JP6593288B2 - Article conveying device - Google Patents

Description

  The present invention includes a transfer unit that transfers an article to a plurality of storage units arranged in parallel in the vertical direction, a lift that supports the transfer unit and moves in the vertical direction, and the lift in the vertical direction. The present invention relates to an article conveyance device including a guide rail for guiding.

An example of such an article conveying apparatus is described in Japanese Patent Application Laid-Open No. 2009-137675 (Patent Document 1). In the article conveying apparatus of Patent Document 1, the lifting body includes a first guided body group and a second guided body group installed above the first guided body group. Then, the transfer unit is provided with a support body for supporting the article, a first drive unit for moving the support body in and out, and a first drive unit for changing the withdrawal direction of the support body around the axis along the vertical direction. 2 drive units. Each of the first guided body group and the second guided body group has a first guided body (guide roller 53) that contacts the first surface, which is a surface facing the first main direction, and the second main direction. And a second guided body (guide roller 53) in contact with the second surface which is the facing surface. By providing the guided body in the lifting body in this way, when the lifting body moves in the vertical direction or when an article is transferred by the transfer unit, the lifting body is displaced in the main direction with respect to the guide rail, The lifting body is restricted from tilting in the main direction. Further, in such an article conveying apparatus, the first guided body group and the second guided body are used to restrict the lifting body from being displaced in the sub direction with respect to the guide rail and the lifting body from being tilted in the sub direction. A third guided body that abuts a third surface that is a surface facing the first sub-direction, and a fourth guided body that contacts a fourth surface that is a surface facing the second sub-direction; It has.
Note that, when viewed in the vertical direction, the direction in which the guide rail (guide rail 39) and the transfer portion are arranged is the main direction, and the direction orthogonal to the main direction is the sub direction. The direction in which the transfer device is present with respect to the guide rail in the main direction is defined as a first main direction, and the direction opposite to the first main direction is defined as a second main direction. One direction of the sub direction is a first sub direction, and the other direction of the sub direction is a second sub direction.

JP 2009-137675 A

  In the above-described article transporting device, the direction in which the support is withdrawn is changed by the action of the second drive unit, so the support may protrude in a direction inclined with respect to the main direction. In such a case, the load of the lifting body works in a direction that is twisted with respect to the first guided body group and the second guided body group. 2 It is necessary to properly receive the guided body group.

  Accordingly, there is a demand for an article conveyance device that can easily receive the load in the twisting direction of the elevating body by the first guided body group and the second guided body group.

A characteristic configuration of the article transporting apparatus according to the present invention includes a transfer unit that transfers an article to a plurality of storage units arranged in parallel in the vertical direction, and a lifting body that supports the transfer unit and moves in the vertical direction. In the article conveying apparatus comprising: a guide rail that guides the elevating body in the vertical direction,
When viewed in the vertical direction, the direction in which the guide rail and the transfer portion are arranged is the main direction, and the direction orthogonal to the main direction is the sub direction, and the transfer rail is moved with respect to the guide rail in the main direction. The direction in which the mounting portion is present is the first main direction, the opposite direction of the first main direction is the second main direction, one direction of the sub direction is the first sub direction, and the other direction of the sub direction is the second sub direction. The transfer unit includes a first transfer device and a second transfer device positioned above the first transfer device, and each of the first transfer device and the second transfer device. Includes a support that supports the article, a first drive unit that moves in a horizontal direction to a protruding position in which the support is protruded from the elevating body, and a retracted position in which the support is retracted from the protruding position toward the elevating body, A direction in which the support is moved by the first drive unit is changed around the axis along the vertical direction. A drive unit, and the elevating body includes a main body unit including a guided unit guided in the vertical direction by the guide rail, a first support unit that supports the first transfer device, and the first unit. A second support part that is positioned above the support part and supports the second transfer device, wherein the guided part is located above the first guided body group and the first guided body group. A first guided body group, and each of the first guided body group and the second guided body group is a first surface of the guide rail that faces the first main direction. A first guided body that contacts a surface, a second guided body that contacts a second surface that is a surface facing the second main direction of the guide rail, and a surface that faces the first sub-direction of the guide rail. A third guided body that contacts the third surface, and a surface that faces the second sub-direction of the guide rail. A fourth guided body that contacts the surface, a fifth guided body that is disposed at a position different from the third guided body in the main direction and contacts the third surface, and the fourth guided body. And a sixth guided body that is disposed at a different position in the main direction and contacts the fourth surface.

According to this characteristic configuration, the first guided body of the first guided body group and the first guided body of the second guided body group contact the first surface of the guide rail from the first main direction. Further, the second guided body of the first guided body group and the second guided body of the second guided body group contact the second surface of the guide rail from the second main direction. As described above, when the first guided body and the second guided body are in contact with the guide rail, the lifting body guides when the lifting body moves in the vertical direction or when the article is transferred by the transfer unit. It is possible to regulate the displacement in the main direction with respect to the rail and the tilting of the lifting body in the main direction.
In addition, the third guided body and the fifth guided body of the first guided body group and the third guided body and the fifth guided body of the second guided body group are arranged on the third surface of the guide rail. Contact from the sub direction. Further, the fourth guided body and the sixth guided body of the first guided body group and the fourth guided body and the sixth guided body of the second guided body group are second on the fourth surface of the guide rail. Contact from the sub direction. As described above, when the third guided body, the fourth guided body, the fifth guided body, and the sixth guided body come into contact with the guide rail, the lifting body moves in the vertical direction or the transfer unit moves the article. , It is possible to restrict the lifting body from being displaced in the sub direction with respect to the guide rail and the lifting body from being inclined in the sub direction.

  The first guided body group and the second guided body group are provided with a fifth guided body in addition to the third guided body as a guided body that contacts the third surface. The five guided bodies are arranged at different positions in the main direction with respect to the third guided body. The first guided body group and the second guided body group are provided with a sixth guided body in addition to the fourth guided body as a guided body that contacts the fourth surface. The six guided bodies are arranged at different positions in the main direction with respect to the fourth guided body. In this way, the first guided body group and the second guided body group are provided with the fifth guided body and the sixth guided body in addition to the third guided body and the fourth guided body. Since the guided body group and the second guided body group can be brought into contact with the third surface and the fourth surface at a wide interval in the main direction, the first guided body group is subjected to a load in the twisting direction of the lifting body. And it becomes easy to receive appropriately by the 2nd guided body group.

  Here, the support body supports the bottom surface of the article from below, and the first guided body group is supported by the first support section when the article is supported by the support body of the first support section. It is preferable that the second guided body group is disposed below the upper end of the second support portion and is disposed below the upper end of the article.

  According to this configuration, all of the guided bodies provided in the first guided body group are positioned below the upper end of the article supported by the first support portion. Further, all of the guided bodies provided in the second guided body group are located above the lower end of the second support portion. By disposing the first guided body group and the second guided body group in this way, the vertical distance between the first guided body group and the second guided body group can be increased. Therefore, it becomes easy to appropriately restrict the lifting body from being inclined with respect to the guide rail by the first guided body group and the second guided body group.

  In addition, the first guided body and the second guided body in the first guided body group are the third guided body, the fourth guided body, and the fifth guided body in the first guided body group. The first guided body and the second guided body in the second guided body group are positioned below the guided body and the sixth guided body, and the third guided body in the second guided body group is the third guided body. It is preferable to be positioned above the guided body, the fourth guided body, the fifth guided body, and the sixth guided body.

  According to this configuration, guided bodies for regulating the main direction in the first guided body group (first guided body and second guided body), and guided bodies for regulating the main direction in the second guided body group. The vertical distance between the body (the first guided body and the second guided body) is a guided body for controlling the sub-direction in the first guided body group (the third guided body, the fourth guided body). Body, fifth guided body and sixth guided body) and guided bodies for controlling the sub-direction in the second guided body group (third guided body, fourth guided body, fifth guided body, and Longer than the distance from the sixth guided body). That is, since the lifting body is present in the first main direction with respect to the guide rail, the first guided body group and the second guided body group have the upper part of the lifting body with respect to the lower part of the lifting body. A load that the elevating body tends to tilt in the first main direction is constantly acting so as to move relatively in the one main direction. However, since the vertical distance between the guided body for regulating the main direction in the first guided body group and the guided body for regulating the main direction in the second guided body group is relatively long, these first guided bodies are used. By the guide body group and the second guided body group, it is easy to appropriately regulate the lifting body tilting in the first main direction with respect to the guide rail.

  The guide rail includes a first main wall portion and a second main wall portion as a main wall portion in a posture along the vertical direction and the sub direction, and a sub wall portion in a posture along the vertical direction and the main direction. A first sub-wall portion and a second sub-wall portion, the first sub-wall portion includes the third surface, and the second sub-wall portion is the first sub-wall portion with respect to the first sub-wall portion. The fourth sub-surface is disposed at a position spaced apart in one sub-direction and overlapping with the first sub-wall portion when viewed in the sub-direction, and the first main wall portion includes the first sub-wall. The first surface, the second surface, and the third surface, the second main wall portion being formed with respect to the first main wall portion. The second sub-wall portion and the second sub-wall portion are disposed at positions that are separated from each other in the first sub-direction and overlap with the first main wall portion in the sub-direction. Each of the first guided body group and the second guided body group includes the first main wall. The first guided body group and the second guided body group each include the first main wall. The first guided body in contact with the first surface of the part, the first guided body in contact with the first surface of the second main wall, and the second surface of the first main wall The second guided body in contact with the second guided body, the second guided body in contact with the second surface of the second main wall portion, and the third surface in contact with the third surface of the first main wall portion. A guided body, the fifth guided body that contacts the third surface of the first sub-wall portion, the fourth guided body that contacts the fourth surface of the second main wall portion, and It is preferable that the sixth guided body is in contact with the fourth surface of the second sub-wall portion.

According to this configuration, the first guided body that contacts the first surface of the first main wall portion and the first guided body that contacts the first surface of the second main wall portion are different from each other in the main direction. Placed in position. Further, the second guided body that contacts the second surface of the first main wall portion and the second guided body that contacts the second surface of the second main wall portion are arranged at different positions in the main direction. ing. By arranging a pair of first guided bodies and a pair of second guided bodies in the first guided body group and the second guided body group, the first guided body group and the second guided body group. The elevating body tilts in the sub-direction or the elevating body moves in the vertical direction in cooperation with the third guided body, the fourth guided body, the fifth guided body, and the sixth guided body provided in each of the It is easy to properly regulate the rotation around the axis along the axis.
The fifth guided body is in contact with the third surface of the first sub-wall portion from the first sub-direction, and the sixth guided body is in contact with the fourth surface of the second sub-wall portion from the second sub-direction. In this way, by arranging the fifth guided body and the sixth guided body, the fifth guided body and the sixth guided body are connected to each other between the first sub-wall portion and the second sub-wall portion in the sub-direction. Can be placed between. Therefore, the first guided body group and the second guided body group can be configured compactly in the sub direction.

  In addition, the third guided body and the fourth guided body are between the third guided body and the third surface and between the fourth guided body and the fourth surface. The fifth guided body and the sixth guided body are installed at intervals at which a gap is formed in at least one of the fifth guided body and the sixth surface, and the sixth guided body. And at least one of the gaps between the fourth surface and the fourth surface.

  According to this configuration, when the elevating body moves in the vertical direction, all or a part of the third guided body, the fourth guided body, the fifth guided body, and the sixth guided body are guided rails. The elevating body can be moved in the vertical direction without positively contacting the Therefore, the elevating body can be moved in the vertical direction with little resistance. Further, when the guide rail is configured by combining a plurality of members, the distance in the sub-direction between the third surface and the fourth surface is not constant in the vertical direction due to an assembly error, and is somewhat narrow at a certain height in the vertical direction. Even if it is, the gap can be absorbed by the gap formed between the guided body and the surface of the guide rail so that the non-uniformity in the distance between the third surface and the fourth surface can be absorbed. Can be moved in the vertical direction with little resistance.

  Each of the first guided body and the second guided body is configured by a roller that is rotatable around an axis along the sub direction, and the third guided body and the fourth guided body. Each of the fifth guided body and the sixth guided body is preferably constituted by a roller that is rotatable around an axis along the main direction.

  According to this configuration, the guided body that is in contact with the guide rail is configured by the rotatable roller, so that the elevating body is easily guided in the vertical direction by the guide rail.

  Further, each of the third guided body, the fourth guided body, the fifth guided body, and the sixth guided body is compared with each of the first guided body and the second guided body. The roller surface is preferably made of a hard material.

  According to this configuration, each of the third guided body, the fourth guided body, the fifth guided body, and the sixth guided body is made of a material having a relatively hard roller surface. Therefore, when the center of gravity of the elevating body moves in the sub direction due to the change in the direction in which the support body moves out and out due to the action of the second drive unit, the third guided body made of the relatively hard material, Part of the 4 guided body, the 5th guided body, and the 6th guided body contacts the guide rail, but these guided bodies are made of a relatively hard material, so that the lifting body is in the sub-direction. It is easy to properly regulate the tilting of the lifting / lowering body and the rotation of the lifting / lowering body around the axis along the vertical direction.

Perspective view of goods transport equipment The top view which shows an article conveyance apparatus and two entrance / exit conveyance apparatuses The top view which shows an article conveyance apparatus and one entrance / exit conveyance apparatus Top view of the article transport device Side view of article transport device Cross-sectional plan view showing a part of the article conveying device and a guide mast

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, an article transport facility includes articles as a plurality of floors (in the present embodiment, a three-floor structure, referred to as upper floor U, middle floor M, and lower floor D in order from the upper floor). Article transporting device 2 (see FIG. 2) for transporting the container 1, a ceiling transport vehicle 3 for transporting the container 1 by traveling near the ceiling, and a floor transport vehicle for transporting the container 1 by traveling on the floor surface 7 and an input / output transport device 4 that is installed in a fixed state and transports the container 1. A FOUP (Front Opening Unified Pod) that accommodates the semiconductor substrate is used as the container 1 (article).

  The article conveying device 2 is disposed on the inner side of the cylinder 5 from the upper floor U to the lower floor D. As shown in FIG. 1, the ceiling conveyance vehicle 3 and the floor conveyance vehicle 7 are disposed outside the cylindrical body 5. As shown in FIG. 2 and FIG. 3, the input / output transport device 4 is arranged from the inside to the outside of the cylinder 5, and is located outside the cylinder 5 and inside the cylinder 5. The container 1 is transported to and from the internal location 9 located. As shown in FIGS. 2 to 4, a plurality of storage units 6 that store the containers 1 are provided inside the cylinder 5. The storage unit 6 is arranged in parallel in the vertical direction Z and the circumferential direction R centering on the article transporting device 2.

In the article transport facility, when the container 1 is placed on the external portion 8 of the input / output transport device 4 by the ceiling transport vehicle 3, the floor surface transport vehicle 7 or an operator, the container 1 is transferred from the external location 8 by the input / output transport device 4. After being transported to the internal location 9, the article 1 is transported from the internal location 9 to the storage unit 6 by the article transport device 2, and the container 1 is stored in the storage unit 6.
The container 1 stored in the storage unit 6 is transported from the storage unit 6 to the internal location 9 of the input / output transport device 4 by the article transport device 2, and then from the internal location 9 to the external location 8 by the input / output transport device 4. Placed and conveyed. The container 1 at the external location 8 is lowered from the external location 8 by the ceiling transport vehicle 3, the floor surface transport vehicle 7 or the operator.
The article conveying device 2 corresponds to a conveying device that conveys an article to the storage unit 6. In addition, the container 1 may be transported from the internal location 9 to another internal location 9 by the article transport device 2, or the container 1 may be transported from the storage unit 6 to another storage unit 6.

[Article conveying device]
Next, the article conveying apparatus will be described. Hereinafter, the direction in which the guide rail 13 and the transfer unit 11 are arranged in the vertical direction Z is referred to as a main direction X, and with respect to the guide rail 13 in the main direction X. A direction in which the transfer unit 11 exists is referred to as a first main direction X1, and a direction opposite to the first main direction X1 is referred to as a second main direction X2. Further, when viewed in the vertical direction Z, a direction orthogonal to the main direction X is referred to as a sub direction Y, one direction of the sub direction Y is referred to as a first sub direction Y1, and the other direction of the sub direction Y is referred to as a second sub direction. This will be described as the direction Y2.

  As shown in FIGS. 2 to 4, the article conveying device 2 includes a transfer unit 11 that transfers the container 1 to the storage unit 6, a lifting body 12 that supports the transfer unit 11 and moves in the vertical direction Z. And a guide rail 13 for guiding the elevating body 12 in the vertical direction Z. The elevating body 12 includes a power receiving unit 29 that receives driving power in a non-contact manner from a power supply line 46 disposed along the vertical direction Z.

  As shown in FIGS. 5 and 6, the article transport device 2 includes a balance weight 31, a first belt 32, and a second belt 33. The first belt 32 is connected to the lifting body 12 at one end and the balance weight 31 is connected to the other end, and an upper rotating body (not shown) provided at an intermediate portion above the lifting path of the lifting body 12. Z). The second belt 33 is connected to the lifting body 12 at one end and the balance weight 31 to the other end, and has a lower rotating body (see FIG. (Not shown).

  As shown in FIG. 6, the guide rail 13 includes a partition portion 35, a first subwall portion 36, a second subwall portion 37, a third subwall portion 38, and a fourth subwall portion 39. The partition portion 35 is provided in the guide rail 13 in a posture along the vertical direction Z and the sub-direction Y, and is located in the center portion of the main direction X in the guide rail 13. The first sub wall portion 36 protrudes from the end portion of the partition portion 35 in the second sub direction Y2 in the first main direction X1. The second subwall portion 37 projects from the end portion of the partition portion 35 in the first subdirection Y1 in the first main direction X1. The third sub wall portion 38 projects from the end portion of the partition portion 35 in the second sub direction Y2 in the second main direction X2. The fourth sub wall portion 39 protrudes from the end portion of the partition portion 35 in the first sub direction Y1 in the second main direction X2. Each of the first sub-wall portion 36, the second sub-wall portion 37, the third sub-wall portion 38, and the fourth sub-wall portion 39 is provided on the guide rail 13 in a posture along the vertical direction Z and the main direction X. .

  The second sub-wall portion 37 is arranged at a position that is separated from the first sub-wall portion 36 in the first sub-direction Y1 and overlaps the first sub-wall portion 36 when viewed in the sub-direction Y. ing. The fourth sub-wall portion 39 is disposed at a position spaced from the third sub-wall portion 38 in the first sub-direction Y1 and at a position overlapping the third sub-wall portion 38 when viewed in the sub-direction Y. . The third subwall portion 38 is disposed at a position overlapping the first subwall portion 36 in the main direction X. The fourth sub-wall portion 39 is disposed at a position overlapping the second sub-wall portion 37 when viewed in the main direction X.

  The guide rail 13 includes a first main wall portion 40 and a second main wall portion 41. The first main wall portion 40 projects from the end portion of the first main wall portion 36 in the first main direction X1 in the first sub direction Y1. The second main wall portion 41 protrudes from the end portion of the second main wall portion 37 in the first main direction X1 in the second sub direction Y2. The second main wall portion 41 is disposed at a position that is separated from the first main wall portion 40 in the first sub direction Y1 and overlaps the first main wall portion 40 when viewed in the sub direction Y. .

  The 1st subwall part 36, the 3rd subwall part 38, and the 1st main wall part 40 are integrally formed by extrusion molding of aluminum. The second subwall portion 37, the fourth subwall portion 39, and the second main wall portion 41 are integrally formed by extrusion molding of aluminum. The partition portion 35 is also formed by extrusion molding of aluminum. Thus, the part which forms the 1st surface F1 in the guide rail 13, and the part which forms the 2nd surface F2 are formed of the same member. And the part which forms the 3rd surface F3 in the guide rail 13, and the part which forms the 4th surface F4 are formed of another member.

The guide rail 13 includes a partition portion 35, a first sub-wall portion 36, a second sub-wall portion 37, a third sub-wall portion 38, a fourth sub-wall portion 39, etc., and the cross-sectional shape is H-shaped. Is formed.
The guide rail 13 includes an elevating body groove 43 and a weight groove 44. Each of the elevating body groove 43 and the weight groove 44 is formed along the vertical direction Z. If it demonstrates, the groove | channel 43 for raising / lowering bodies is formed with the partition part 35, the 1st subwall part 36, the 2nd subwall part 37, the 1st main wall part 40, and the 2nd main wall part 41. As shown in FIG. The weight groove 44 is formed by the partition portion 35, the third sub-wall portion 38, and the fourth sub-wall portion 39. By providing the guide rail 13 with the first main wall portion 40 and the second main wall portion 41, the elevating body groove 43 is formed in a shape in which the back portion is wider than the inlet portion.

  As described above, the guide rail 13 includes the first main wall portion 40 and the second main wall portion 41 as main wall portions in a posture along the vertical direction Z and the sub-direction Y. The guide rail 13 has a first sub-wall portion 36, a second sub-wall portion 37, a third sub-wall portion 38, and a fourth sub-wall portion 39 as sub-wall portions in a posture along the vertical direction Z and the main direction X. And.

  The guide rail 13 includes a first surface F1, a second surface F2, a third surface F3, and a fourth surface F4. The first surface F1 is a surface facing the first main direction X1, and is a surface facing the first main direction X1 in the first main wall portion 40 and a surface facing the first main direction X1 in the second main wall portion 41. is there. The second surface F2 is a surface facing the second main direction X2, and is a surface facing the second main direction X2 in the first main wall portion 40 and a surface facing the second main direction X2 in the second main wall portion 41. is there. The third surface F3 is a surface facing the first sub-direction Y1, and is a surface facing the first sub-direction Y1 in the first main wall portion 40 and a surface facing the first sub-direction Y1 in the first sub-wall portion 36. is there. The fourth surface F4 is a surface facing the second sub-direction Y2, and is a surface facing the second sub-direction Y2 in the second main wall portion 41 and a surface facing the second sub-direction Y2 in the second sub-wall portion 37. is there.

  Thus, the 1st subwall part 36 is provided with the 3rd surface F3. The second sub-wall portion 37 includes a fourth surface F4. The first main wall portion 40 includes a first surface F1, a second surface F2, and a third surface F3. The second main wall portion 41 includes a first surface F1, a second surface F2, and a fourth surface F4. In addition, in the 1st subwall part 36, the 2nd subwall part 37, the 1st main wall part 40, and the 2nd main wall part 41, it faces inward of the guide rail 13 (direction where the groove | channel 43 for raising / lowering bodies exists). When the surface is the inner surface and the surface facing the outer side of the guide rail 13 (the direction opposite to the direction in which the elevating body groove 43 is present) is the outer surface, the first surface F1 is the outer surface, and the other second surfaces F2, The third surface F3 and the fourth surface F4 are inner surfaces. Of the first roller R1 to the eighth roller R8 to be described later, the rollers excluding the first roller R1 and the seventh roller R7 are disposed in the elevating body groove 43.

  As shown in FIG. 5, the transfer unit 11 includes a first transfer device 15 and a second transfer device 16 positioned above the first transfer device 15. The elevating body 12 includes a main body portion 18 having a guided portion 17 guided in the vertical direction Z by the guide rail 13, a first support portion 19 that supports the first transfer device 15, and a first support portion 19. And a second support portion 20 that is positioned above and supports the second transfer device 16. The main body 18 is formed in a long shape extending along the vertical direction Z. A first support portion 19 is connected to the lower end portion of the main body portion 18, and a second support portion 20 is connected to an intermediate portion in the vertical direction Z of the main body portion 18. As shown in FIG. 6, the main body 18 is provided in a state of penetrating between the first main wall 40 and the second main wall 41 in the main direction X.

  Each of the first transfer device 15 and the second transfer device 16 includes a support 22 that supports the container 1, a first drive unit 23 as a drive unit, and a second drive unit 24 as a swivel unit. I have. The support 22 is formed in a plate shape and is configured to support the bottom surface of the container 1 from below.

  The first drive unit 23 includes a link mechanism 26 having a support body 22 connected to a distal end portion thereof and a swivel base 25 connected to a base end portion thereof, and an exit / retreat motor 27 that extends and retracts the link mechanism 26 in a horizontal direction. I have. The first drive unit 23 moves the support body 22 in the horizontal direction with respect to the lifting body 12 by extending and retracting the link mechanism 26 by the exit / retreat motor 27, and causes the support body 22 to protrude from the lifting body 12. It moves to the retraction position retreated to the raising / lowering body 12 side from the protruding position.

  The second drive unit 24 includes a turntable 25 that can turn around an axis along the vertical direction Z, and a turning motor 28 that turns the turntable 25 around the axis. The second drive unit 24 pivots the swivel base 25 with the swivel motor 28 so that the swivel base 25 and the link mechanism 26 and the support body 22 supported by the turn base 25 are integrated along the vertical direction Z. The direction in which the support 22 is moved by the first drive unit 23 is changed around the axis along the vertical direction Z.

  The guided portion 17 includes a first guided body group 51 and a second guided body group 52 installed above the first guided body group 51. Each of the first guided body group 51 and the second guided body group 52 includes a first roller R1 and a seventh roller R7 that contact the first surface F1, a second roller R2 that contacts the second surface F2, and An eighth roller R8, a third roller R3 and a fifth roller R5 that are in contact with the third surface F3, and a fourth roller R4 and a sixth roller R6 that are in contact with the fourth surface F4 are provided.

  Each of the first roller R1, the second roller R2, the seventh roller R7, and the eighth roller R8 is configured by a roller that is rotatable around an axis along the sub-direction Y. Each of the third roller R3, the fourth roller R4, the fifth roller R5, and the sixth roller R6 is configured by a roller that is rotatable around an axis along the main direction X. The rollers (third roller R3, fourth roller R4, fifth roller R5, and sixth roller R6) that are rotatable around the axis along the main direction X are rotatable around the axis along the sub direction Y. Compared with the rollers (first roller R1, second roller R2, seventh roller R7, and eighth roller R8), the roller surface is made of a hard material. Incidentally, the third roller R3, the fourth roller R4, the fifth roller R5, and the sixth roller R6 are made of a material having the same hardness on the roller surface, and the same roller is used. The first roller R1, the second roller R2, the seventh roller R7, and the eighth roller R8 are made of a material having the same hardness on the roller surface, and the same roller is used.

The first roller R1 corresponds to a first guided body that contacts the first surface F1 of the first main wall portion 40. The seventh roller R7 corresponds to a first guided body that contacts the first surface F1 of the second main wall portion 41. The second roller R2 corresponds to a second guided body that comes into contact with the second surface F2 of the first main wall portion 40. The eighth roller R8 corresponds to a second guided body corresponding to the second surface F2 of the second main wall portion 41.
The third roller R3 corresponds to a third guided body that comes into contact with the third surface F3 of the first main wall portion 40. The fourth roller R4 corresponds to a fourth guided body that comes into contact with the fourth surface F4 of the second main wall portion 41. The fifth roller R5 corresponds to a fifth guided body that comes into contact with the third surface F3 of the first sub-wall portion 36. The sixth roller R <b> 6 corresponds to a sixth guided body that contacts the fourth surface F <b> 4 of the second subwall portion 37.

  Thus, each of the first guided body group 51 and the second guided body group 52 includes the first roller R1 that contacts the first surface F1 of the first main wall 40 and the second main wall 41. A seventh roller R7 that contacts the first surface F1, a second roller R2 that contacts the second surface F2 of the first main wall portion 40, and an eighth roller that contacts the second surface F2 of the second main wall portion 41. R8. Incidentally, each of the first guided body group 51 and the second guided body group 52 includes two wheels each of the first roller R1, the second roller R2, the seventh roller R7, and the eighth roller R8. Yes.

The seventh roller R7 is disposed at a different position in the sub direction Y with respect to the first roller R1, and the seventh roller R7 is disposed in the first sub direction Y1 with respect to the first roller R1. The first roller R1 and the seventh roller R7 are arranged at the same position in the vertical direction Z and the main direction X so as to overlap when viewed in the sub direction Y.
The eighth roller R8 is arranged at a different position in the sub direction Y with respect to the second roller R2, and the eighth roller R8 is arranged in the first sub direction Y1 with respect to the second roller R2. The second roller R2 and the eighth roller R8 are arranged at the same position in the vertical direction Z and the main direction X so as to overlap when viewed in the sub direction Y.

  Further, each of the first guided body group 51 and the second guided body group 52 includes a third roller R3 that contacts the third surface F3 of the first main wall portion 40 and a fourth of the second main wall portion 41. A fourth roller R4 that contacts the surface F4, a fifth roller R5 that contacts the third surface F3 of the first subwall portion 36, and a sixth roller R6 that contacts the fourth surface F4 of the second subwall portion 37. It is equipped with. Incidentally, each of the first guided body group 51 and the second guided body group 52 includes a third roller R3, a fourth roller R4, a fifth roller R5, and a sixth roller R6. Yes.

The fourth roller R4 is disposed at a different position in the sub direction Y with respect to the third roller R3, and the fourth roller R4 is disposed in the first sub direction Y1 with respect to the third roller R3. The third roller R3 and the fourth roller R4 are disposed at the same position in the vertical direction Z and the main direction X so as to overlap each other when viewed in the sub direction Y.
The sixth roller R6 is disposed at a different position in the sub direction Y with respect to the fifth roller R5, and the sixth roller R6 is disposed in the first sub direction Y1 with respect to the fifth roller R5. The fifth roller R5 and the sixth roller R6 are arranged at the same position in the vertical direction Z and the main direction X so as to overlap when viewed in the sub direction Y.

The first guided body group 51 is arranged below the upper end of the container 1 supported by the first support part 19 when the container 1 is supported by the support body 22 of the first support part 19. And the roller (1st roller R1, 2nd roller R2, 7th roller R7, and 8th roller R8) which can rotate to the surroundings of the axial center in the sub direction Y in the 1st to-be-guided body group 51 is the main direction X. It is located below the rollers (third roller R3, fourth roller R4, fifth roller R5, and sixth roller R6) that are rotatable about the axis along the axis.
Further, the second guided body group 52 is disposed above the lower end of the second support portion 20. The rollers (the first roller R1, the second roller R2, the seventh roller R7, and the eighth roller R8) that are rotatable about the axis along the sub direction Y in the second guided body group 52 are in the main direction X. It is located above the rollers (third roller R3, fourth roller R4, fifth roller R5, and sixth roller R6) that are rotatable around the axis along the axis.

  The portion that forms the first surface F1 and the portion that forms the second surface F2 in the guide rail 13 are formed by the same member, and there is an error in the relative positional relationship between the first surface F1 and the second surface F2. Not likely to occur. For this reason, the first roller R1 and the second roller R2 are installed at an interval that does not cause a gap between the first roller R1 and the first surface F1 or between the second roller R2 and the second surface F2. . In addition, the seventh roller R7 and the eighth roller R8 are installed at an interval that does not cause a gap between the seventh roller R7 and the first surface F1 or between the eighth roller R8 and the second surface F2. .

  On the other hand, the part which forms the 3rd surface F3 in the guide rail 13 and the part which forms the 4th surface F4 are formed by another member, and the 3rd surface F3 and the 4th surface by an assembly error etc. An error is likely to occur in the relative positional relationship with F4. Therefore, the third roller R3 and the fourth roller R4 have a gap L (this embodiment) between at least one of the third roller R3 and the third surface F3 and the fourth roller R4 and the fourth surface F4. In the embodiment, the gaps are formed at intervals at which a gap of 0.5 mm is formed between the third roller R3 and the third surface F3 and between the fourth roller R4 and the fourth surface F4. In addition, the seventh roller R7 and the eighth roller R8 have a gap L (this embodiment) between at least one of the seventh roller R7 and the first surface F1 and the eighth roller R8 and the eighth surface F8. In the embodiment, the gap between the seventh roller R7 and the first surface F1 and the eighth roller R8 and the eighth surface F8 are provided at intervals that form a gap of 0.5 mm. The gap L is an interval when the guide rail 13 is assembled as designed.

  As described above, the first guided body group 51 and the second guided body group 52 are provided with the fifth roller R5 in addition to the third roller R3 as a roller that contacts the third surface F3. The roller R5 is disposed at a different position in the main direction X with respect to the third roller R3. Further, the first guided body group 51 and the second guided body group 52 are provided with a sixth roller R6 in addition to the fourth roller R4 as a roller contacting the fourth surface F4, and the sixth roller R6. Are arranged at different positions in the main direction X with respect to the fourth roller R4. In this way, the first guided body group 51 and the second guided body group 52 are provided with the fifth roller R5 and the sixth roller R6 in addition to the third roller R3 and the fourth roller R4, so that the first guided body group is provided. Since the body group 51 and the second guided body group 52 are brought into contact with the third surface F3 and the fourth surface F4 in the main direction X at wide intervals, the first guided body group 51 and the second guided body group 51 are twisted. 2 It is easy to regulate appropriately by the guided body group 52.

[Another embodiment]
(1) In the said embodiment, a 1st supported body group is arrange | positioned below the upper end of the articles | goods supported by the support body of a 1st support part, and a 2nd supported body group is a lower end of a 2nd support part. The first supported body group is disposed below the upper surface of the support body of the first supported section, or the second supported body group is supported by the support body of the second support section. The arrangement of the first supported body group and the second supported body group may be changed as appropriate, for example, it is disposed above the upper end of the article.

(2) In the above embodiment, the first guided body and the second guided body in the first supported body group are the third guided body, the fourth guided body, and the fifth guided body in the first guided body group. Although arranged below the guide body and the sixth guided body, the first guided body and the second guided body in the first supported body group are connected to the third guided body and the fourth guided body group in the first guided body group. You may arrange | position above a to-be-guided body, a 5th guided body, and a 6th guided body.
In the above embodiment, the first guided body and the second guided body in the second supported body group are replaced with the third guided body, the fourth guided body, and the fifth guided body in the second guided body group. The first guided body and the second guided body in the second supported body group are connected to the third guided body and the fourth guided body in the second guided body group. You may arrange | position below a guide body, a 5th guided body, and a 6th guided body.

(3) In the above embodiment, the rollers (first roller, second roller, seventh roller, and eighth roller) that are rotatable around the axis along the sub direction and the axes around the main direction are rotatable. Different rollers were used for the rollers (the third roller, the fourth roller, the fifth roller, and the sixth roller). However, the roller was rotatable around the axis along the sub direction and the axis around the main direction. The same roller may be used as a rotatable roller.

(4) In the above embodiment, a gap is formed between at least one of the third roller and the fourth roller between the third roller and the third surface and between the fourth roller and the fourth surface. Installed at an interval, and installed the seventh roller and the eighth roller at an interval at which a gap is formed between at least one of the seventh roller and the first surface and between the eighth roller and the eighth surface. did. However, one set or both sets of the third roller and the fourth roller and the seventh roller and the eighth roller are set between the third surface and the fourth surface. You may install in the space | interval which a clearance gap does not produce in both.

(5) In the above embodiment, the first guided body and the second guided body are configured by rollers that are rotatable around the axis along the sub-direction Y, and the third guided body and the fourth guided body. The fifth guided body and the sixth guided body are configured by rollers that are rotatable around the axis along the main direction. The configurations of the first to sixth guided bodies are based on the guide rail. The configuration of the guided body may be appropriately changed, such as a sliding body that contacts the guide rail so as to be slidable in the vertical direction.

(6) In the said embodiment, although arrange | positioned so that it may be located between a pair of subwall part, you may arrange | position so that it may be located outside. The guide rail has an H-shaped cross section. However, if the guide rail has a first to fourth surface such as a rectangular cross section, the guide rail The cross-sectional shape may be changed as appropriate.

(7) In the above embodiment, the article transport device is installed over three layers, but the article transport device may be installed over two or more hierarchies, and more than one article transport device. You may install in the hierarchy.

1 Container (article)
DESCRIPTION OF SYMBOLS 2 Article conveying apparatus 6 Storage part 11 Transfer part 12 Lifting body 13 Guide rail 15 1st transfer apparatus 16 2nd transfer apparatus 18 Main body part 19 1st support part 20 2nd support part 22 Support body 23 1st drive part (Drive part)
24 2nd drive part (turning part)
51 1st guided body group 52 2nd guided body group F1 1st surface F2 2nd surface F3 3rd surface F4 4th surface R1 1st roller (1st guided body)
R2 Second roller (second guided body)
R3 3rd roller (3rd guided body)
R4 4th roller (4th guided body)
R5 5th roller (5th guided body)
R6 6th roller (6th guided body)
R7 7th roller (first guided body)
R8 8th roller (second guided body)
X main direction X1 first main direction X2 second main direction Y sub direction Y1 first sub direction Y2 second sub direction Z vertical direction

Claims (7)

A transfer unit that transfers articles to a plurality of storage units arranged in parallel in the vertical direction, a lift that supports the transfer unit and moves in the vertical direction, and a guide rail that guides the lift in the vertical direction And an article conveying device comprising:
When viewed in the vertical direction, the direction in which the guide rail and the transfer portion are arranged is the main direction, and the direction orthogonal to the main direction is the sub direction, and the transfer rail is moved with respect to the guide rail in the main direction. The direction in which the mounting portion is present is the first main direction, the opposite direction of the first main direction is the second main direction, one direction of the sub direction is the first sub direction, and the other direction of the sub direction is the second sub direction. ,
The transfer unit includes a first transfer device and a second transfer device positioned above the first transfer device,
Each of the first transfer device and the second transfer device includes a support body for supporting an article, a protruding position in which the support body protrudes from the lifting body, and a retraction in which the lifting body is retracted from the protruding position toward the lifting body side. A first drive unit that is moved horizontally to a position, and a second drive unit that changes a direction in which the support is moved by the first drive unit around an axis along the vertical direction,
The elevating body is positioned above the main body having a guided portion guided in the vertical direction by the guide rail, a first support for supporting the first transfer device, and the first support. And a second support part for supporting the second transfer device,
The guided portion includes a first guided body group, and a second guided body group installed above the first guided body group,
Each of the first guided body group and the second guided body group includes a first guided body that contacts a first surface that is a surface facing the first main direction of the guide rail, and the guide rail. A second guided body that contacts a second surface that is a surface facing the second main direction, and a third guided body that contacts a third surface that is a surface facing the first sub-direction of the guide rail; A fourth guided body that contacts a fourth surface that is a surface facing the second sub-direction of the guide rail, and a third guided body that is disposed at a different position in the main direction with respect to the third guided body. Article conveyance comprising: a fifth guided body that contacts a surface; and a sixth guided body that is disposed at a position different from the fourth guided body in the main direction and contacts the fourth surface apparatus. The support supports the bottom surface of the article from below,
The first guided body group is disposed below the upper end of the article supported by the first support part when the article is supported by the support body of the first support part.
The article conveying apparatus according to claim 1, wherein the second guided body group is disposed above a lower end of the second support part. The first guided body and the second guided body in the first guided body group are the third guided body, the fourth guided body, and the fifth guided body in the first guided body group. Located below the body and the sixth guided body,
The first guided body and the second guided body in the second guided body group are the third guided body, the fourth guided body, and the fifth guided body in the second guided body group. The article conveying apparatus according to claim 1, wherein the article conveying apparatus is located above a body and the sixth guided body. The guide rail includes a first main wall portion and a second main wall portion as main wall portions in a posture along the vertical direction and the sub direction, and is provided as a sub wall portion in a posture along the vertical direction and the main direction. A first sub-wall portion and a second sub-wall portion;
The first sub-wall portion includes the third surface,
The second sub-wall portion is disposed at a position that is separated from the first sub-wall portion in the first sub-direction and overlaps the first sub-wall portion when viewed in the sub-direction. With a fourth surface,
The first main wall portion is formed to protrude from the first sub wall portion in the first sub direction, and includes the first surface, the second surface, and the third surface,
The second main wall portion is disposed at a position that is separated from the first main wall portion in the first sub direction and overlaps the first main wall portion when viewed in the sub direction. The first surface, the second surface and the fourth surface are formed so as to protrude from the second sub-wall portion in the second sub-direction,
Each of the first guided body group and the second guided body group includes the first guided body that contacts the first surface of the first main wall portion, and the first guided body group. The first guided body that contacts one surface, the second guided body that contacts the second surface of the first main wall portion, and the second surface of the second main wall portion that contacts the second surface A second guided body, the third guided body in contact with the third surface of the first main wall, and the fifth guided body in contact with the third surface of the first subwall. The fourth guided body that contacts the fourth surface of the second main wall portion and the sixth guided body that contacts the fourth surface of the second sub-wall portion. Item conveying apparatus as described in any one of claim | item 1 -3. The third guided body and the fourth guided body are at least one of between the third guided body and the third surface and between the fourth guided body and the fourth surface. Are installed at intervals where gaps are formed,
The fifth guided body and the sixth guided body are at least one of between the fifth guided body and the third surface and between the sixth guided body and the fourth surface. The article conveying apparatus according to any one of claims 1 to 4, wherein the article conveying apparatus is installed at intervals at which gaps are formed. Each of the first guided body and the second guided body is constituted by a roller that is rotatable around an axis along the sub direction.
Each of the third guided body, the fourth guided body, the fifth guided body, and the sixth guided body is configured by a roller that is rotatable around an axis along the main direction. The article conveying apparatus according to any one of claims 1 to 5. Each of the third guided body, the fourth guided body, the fifth guided body, and the sixth guided body is compared to the first guided body and the second guided body, respectively. The article conveying apparatus according to claim 6, wherein the roller surface is made of a hard material.

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