CN111741911A - Conveying device - Google Patents
Conveying device Download PDFInfo
- Publication number
- CN111741911A CN111741911A CN201980015370.3A CN201980015370A CN111741911A CN 111741911 A CN111741911 A CN 111741911A CN 201980015370 A CN201980015370 A CN 201980015370A CN 111741911 A CN111741911 A CN 111741911A
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- CN
- China
- Prior art keywords
- holding
- article
- arrangement direction
- pair
- regulating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- 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
- H01L21/67703—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 between different workstations
- H01L21/67724—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 between different workstations by means of a cart or a vehicule
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- 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
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- 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
- B65G1/0457—Storage devices mechanical with suspended load carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
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- 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
- H01L21/67703—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 between different workstations
- H01L21/67706—Mechanical details, e.g. roller, belt
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- 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
- H01L21/67703—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 between different workstations
- H01L21/6773—Conveying cassettes, containers or carriers
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- 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
- H01L21/67703—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 between different workstations
- H01L21/67733—Overhead conveying
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- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0297—Wafer cassette
Abstract
The invention comprises a holding part (12) connected with a traveling part and used for holding an article (6), a rotating part used for rotating the holding part (12) and the article (6) held by the holding part (12), namely a holding article (6A), around a vertical axis along the vertical direction, a pair of limiting bodies (21) arranged for two sides of the holding article (6A) when viewed in the vertical direction, and a limiting body adjusting part (23) used for moving the pair of limiting bodies (21), a1 st regulating body (24) of the pair of regulating bodies (21) on the 1 st side (X1) in the arrangement direction is arranged to face the 1 st side surface (F1), a 2 nd regulating body (25) of the pair of regulating bodies (21) on the 2 nd side (X2) in the arrangement direction is arranged to face the 2 nd side surface (F2), and a regulating body regulating part (23) regulates a central position (S) which is the position of the center of the pair of regulating bodies (21) in the arrangement direction (X) according to the posture of holding the article (6A).
Description
Technical Field
The present invention relates to a conveying device including a traveling unit that travels along a track, a holding unit that is connected to the traveling unit and holds an article, and a turning unit that turns the article held by the holding unit around a vertical axis along a vertical direction.
Background
The following describes the background art. In the following description, the reference signs or names provided with parentheses are those in the prior art documents. A conventional example of this conveyance device is described in japanese patent application laid-open No. 2016 and 172607 (patent document 1). The conveying device of patent document 1 includes a traveling unit (22) that travels along a track, a holding unit (support mechanism 24) that is connected to the traveling unit (22) and holds an article, and a turning unit (rotation operation mechanism 27) that turns the holding unit around a vertical axis. In this conveying device, the holding portion is rotated by the rotating portion, and thereby the held article can be rotated about the vertical axis so that the held article, which is the article held by the holding portion, assumes a posture corresponding to the conveying target portion.
Further, as described in japanese patent application laid-open No. 2015-131702 (patent document 2), the conveying device includes a pair of stoppers (30) arranged along a direction in which the traveling portion travels. The pair of regulating bodies (30) are disposed so as to be separated into both sides of the article held by the holding portion (support mechanism 19) when viewed in the vertical direction, and even when the article held by the holding portion (support mechanism 19) shakes, the shaking of the article is regulated by the article contacting the regulating bodies (30).
Some of the articles include a held portion held by a holding portion, and the held portion is disposed so as to be offset from the center of the article in a plan view. In addition, when the held portion is disposed at the center of the article in a plan view, there are also articles in which the shape of the outer surface around the vertical axis is irregular. When such an article is held by the holding portion, the position of the outer surface of the article around the longitudinal axis changes according to the rotation angle of the holding portion around the longitudinal axis by the rotation portion. When such an article is to be conveyed, it is difficult to appropriately restrict the swing of the article by the pair of restricting bodies regardless of the swing angle of the holding portion by the swing portion.
Disclosure of Invention
Therefore, it is desirable to realize a conveying device capable of appropriately restricting the swing of the article regardless of the pivot angle of the holding portion.
In view of the above, the present invention provides a conveying device including a traveling unit that travels along a track, a holding unit that is connected to the traveling unit and holds an article, a rotating unit that rotates the holding unit and the article held by the holding unit around a vertical axis in a vertical direction, a pair of regulating bodies that are disposed so as to be separated into both sides of the held article when viewed in the vertical direction, a pair of regulating bodies that move the pair of regulating bodies, a position in which the pair of regulating bodies are aligned when viewed in the vertical direction, a position in which one side of the alignment direction is a 1 st side in the alignment direction and an opposite side thereof is a 2 nd side in the alignment direction, a position in which a center of the pair of regulating bodies in the alignment direction is a center position, and the held article, according to the shape of the rotation angle of the holding part based on the rotation part, the positions of the 1 st side surface facing the 1 st side in the arrangement direction and the 2 nd side surface facing the 2 nd side in the arrangement direction change, the 1 st limiting body in the 1 st side in the arrangement direction of the pair of limiting bodies is arranged opposite to the 1 st side surface, the 2 nd limiting body in the 2 nd side in the arrangement direction of the pair of limiting bodies is arranged opposite to the 2 nd side surface, and the limiting body adjusting part adjusts the central position according to the posture of the holding article.
According to this aspect, the holding portion is rotated by the rotating portion, whereby the holding article rotates around the longitudinal axis, the posture of the holding article changes, and the position of the holding article in the arrangement direction of the 1 st side surface and the 2 nd side surface changes. Therefore, according to this aspect, the regulating portion of the regulating body can arrange the pair of regulating bodies at positions corresponding to the 1 st side surface and the 2 nd side surface by regulating the center positions of the pair of regulating bodies in accordance with the posture of holding the article. Therefore, the pair of regulating bodies can be arranged at appropriate positions regardless of the rotation angle of the holding portion. Therefore, even when the article held by the holding portion shakes, the article comes into contact with the regulating body, and the shaking of the article can be suitably regulated.
Drawings
Fig. 1 is a side view of an article handling apparatus.
Fig. 2 is a top view of the article handling apparatus.
Figure 3 is a side view of an item carrier.
Fig. 4 is a control block diagram.
Fig. 5 is a view showing the 1 st regulating position of the pair of regulating bodies and the 1 st holding position of the holding portion.
Fig. 6 is a view showing the 2 nd regulating position of the pair of regulating bodies and the 2 nd holding position of the holding portion.
Fig. 7 is a view showing the 3 rd regulating position of the pair of regulating bodies and the 3 rd holding position of the holding portion.
Fig. 8 is a view showing the 4 th regulating position of the pair of regulating bodies and the 4 th holding position of the holding portion.
Fig. 9 is a view showing the 5 th restricting position of the pair of restricting bodies.
Detailed Description
1. Detailed description of the preferred embodiments
An embodiment of an article transport facility provided with a transport device will be described with reference to the drawings.
As shown in fig. 1 and 2, the article transport facility includes a track 1 provided near a ceiling, an article transport vehicle 2 corresponding to a transport device, and a processing device 3 for processing an article 6. A support table 4 for supporting the article 6 is provided at a position adjacent to the processing apparatus 3. The article transport vehicle 2 travels along the rail 1 to transport the article 6. In the present embodiment, the article 6 before being processed by the processing device 3 is conveyed from the conveyance source to the support base 4, and the article 6 after being processed by the processing device 3 is conveyed from the support base 4 to the conveyance destination.
[ article ]
In the present embodiment, the article 6 is a container capable of accommodating a plurality of plate-like contents. More specifically, the article 6 of this example is a container that accommodates a plurality of wafers, with a dicing frame mounted thereon. As shown in fig. 3, the article 6 includes a main body portion 7 for accommodating the contents and a flange portion 8 attached to an upper surface of the main body portion 7. As shown in fig. 5 to 9, the main body 7 is formed with an opening 9 for allowing the contents to enter and exit. In the description of the article 6, a direction in which the contents are put in and out is referred to as a depth direction D when viewed in the vertical direction Z, and a direction perpendicular to the depth direction D when viewed in the vertical direction is referred to as a width direction W.
In the present embodiment, the article 6 is formed in a square shape having the same width in the width direction W and the same width in the depth direction D when viewed in the vertical direction Z. The flange portion 8 is attached to the center of the body portion 7 in the width direction W and is attached to a position forward (the side located with respect to the central opening 9) of the center of the body portion 7 in the depth direction D. Here, the center position of the flange portion 8 when viewed in the vertical direction Z corresponds to a position of a vertical axis P1 that is a rotation axis when the flange portion is rotated by a rotation operation portion 18 to be described later. The longitudinal axis P1 (center of rotation) is the center of the article 6 in the depth direction D and is located on the front side of the article center P3 located at the center in the width direction W. As shown in fig. 1, the article 6 is conveyed to the support table 4 by the article transport vehicle 2 in a posture in which the opening 9 faces the processing device 3.
[ article transport vehicle ]
Next, the article transport vehicle 2 will be described. As shown in fig. 1 to 3, the direction in which the traveling unit 11 travels is referred to as an arrangement direction X, and a lateral direction Y is a direction orthogonal to the arrangement direction X when viewed in the vertical direction Z. One side in the arrangement direction X is referred to as an arrangement direction 1 st side X1, and the opposite side is referred to as an arrangement direction 2 nd side X2. One side in the lateral direction Y is referred to as a lateral direction 1 st side Y1, and the opposite side is referred to as a lateral direction 2 nd side Y2.
As shown in fig. 3, the article transport vehicle 2 includes a traveling portion 11 that travels along the track 1 on the track 1, a holding portion 12 that is connected to the traveling portion 11 and holds the article 6, and a housing portion 13 that is connected to the traveling portion 11 and forms a housing chamber 13C for housing the article 6. The holding portion 12 and the accommodating portion 13 are connected to the traveling portion 11 so as to be positioned below the rail 1.
The traveling unit 11 includes a traveling wheel 11A that rolls on the track 1 and a traveling motor 11B that rotationally drives the traveling wheel 11A. The traveling unit 11 is configured to travel along the track 1 by rotationally driving the traveling wheels 11A by driving the traveling motor 11B.
The holding portion 12 includes a pair of gripping claws 12A that are movable toward and away from each other in the horizontal direction, and a gripping motor 12B that moves the pair of gripping claws 12A toward and away from each other (see fig. 4). The holding unit 12 is configured to switch between a state in which the pair of gripping claws 12A grip the flange portion 8 of the article 6 and a state in which gripping by the pair of gripping claws 12A with respect to the flange portion 8 is released by moving the pair of gripping claws 12A closer to and away from each other by driving the pair of gripping motors 12B. In this way, the holding portion 12 is configured to hold the upper end portion of the article 6, more specifically, the flange portion 8 provided at the upper end portion of the article 6. Hereinafter, the article 6 held by the holding portion 12 will be referred to as a holding article 6A.
The housing portion 13 includes a 1 st wall portion 13A located on the 1 st side X1 in the arrangement direction with respect to the holding portion 12, and a 2 nd wall portion 13B located on the 2 nd side X2 in the arrangement direction with respect to the holding portion 12. The 1 st wall portion 13A and the 2 nd wall portion 13B are provided in an overlapping state when viewed in the arrangement direction X, and a housing chamber 13C is formed between the 1 st wall portion 13A and the 2 nd wall portion 13B.
As shown in fig. 3, the article transport vehicle 2 further includes a lifting operation portion 16 for lifting and lowering the holding portion 12 relative to the traveling portion 11, a sliding operation portion 17 for sliding the holding portion 12 relative to the traveling portion 11 in the lateral width direction Y, and a turning operation portion 18 for turning the holding portion 12 relative to the traveling portion 11 about a vertical axis P1 along the vertical direction Z.
The slide operation unit 17 includes an intermediate body 17A that is slidable in the lateral direction Y with respect to the traveling unit 11, and a slide motor 17B (see fig. 4) that slides the intermediate body 17A in the lateral direction Y. The slide operation portion 17 is configured to move the holding portion 12 and the held article 6A in the lateral width direction Y by driving the slide motor 17B to slide the intermediate rotating body 17A in the lateral width direction Y. The slide operation portion 17 corresponds to a holding adjustment portion for adjusting the position of the holding portion 12.
The swing operation unit 18 includes a swing body 18A supported rotatably about a vertical axis P1 with respect to the intermediate swing body 17A, and a swing motor 18B (see fig. 4) for swinging the swing body 18A about a vertical axis P1. The turning operation portion 18 is configured to turn the turning body 18A by driving of the turning motor 18B, thereby turning the holding portion 12 and the held article 6A around the vertical axis P1. The turning operation portion 18 corresponds to a turning portion that turns the holding portion 12 and the held article 6A around the vertical axis P1.
The elevation operation section 16 includes a winding body 16A supported by the rotation body 18A, a winding tape 16B wound around the winding body 16A and having the holding section 12 coupled to the distal end portion, and an elevation motor 16C (see fig. 4) for rotationally driving the winding body 16A. The elevation operation unit 16 rotates the winding body 16A in the normal rotation direction by driving the elevation motor 16C to wind the winding tape 16B, thereby raising the holding unit 12 and the held article 6A. The elevation operation unit 16 rotates the winding body 16A in the reverse direction by driving the elevation motor 16C to pay out the winding tape 16B, thereby lowering the holding unit 12 and the held article 6A. The elevation operation unit 16 is configured to move the holding unit 12 and the holding article 6A up and down in this manner.
The elevation operation unit 16 elevates the holding unit 12 as described above, thereby elevating the holding unit 12 to an elevated position (see fig. 1 and 3) near the traveling unit 11 and a lower position (see fig. 1) below the elevated position. The lifting motor 16C corresponds to a lifting drive unit that lifts and lowers the holding unit 12 to the raised position and the lowered position.
As shown in fig. 1 and 3, the holding portion 12 holds the article 6A in the storage chamber 13C in the raised position. The article carrier 2 travels with the holding portion 12 at the raised position. Further, the article transport vehicle 2 lowers the holding portion 12 to the lowered position from the state where the held article 6A is accommodated in the accommodation chamber 13C, thereby placing the held article 6A on the support base 4. Further, after the holding portion 12 lowered to the lowered position holds the article 6 on the support table 4, the article transport vehicle 2 raises the holding portion 12 to the raised position, thereby accommodating the held article 6A in the accommodating chamber 13C.
The holding portion 12 holds the flange portion 8 of the article 6. The flange 8 of the article 6 is attached to the center of the body 7 in the width direction W and is attached to the front side (opening 9 side) of the center of the body 7 in the depth direction D. Therefore, the held article 6A has a shape in which the positions in the arrangement direction X of the 1 st side surface F1 facing the 1 st side X1 and the 2 nd side surface F2 facing the 2 nd side X2 in the arrangement direction are changed according to the rotation angle of the holding unit 12 by the rotation operation unit 1.
With respect to the carrier reference position P2 which is a reference of the arrangement direction X and the lateral width direction Y of the article carrier 2, the distance between the carrier reference position P2 and the 1 st side surface F1 in the arrangement direction X is set to the 1 st distance L1, and the distance between the carrier reference position P2 and the 2 nd side surface F2 in the arrangement direction X is set to the 2 nd distance L2. In the present embodiment, the carrier reference position P2 is the center position in the arrangement direction X of the storage chamber 13C of the article carrier 2 and the center position in the lateral width direction Y of the regulating body 21. When viewed in the vertical direction Z, the center portion of the housing chamber 13C coincides with the truck reference position P2.
As shown in fig. 5, in a state where the posture of holding the article 6A is the posture (the 1 st posture) in which the opening 9 faces the 2 nd side X2 in the arrangement direction, the 1 st distance L1 is longer than the 2 nd distance L2. As shown in fig. 6, in a state where the posture of holding the article 6A is the posture (2 nd posture) in which the opening 9 faces the 1 st side X1 in the arrangement direction, the 1 st distance L1 is shorter than the 2 nd distance L2. When the posture of holding article 6A is set to the posture (3 rd posture) in which hatch 9 is directed to the 1 st side Y1 in the lateral width direction as shown in fig. 7 and the posture of holding article 6A is set to the posture (4 th posture) in which hatch 9 is directed to the 2 nd side Y2 in the lateral width direction as shown in fig. 8, 1 st distance L1 is equal to 2 nd distance L2.
[ limiter ]
The article transport vehicle 2 includes, in addition to the above description, a pair of regulating bodies 21 for regulating the swing of the held article 6A, and a pair of adjusting motors 23 for moving the pair of regulating bodies 21. Therefore, the operation of the regulating body 21 will be described next, but at this time, as shown in fig. 3, the description will be made based on the state where the holding portion 12 is at the upper position.
The pair of regulating bodies 21 are disposed so as to hold both sides of the article 6A when viewed in the vertical direction Z. Here, the article transport vehicle 2 includes, as the pair of stoppers 21, the 1 st stopper 24 and the 2 nd stopper 25 positioned on the 2 nd side X2 in the arrangement direction with respect to the 1 st stopper 24. In the present embodiment, the surface facing the 1 st side X1 in the arrangement direction of the holding article 6A is referred to as the 1 st side F1, and the surface facing the 2 nd side X2 in the arrangement direction of the holding article 6A is referred to as the 2 nd side F2, and the 1 st regulating body 24 includes the 1 st side facing portion 21A disposed to face the 1 st side F1 of the holding article 6A, and the 1 st lower surface facing portion 22A disposed to face the lower surface F3 of the holding article 6A. The 2 nd stopper 25 includes a 2 nd side surface facing portion 21B disposed to face the 2 nd side surface F2 of the retained article 6A, and a 2 nd lower surface facing portion 22B disposed to face the lower surface F3 of the retained article 6A.
More specifically, the 1 st side surface facing portion 21A of the 1 st limiter 24 is disposed so as to face the 1 st side surface F1. The 1 st side surface facing portion 21A extends from below the lower end of the 1 st side surface F1 of the article 6A to above the lower end of the 1 st side surface F1. The 2 nd side surface facing portion 21B of the 2 nd stopper 25 is disposed to face the 2 nd side surface F2. The 2 nd side surface facing portion 21B extends from below the lower end of the 2 nd side surface F2 of the article 6A to above the lower end of the 2 nd side surface F2.
The 1 st lower surface facing portion 22A and the 2 nd lower surface facing portion 22B are located below the lower surface F3 of the article 6A to be held and spaced apart from the lower surface F3. Here, the 1 st lower surface facing portion 22A is connected to the lower end of the 1 st side surface facing portion 21A, and is disposed to face the portion of the lower surface F3 of the holding article 6A on the 1 st side surface F1 side. The 2 nd lower surface facing portion 22B is connected to the lower end of the 2 nd side surface facing portion 21B, and is disposed to face the portion on the 2 nd side surface F2 side of the lower surface F3 of the holding article 6A.
In the present embodiment, the 1 st side surface facing portion 21A and the 2 nd side surface facing portion 21B are plate-like bodies oriented in the lateral width direction Y and the vertical direction Z. The 1 st lower surface facing portion 22A and the 2 nd lower surface facing portion 22B are each formed of a plate-like body oriented in the arrangement direction X and the lateral width direction Y.
The 1 st side surface facing portion 21A is provided to stand on the 1 st lower surface facing portion 22A at a portion closer to the 1 st side X1 in the array direction than an end portion of the 2 nd side X2 in the array direction. In the state where the 1 st side surface facing portion 21A is in contact with the 1 st side surface F1 of the retained article 6A, the portion of the 1 st lower surface facing portion 22A on the 2 nd side X2 in the arrangement direction is located at the 2 nd side X2 in the arrangement direction with respect to the 1 st side surface F1 of the retained article 6A.
The 2 nd side surface facing portion 21B is provided upright on the 2 nd lower surface facing portion 22B at a position closer to the 2 nd side X2 in the array direction than the end portion on the 1 st side X1 in the array direction. In the state where the 2 nd side surface facing portion 21B is in contact with the 2 nd side surface F2 of the retained article 6A, the portion of the 2 nd lower surface facing portion 22B on the 1 st side X1 in the arrangement direction is positioned on the 1 st side X1 in the arrangement direction with respect to the 2 nd side surface F2 of the retained article 6A.
The article transport vehicle 2 includes, as the pair of adjustment motors 23, a 1 st adjustment motor 23A for moving the 1 st regulating body 24 in the arrangement direction X and a 2 nd adjustment motor 23B for moving the 2 nd regulating body 25 in the arrangement direction X. The 1 st adjustment motor 23A is provided in the 1 st wall portion 13A, and the 2 nd adjustment motor 23B is provided in the 2 nd wall portion 13B. The 1 st adjustment motor 23A moves the 1 st regulating body 24 in the arrangement direction X to move the 1 st side surface facing portion 21A and the 1 st lower surface facing portion 22A in the arrangement direction X integrally. The 2 nd adjustment motor 23B moves the 2 nd regulating body 25 in the arrangement direction X to move the 2 nd side surface facing portion 21B and the 2 nd lower surface facing portion 22B in the arrangement direction integrally.
Here, the position of the center of the pair of regulating bodies 21 in the arrangement direction X is set as the center position S. More specifically, the position of the midpoint of the distance between the pair of stoppers 21 (i.e., the 1 st side surface facing portion 21A and the 2 nd side surface facing portion 21B) facing the arrangement direction X is set as the center position S. The pair of adjustment motors 23 can adjust the center position S of the pair of regulating bodies 21 in the arrangement direction X by moving the pair of regulating bodies 21 in the arrangement direction X, respectively. The pair of adjustment motors 23 can also adjust the interval between the pair of regulating bodies 21 in the arrangement direction X by moving the pair of regulating bodies 21 in the arrangement direction X, respectively. The stopper adjusting unit for moving the pair of stoppers 21 includes a mechanism for coupling the pair of adjusting motors 23 and the adjusting motors 23 to the stoppers 21.
[ Regulation of the restraining body ]
As shown in fig. 4, the article transport vehicle 2 includes a control device H that controls the article transport vehicle 2 based on a command from an upper controller outside the figure. The control device H controls the pair of adjustment motors 23 so as to adjust the center position S of the pair of regulating bodies 21 in the arrangement direction X in accordance with the posture of the article 6A to be held. The controller H controls the sliding motor 17B to adjust the position of the holding portion 12 in the lateral width direction Y in accordance with the posture of the article 6A to be held. The slide operation portion 17 having the slide motor 17B adjusts the position of the holding portion 12 so that the held article 6A is accommodated within the range of the transverse width direction Y of the accommodation chamber 13C.
In the present embodiment, the posture for holding the article 6A when the article carrier 2 travels includes a 1 st posture (see fig. 5), a 2 nd posture (see fig. 6) rotated 180 ° from the 1 st posture, a 3 rd posture (see fig. 7) rotated 90 ° clockwise from the 1 st posture, and a 4 th posture (see fig. 8) rotated 90 ° counterclockwise from the 1 st posture. The posture of the holding article 6A is changed by rotating the holding portion 12 about the vertical axis P1 by the rotating operation portion 18. That is, in the present embodiment, the turning operation portion 18 is configured to turn the holding portion 12 and the held article 6A every 90 ° around the vertical axis P1.
As shown in fig. 5, when the article 6A is held in the 1 st posture, the control device H controls the pair of adjustment motors 23 and the slide motor 17B so that the pair of regulating bodies 21 are moved to the 1 st regulating position and the holding portion 12 is moved to the 1 st holding position. The 1 st regulating position is a position where the center position S of the pair of regulating bodies 21 is located on the 1 st side X1 in the aligning direction with respect to the cart reference position P2, the 1 st regulating body 24 contacts the 1 st side F1, and the 2 nd regulating body 25 contacts the 2 nd side F2. The 1 st holding position is the same position as the carrier reference position P2 as the vertical axis P1 in both the arrangement direction X and the lateral width direction Y. The 1 st holding position is located on the 1 st side X1 in the arrangement direction with respect to the vehicle reference position P2 in the arrangement direction X, and the article center P3 of the article 6 in the 1 st posture is located at the same position as the vehicle reference position P2 in the lateral width direction Y.
As shown in fig. 6, when the article 6A is held in the 2 nd posture, the control device H controls the pair of adjustment motors 23 and the slide motor 17B so that the pair of regulating bodies 21 are moved to the 2 nd regulating position and the holding portion 12 is moved to the 2 nd holding position. The 2 nd regulating position is a position where the center position S of the pair of regulating bodies 21 is located on the 2 nd side X2 in the aligning direction from the carrier reference position P2, the 1 st regulating body 24 contacts the 1 st side F1, and the 2 nd regulating body 25 contacts the 2 nd side F2. The 2 nd holding position is the same position as the carrier reference position P2 as the vertical axis P1 in both the arrangement direction X and the lateral width direction Y. The 2 nd holding position is located on the 2 nd side X2 in the arrangement direction with respect to the vehicle reference position P2 in the arrangement direction X, and the article center P3 is located at the same position as the vehicle reference position P2 in the lateral width direction Y. In the present embodiment, the 2 nd holding position is the same as the 1 st holding position.
As shown in fig. 7, when the article 6A is held in the 3 rd posture, the control device H controls the pair of adjustment motors 23 and the slide motor 17B so that the pair of regulating bodies 21 are moved to the 3 rd regulating position and the holding portion 12 is moved to the 3 rd holding position. The 3 rd restricting position is a position where the center position S of the pair of restricting bodies 21 is located at the cart reference position P2, the 1 st restricting body 24 contacts the 1 st side surface F1, and the 2 nd restricting body 25 contacts the 2 nd side surface F2. The 3 rd holding position is a position where the vertical axis P1 is the same as the cart reference position P2 in the arrangement direction X, and the vertical axis P1 is the 1 st side Y1 in the lateral width direction Y with respect to the cart reference position P2. In the 3 rd holding position, the article center P3 is the same as the carrier reference position P2 in both the arrangement direction X and the lateral width direction Y. The 3 rd holding position is a position on the 1 st side Y1 in the lateral width direction with respect to the 1 st and 2 nd holding positions.
As shown in fig. 8, when the article 6A is held in the 4 th posture, the control device H controls the pair of adjustment motors 23 and the slide motor 17B so that the pair of regulating bodies 21 are moved to the 4 th regulating position and the holding portion 12 is moved to the 4 th holding position. The 4 th restricting position is a position where the center position S of the pair of restricting bodies 21 is located at the cart reference position P2, the 1 st restricting body 24 contacts the 1 st side surface F1, and the 2 nd restricting body 25 contacts the 2 nd side surface F2. In the present embodiment, the 4 th holding position is the same position as the 3 rd regulating position in the arrangement direction X. In addition, the 4 th holding position is a position in which the vertical axis P1 is the same as the cart reference position P2 in the arrangement direction X, and the vertical axis P1 is the 2 nd side Y2 in the lateral width direction Y with respect to the cart reference position P2. In the 4 th holding position, the article center P3 is the same as the carrier reference position P2 in both the arrangement direction X and the lateral width direction Y. The 4 th holding position is a position on the 2 nd side Y2 in the lateral width direction with respect to the 1 st holding position and the 2 nd holding position.
In this way, the control device H controls the pair of adjustment motors 23 so that the positions of the pair of regulating bodies 21 in the arrangement direction X and the positions of the pair of regulating bodies 21 are moved to 3 positions of the 1 st regulating position, the 2 nd regulating position, and the 3 rd regulating position (the same applies to the 4 th regulating position) in accordance with the posture of the article 6A to be held. The controller H controls the slide motor 17B so that the position in the lateral direction Y of the holding portion 12 is moved to 3 positions, i.e., the 1 st holding position (the 2 nd holding position is also the same), the 3 rd holding position, and the 4 th holding position, in accordance with the posture of the article 6A to be held. Further, when the holding unit 12 is lowered from the raised position to the lowered position, the control device H controls the pair of adjustment motors 23, the slide motor 17B, and the rotation motor 18B to move the pair of regulating bodies 21 to the 5 th regulating position at an interval wider than the length in the arrangement direction X of the held articles 6A, as shown in fig. 9, and the position and posture in the lateral direction Y of the holding unit 12 correspond to the position and posture corresponding to the conveying target portion such as the conveying support 4 that holds the articles 6A. As a result, the holding article 6A is accommodated in the range of the transverse width direction Y of the accommodation chamber 13C in any of the 1 st posture to the 4 th posture.
2. Other embodiments
Next, another embodiment of the conveying device will be described.
(1) In the above embodiment, the restriction positions (1 st to 4 th restriction positions) of the pair of restrictions 21 are set to the positions where the pair of restrictions 21 contact the held article 6A, but the present invention is not limited thereto. The restricting positions of the pair of stoppers 21 may be set such that the 1 st stopper 24 faces the 1 st side surface F1 away from each other and the 2 nd stopper 25 faces the 2 nd side surface F2 away from each other.
(2) In the above embodiment, the 1 st limiter 24 has been described as having the 1 st side surface facing portion 21A and the 1 st lower surface facing portion 22A, but the 1 st limiter 24 may have only the 1 st side surface facing portion 21A of the 1 st side surface facing portion 21A and the 1 st lower surface facing portion 22A. Similarly, the 2 nd limiter 25 may be configured to include only the 2 nd side surface facing portion 21B out of the 2 nd side surface facing portion 21B and the 2 nd lower surface facing portion 22B.
(3) In the above embodiment, the case where the shape of the article 6 viewed in the vertical direction Z is a square shape having the length in the width direction W and the length in the depth direction D equal to each other has been described as an example, but the invention is not limited thereto. The shape of the article 6 viewed in the vertical direction Z may be other shapes, and for example, the shape of the article 6 viewed in the vertical direction Z may be a rectangular shape having a length in the width direction W different from a length in the depth direction D, such as a rectangular shape, or various polygonal shapes such as a triangular shape, a hexagonal shape, or an octagonal shape. Further, a part of the surface may be an irregularly shaped article around the outer surface of the vertical axis P1, such as a shape protruding in an arc shape or a trapezoidal shape.
(4) In the above embodiment, the configuration in which the center position S of the pair of regulating bodies 21 in the arrangement direction X is adjusted in accordance with the posture of the held article 6A has been described as an example, but the present invention is not limited thereto. For example, when the shape of the article 6 as viewed in the vertical direction Z is a rectangular shape, it is preferable to adjust the interval between the pair of regulating bodies 21 in the arrangement direction X in addition to the adjustment of the center position S of the pair of regulating bodies 21 in the arrangement direction X, depending on the posture of holding the article 6A. Specifically, it is preferable that the interval between the pair of regulating bodies 21 at the 1 st and 2 nd regulating positions and the interval between the pair of regulating bodies 21 at the 3 rd and 4 th regulating positions are different.
(5) In the above embodiment, the arrangement direction X is a direction along the direction in which the traveling unit 11 travels, but a direction intersecting with (e.g., orthogonal to) the direction in which the traveling unit 11 travels may be the arrangement direction X when viewed in the vertical direction Z.
(6) In the above embodiment, the conveying device is the article carrier 2 that travels along the rail 1 suspended from the ceiling, but the conveying device may include the traveling portion 11 that travels along the rail 1 on the rail 1 and the holding portion 12 that holds the article 6, and may be another device such as a stacker crane, for example.
(7) In the above embodiment, the description has been given taking as an example a configuration in which the turning operation portion 18 turns the holding portion 12 and the held article 6A every 90 ° around the vertical axis P1. However, the rotation operation unit 18 is not limited to this, and may be configured to rotate the holding unit 12 and the held article 6A every 180 °. Alternatively, the swing operation unit 18 may be configured to swing the holding unit 12 and the article 6A to be held at an angle other than the above-described angle of 45 ° or 60 °.
(8) In the above embodiment, a configuration in which the slide operation portion 17 as the holding adjustment portion adjusts the position of the holding portion 12 in the lateral width direction Y in accordance with the pivot angle of the holding portion 12 by the pivot operation portion 18 has been described as an example. However, the present invention is not limited to this, and the sliding operation unit 17 may be configured to maintain the position of the holding unit 12 at a constant position regardless of the rotation angle of the holding unit 12 by the rotation operation unit 18, or the sliding operation unit 17 may be configured to adjust the position of the holding unit 12 regardless of the rotation angle of the holding unit 12.
(9) The configurations disclosed in the above embodiments can be combined with the configurations disclosed in the other embodiments as long as no contradiction occurs. The embodiments disclosed in the present specification are merely examples in all aspects, regarding other configurations. Therefore, various changes can be made as appropriate without departing from the spirit and scope of the present application.
3. Summary of the above embodiments
The outline of the conveying apparatus described above will be described below.
The conveying device comprises a traveling part traveling along a track, a holding part connected to the traveling part and holding an article, a rotating part rotating the holding part and the article held by the holding part around a vertical axis in a vertical direction, a pair of regulating bodies disposed so as to be divided into both sides of the held article when viewed in the vertical direction, and a regulating part moving the pair of regulating bodies, wherein the direction in which the pair of regulating bodies are arranged when viewed in the vertical direction is set as an arrangement direction, one side of the arrangement direction is set as an arrangement direction 1 side, the opposite side thereof is set as an arrangement direction 2 side, the position of the center of the pair of regulating bodies in the arrangement direction is set as a center position, and the held article is formed by rotating the holding part by the rotating part at a rotation angle, a shape in which positions in the arrangement direction change between a 1 st side surface facing a 1 st side in the arrangement direction and a 2 nd side surface facing a 2 nd side in the arrangement direction, a 1 st regulating body of the pair of regulating bodies located on the 1 st side in the arrangement direction is disposed to face the 1 st side surface, a 2 nd regulating body of the pair of regulating bodies located on the 2 nd side in the arrangement direction is disposed to face the 2 nd side surface, and the regulating body regulating portion regulates the center position in accordance with a posture of the holding article.
According to this aspect, the holding portion is rotated by the rotating portion, whereby the holding article rotates around the longitudinal axis, the posture of the holding article changes, and the position of the holding article in the arrangement direction of the 1 st side surface and the 2 nd side surface changes. Therefore, according to this aspect, the regulating portion of the regulating body can arrange the pair of regulating bodies at positions corresponding to the 1 st side surface and the 2 nd side surface by regulating the center positions of the pair of regulating bodies in accordance with the posture of holding the article. Therefore, the pair of regulating bodies can be arranged at appropriate positions regardless of the rotation angle of the holding portion. Therefore, even when the article held by the holding portion shakes, the article comes into contact with the regulating body, and the shaking of the article can be suitably regulated.
Here, it is preferable that the apparatus further comprises a holding adjustment unit that adjusts a position of the holding unit in a direction intersecting the arrangement direction when viewed in a vertical direction, based on a pivot angle of the holding unit based on the pivot unit.
According to this aspect, even when the holding portion rotates to change the posture of the article to be held, and the article to be held is disposed at a position deviated from the traveling portion in the direction intersecting the arrangement direction, the position of the holding portion is adjusted by the holding adjustment portion, whereby the deviation of the position of the article to be held with respect to the traveling portion can be reduced. Therefore, the traveling of the traveling section is easily performed appropriately.
Preferably, the arrangement direction is a direction along a direction in which the traveling unit travels, a direction orthogonal to the arrangement direction when viewed in a vertical direction is a lateral width direction, and the holding adjustment unit moves the holding unit in the lateral width direction.
According to this aspect, even when the holding portion rotates to change the posture of the article to be held, and the article to be held is disposed at a position deviated from the traveling portion in the lateral width direction, the position of the holding portion is adjusted by the holding adjustment portion, whereby the deviation of the position of the article to be held in the lateral width direction with respect to the traveling portion can be reduced. Therefore, the travel of the traveling section is facilitated to be appropriately performed, and the possibility that the held article interferes with the installation object provided on both sides in the lateral width direction with respect to the travel path during the travel of the traveling section can be reduced.
Preferably, the article storage device further includes an accommodating portion forming an accommodating chamber for accommodating the article to be held, and the holding adjustment portion adjusts a position of the holding portion so that the article to be held is located within the range of the accommodating chamber in the lateral width direction.
According to this aspect, even when the article is held at a position offset in the lateral width direction with respect to the central portion in the lateral width direction of the storage chamber by changing the posture of the article held by the holding portion by rotating the holding portion, the article can be stored in the range in the lateral width direction of the storage chamber by adjusting the position of the holding portion by the holding adjustment portion. Therefore, the held article can be prevented from protruding in the lateral width direction from the accommodating portion. Therefore, during the travel of the traveling section, the possibility of interference between the holding article and the articles disposed on both sides in the lateral width direction with respect to the travel path can be reduced.
Preferably, the holding portion is configured to hold an upper end portion of an article, the 1 st regulating body includes a 1 st side surface facing portion disposed to face the 1 st side surface of the holding article and a 1 st lower surface facing portion disposed to face a lower surface of the holding article, and the 2 nd regulating body includes a 2 nd lower surface facing portion disposed to face a lower surface of the holding article and a 2 nd side surface facing portion disposed to face the lower surface of the holding article.
According to this aspect, the side surface of the article is in contact with the 1 st side surface facing portion and the 2 nd side surface facing portion, whereby the article held by the holding portion can be restrained from shaking. Further, even when the holding of the article by the holding portion is released, the article can be received from below by the 1 st lower surface facing portion and the 2 nd lower surface facing portion, and therefore the article can be prevented from falling. Further, since the 1 st lower surface facing portion and the 2 nd lower surface facing portion can adjust the center position in the arrangement direction in accordance with the posture of the held article by the regulating body adjusting portion, the held article can be appropriately suppressed from falling regardless of the posture of the held article which changes by the rotation of the holding portion.
Preferably, the holding portion is located below the rail, and the vehicle further includes a lifting/lowering drive portion that lifts and lowers the holding portion to a raised position near the traveling portion and a lowered position below the raised position, the 1 st regulating body is disposed to face the 1 st side surface in a state where the holding portion is located at the raised position, and the 2 nd regulating body is disposed to face the 2 nd side surface in a state where the holding portion is located at the raised position.
According to this aspect, the conveying device can convey the article downward by moving the holding portion from the raised position to the lowered position while the holding portion is at the raised position. Further, when the traveling unit is caused to travel, the swinging of the article can be appropriately restricted by the pair of restricting bodies.
Industrial applicability
The technology of the present application can be used in a conveying device including a travel unit that travels along a track, a holding unit that is connected to the travel unit and holds an article, and a turning unit that turns the article held by the holding unit around a vertical axis in the vertical direction.
Description of the reference numerals
1: track
2: goods van (carrying device)
6: article with a cover
6A: article holding device
11: traveling part
12: holding part
13: accommodating part
13C: containing chamber
17B: motor for sliding (holding adjusting part)
18: rotating operation part (rotating part)
21: limiting body
21A: 1 st side surface facing portion
21B: 2 nd side surface facing portion
22A: 1 st lower surface facing portion
22B: 2 nd lower surface facing portion
23: adjusting motor (regulating part of limiter)
24: 1 st limiter
25: 2 nd limiter
F1: side 1
F2: side 2
F3: lower surface
P1: longitudinal axis
S: central location
X: direction of arrangement
X1: the 1 st side in the arrangement direction
X2: the 2 nd side of the arrangement direction
Z: the vertical direction.
Claims (6)
1. A conveying device comprises a traveling unit, a holding unit, a rotating unit, a pair of restricting units, and a restricting unit adjusting unit,
the advancing part advances along the track,
the holding part is connected with the advancing part and holds the article,
the turning part turns the holding part and the article held by the holding part around a vertical axis in the vertical direction,
the pair of regulating bodies are disposed so as to be separated into both sides of the article to be held when viewed in the vertical direction,
the regulating part of the restricting body moves a pair of the restricting bodies,
the arrangement direction of the pair of regulating bodies is defined as an arrangement direction, one side of the arrangement direction is defined as a 1 st side in the arrangement direction, the opposite side thereof is defined as a 2 nd side in the arrangement direction, and the position of the center of the pair of regulating bodies in the arrangement direction is defined as a center position,
the article to be held has a shape in which the positions in the arrangement direction of a 1 st side surface facing a 1 st side in the arrangement direction and a 2 nd side surface facing a 2 nd side in the arrangement direction change according to a turning angle of the holding portion by the turning portion,
the 1 st limiter located on the 1 st side in the arrangement direction among the pair of limiters is disposed so as to face the 1 st side,
the 2 nd limiter located on the 2 nd side in the arrangement direction among the pair of limiters is disposed so as to face the 2 nd side surface,
the regulating part regulates the central position according to the posture of the article.
2. The handling device according to claim 1,
the apparatus further includes a holding adjustment unit that adjusts a position of the holding unit in a direction intersecting the alignment direction when viewed in a vertical direction, based on a rotation angle of the holding unit based on the rotation unit.
3. Handling device according to claim 2,
the arrangement direction is a direction along the direction in which the traveling section travels,
the direction perpendicular to the arrangement direction when viewed in the vertical direction is set as the lateral width direction,
the holding adjustment portion moves the holding portion in the lateral width direction.
4. Handling device according to claim 3,
further comprises an accommodating part forming an accommodating chamber for accommodating the holding articles,
the holding adjustment part adjusts the position of the holding part so that the holding article is accommodated in the range of the transverse width direction of the accommodating chamber.
5. Handling device according to any of claims 1 to 4,
the holding part is configured to hold an upper end part of the article,
the 1 st regulating body includes a 1 st side surface facing portion disposed to face the 1 st side surface of the holding article, and a 1 st lower surface facing portion disposed to face the lower surface of the holding article,
the 2 nd regulating body includes a 2 nd side surface facing portion disposed to face the 2 nd side surface of the holding article, and a 2 nd lower surface facing portion disposed to face the lower surface of the holding article.
6. Handling device according to any of the claims 1 to 5,
the holding part is located at a position lower than the rail,
further comprises a lifting drive part for lifting the holding part to a lifting position near the advancing part and a lowering position below the lifting position,
the 1 st regulating body is disposed to face the 1 st side surface in a state where the holding portion is at the raised position,
the 2 nd regulating body is disposed to face the 2 nd side surface in a state where the holding portion is at the raised position.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018-042066 | 2018-03-08 | ||
| JP2018042066A JP6939651B2 (en) | 2018-03-08 | 2018-03-08 | Transport device |
| PCT/JP2019/008274 WO2019172155A1 (en) | 2018-03-08 | 2019-03-04 | Transport device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111741911A true CN111741911A (en) | 2020-10-02 |
| CN111741911B CN111741911B (en) | 2023-01-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201980015370.3A Active CN111741911B (en) | 2018-03-08 | 2019-03-04 | Conveying device |
Country Status (5)
| Country | Link |
|---|---|
| JP (1) | JP6939651B2 (en) |
| KR (1) | KR102513293B1 (en) |
| CN (1) | CN111741911B (en) |
| TW (1) | TWI799528B (en) |
| WO (1) | WO2019172155A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7238733B2 (en) * | 2019-11-07 | 2023-03-14 | 株式会社ダイフク | Goods transport equipment |
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| JPH11139758A (en) * | 1997-11-12 | 1999-05-25 | Shinko Electric Co Ltd | Overhead conveying vehicle |
| CN1413903A (en) * | 2001-10-22 | 2003-04-30 | 株式会社大福 | Transporting equipment |
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| JP2015131702A (en) * | 2014-01-10 | 2015-07-23 | 株式会社ダイフク | Transfer device |
| CN105722769A (en) * | 2013-11-20 | 2016-06-29 | 株式会社大福 | Linear motion-rotational motion device |
| JP2016172607A (en) * | 2015-03-16 | 2016-09-29 | 株式会社ダイフク | Article conveyance facility and inspection jig |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02300091A (en) * | 1989-05-16 | 1990-12-12 | Toshiba Corp | Lifting position control device for movable crane |
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2018
- 2018-03-08 JP JP2018042066A patent/JP6939651B2/en active Active
-
2019
- 2019-03-04 KR KR1020207022111A patent/KR102513293B1/en active IP Right Grant
- 2019-03-04 WO PCT/JP2019/008274 patent/WO2019172155A1/en active Application Filing
- 2019-03-04 CN CN201980015370.3A patent/CN111741911B/en active Active
- 2019-03-07 TW TW108107625A patent/TWI799528B/en active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH11139758A (en) * | 1997-11-12 | 1999-05-25 | Shinko Electric Co Ltd | Overhead conveying vehicle |
| CN1413903A (en) * | 2001-10-22 | 2003-04-30 | 株式会社大福 | Transporting equipment |
| JP2003128381A (en) * | 2001-10-22 | 2003-05-08 | Daifuku Co Ltd | Conveying facility |
| CN1572709A (en) * | 2003-05-20 | 2005-02-02 | 株式会社大福 | Transport apparatus |
| CN101353109A (en) * | 2007-07-23 | 2009-01-28 | 日本阿西斯特技术株式会社 | Transporting apparatus, transporting system, and elongation mechanism |
| CN105722769A (en) * | 2013-11-20 | 2016-06-29 | 株式会社大福 | Linear motion-rotational motion device |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP6939651B2 (en) | 2021-09-22 |
| CN111741911B (en) | 2023-01-17 |
| TW201943638A (en) | 2019-11-16 |
| WO2019172155A1 (en) | 2019-09-12 |
| JP2019156516A (en) | 2019-09-19 |
| KR20200128517A (en) | 2020-11-13 |
| TWI799528B (en) | 2023-04-21 |
| KR102513293B1 (en) | 2023-03-22 |
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