求項1から請求項10のいずれか一項に記載の搬送装置と、を備える、保管装置。 Shelves for storing items;
A storage device comprising: a conveying device according to any one of claims 1 to 10, which transfers an article between the shelf and the conveying device.
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