JP5278749B2 - Article conveying device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an article carrying device capable of accurately adjusting a projection quantity so as to obtain a projection quantity corresponding to a dislocation quantity from the reference position of an article in the protruding-retreating direction of a placing body. <P>SOLUTION: This article carrying device is provided with the placing body connected to a rocking body rockably operated by a driving means, a driving quantity detecting means and an operation control means, and is constituted so that an article state detecting sensor for detecting a protruding-retreating dislocation quantity from the reference position of the article is arranged in the placing body, and the operation control means determines the protruding-retreating dislocating quantity based on the detecting information of the article state detecting sensor and the driving quantity detecting means, and when controlling protruding-retreating operation based on the detecting information of the driving quantity detecting means so that the placing body is positioned in a correcting position dislocated by the protruding-retreating dislocation quantity from the reference position, a driving quantity of a driving means is determined by converting a protruding-retreating quantity into a driving quantity by a converting unit protruding-retreating quantity R(ON) per unit driving quantity of the driving means on a position in the protruding-retreating direction of the placing body in the sensor detecting timing CNT(ON). <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention is connected to a moving body that is moved along a moving path and a swinging end side of a swinging body that is swung around a swinging axis by a driving means provided on the moving body side, In conjunction with the swinging operation of the swinging body by the driving means, it moves between the retracted position for movement located on the moving body and the protruding position for transfer located on the outer side of the moving body. An article mounting support body that is operated and can be moved up and down, a drive amount detection means that detects a drive amount of the drive means, and an article for an article support portion positioned along the movement path The movement of the moving body is controlled so as to move the moving body to the transfer stop position, and the moving body is supported by the article support portion in a state of stopping at the article transfer stop position. As described above, the article is taken out or the article support part is wholesaled. An operation control means for controlling a body exit / retreat operation and a lifting / lowering operation is provided, and a displacement amount that is a displacement amount from a reference position in a retracting direction of the placing body for the article supported by the article support portion. In the state where the article state detection sensor for detecting the object detects the object to be detected provided in the article when the placement body protrudes from the retraction position by a preset reference protrusion amount, When the operation control means is provided on the mounting body and causes the mounting body to protrude from the retracted position by the reference protruding amount, the output control unit is configured to output the output based on detection information of the article state detection sensor and the driving amount detecting means. Detection of the driving amount detection means so as to determine the amount of displacement, and to position the mounting body with respect to a correction position that is shifted from the reference position in the direction of withdrawal by the amount of displacement in the direction of withdrawal. Affection It relates configured article carrying apparatus to control projecting and retracting operation of the pre-described mounting body based on.

  The article conveying apparatus as described above is applied to, for example, an automatic warehouse facility or a factory conveying facility, and the operation control unit controls the operation of the moving body and the mounting body, thereby storing the storage shelf in the automatic warehouse. Or an article support table for loading and unloading, or an article support unit such as an article placement table for a processing apparatus in a factory transport facility, or the like.

  Then, when taking out the article supported by the article support section, the movable body is moved to the article transfer stop position in a state where the mounting body is located at the retraction position on the movable body, and the movable body is transferred to the article. When stopped at the stop position, the mounting body is projected to a projecting position for transfer outside the moving body. At this time, in order to properly take out the article, it is necessary that the posture and position of the article supported by the article support portion are in an appropriate posture and position with respect to the protruding mounting body. That is, the article supported by the article support unit has a reference posture in plan view (for example, a posture parallel or substantially parallel to the longitudinal direction of the movement path) and a reference position in the longitudinal direction of the movement path (for example, the movement path The center of the placing body protruding in the longitudinal direction and the center of the article supported by the article support portion are positioned at the top and bottom, and the reference position (for example, the placing body) in the retracting direction of the placing body. It is necessary that the center of the mounting body projecting in the direction in which the mounting body is withdrawn and the center of the article supported by the article support portion overlap each other in the vertical direction.

  Therefore, when the mounting body is protruded to the protruding position in a state where the moving body is stopped at the article transfer stop position, the article supported by the article support portion with respect to the mounting body is in an appropriate posture and position. The reference stop position, the reference exit / retreat direction of the mounting body, and the reference protrusion amount of the mounting body are determined in advance.

  However, the reference stop position, the reference exit / retreat direction, and the reference protrusion amount are determined for an article that exists in a reference posture at a reference position where the article is positioned by design. The position and position of the article that is actually supported by the article support section is determined by the design of the article due to the installation accuracy of the section and the transfer accuracy when the article is supported by the article support section. May be out of position and position. Therefore, the mounting body that is projected from the moving body stopped at the reference stop position by the reference protrusion amount in the reference exit / retraction direction has an appropriate posture and position with respect to the article that is actually supported by the article support unit. Not necessarily.

  Therefore, conventionally, when taking out an article supported by the article support unit, the operation control means has a reference attitude in plan view of the article in order to cope with a deviation from the reference attitude or reference position of the article. From the reference position in the longitudinal direction of the movement path, the deviation amount from the reference position in the moving direction of the mounting body, and the deviation amount from the reference position in the moving direction of the mounting body, the article transfer stop position, the reference moving direction, And the reference protrusion amount is corrected by these inclinations and deviation amounts, and the moving body is stopped at the corrected article transfer stop position in the corrected article transfer stop position in the corrected exit / retreat direction. By projecting by the projection amount, the mounting body is positioned at an appropriate position in an appropriate posture with respect to an article located at a position that is inclined from the reference posture and shifted from the reference position (for example, , See Patent Document 1).

  By the way, the article transporting apparatus includes a movement drive unit that moves the moving body along the movement path and a withdrawal drive unit that moves the placement body back and forth, and changes the posture of the placement body in plan view. What can do is provided with a turning drive means for driving turning means such as a turntable. Then, as described above, in the state where the movable body is stopped at the corrected article transfer stop position, the placement body is projected in the corrected exit / retreat direction by the corrected protrusion amount. The control means corrects the driving amount of each driving means.

  That is, the drive amount of the turning drive means is corrected to the adaptive movement drive amount obtained by adding or subtracting the correction movement drive amount corresponding to the deviation amount from the reference movement drive amount necessary for positioning the drive amount of the movement drive means at the reference stop position. Is corrected to an adaptive turning drive amount obtained by adding / subtracting a corrected turning drive amount corresponding to the inclination from a reference turning drive amount necessary to direct the vehicle in the reference exit / retreat direction, and the drive amount of the exit / retreat drive means is projected by the reference protrusion amount. Is corrected to an adaptive exit / retreat drive amount obtained by adding / subtracting a corrected exit / retreat drive amount corresponding to the amount of deviation from the reference exit / retreat drive amount required for the operation.

  Conventionally, the operation control means provides the corrected movement drive amount, the corrected turning drive amount, and the corrected exit / retreat drive amount required for correcting the reference drive amount of each of the drive means for each drive means. Assuming that the moving amount, turning amount, and withdrawal amount per driving amount are constant, each correction driving amount corresponding to the inclination and the deviation amount is calculated, and the adaptive driving amount is obtained.

JP 2007-004603 A

  However, according to the above-described conventional article transport apparatus, the operation control means assumes that the displacement amount per unit driving amount is constant, and the actual position and reference position of the article supported by the article support. Since the corrected drive / retreat drive amount corresponding to the shift amount in the retracting / retracting direction is acquired, the mounting body is swung around the rocking shaft center by the retracting / retracting driving means. If the swinging movement of the swinging body by the swinging / retracting driving means is linked, the corrected retracting / driving amount is accurate to the amount of deviation from the reference position in the retracting / retracting direction of the article. There is a problem that it does not correspond to.

  In other words, if the mounting body is connected to the swinging end side of the swinging body and is moved out and retracted in conjunction with the swinging operation of the swinging body, Since the displacement in the moving direction of the mounting body is obtained from the swinging operation, the angle formed by the rocking diameter direction of the rocking body and the moving direction of the mounting body, that is, the position in the moving direction of the mounting body Therefore, even if the swinging amount of the swinging body is the same, the amount of the retracting operation of the mounting body obtained by the swinging operation of the swinging body by the retracting and driving means is different. For example, even when the amount of swinging of the swinging body is the same when the mounting body is positioned at the retracted position side than when the mounting body is positioned at the protruding position side, the mounting body is in the retracting direction. Displaces greatly. Accordingly, if the amount of protrusion from the retracted position of the mounting body is different, the amount of displacement in the retracting / retracting direction per unit retreating drive amount is different, so that the amount of displacement per unit driving amount is assumed to be constant. When the corrected exit / exit drive amount corresponding to the deviation amount in the exit / retreat direction between the actual position of the article supported by the reference position and the reference position is acquired, the corrected exit / retreat drive amount is determined in the exit / retreat direction of the mounting body. Depending on the position, the amount of deviation from the reference position in the exit / retreat direction of the article may not match.

  As described above, in the conventional article transport apparatus, the corrected exit / exit drive amount acquired by the operation control unit may not exactly match the deviation amount from the reference position in the exit / exit direction of the article. Even if it is driven by the adaptive exit / exit drive amount corrected to the adaptive exit / exit drive amount obtained by adding / subtracting the amount to / from the corrected exit / exit drive amount, the correction position deviates from the reference position in the exit / exit direction by the exit / exit displacement amount The amount of protrusion of the mounting body from the retraction position cannot be accurately adjusted in accordance with the amount of deviation from the reference position of the article so that the mounting body cannot be accurately positioned.

  The present invention has been made in view of the above circumstances, and its purpose is to correspond to the amount of protrusion from the retraction position of the mounting body to the amount of deviation from the reference position of the article in the retracting direction of the mounting body. The object of the present invention is to provide an article conveying device that can be adjusted with high accuracy so as to obtain a protruding amount.

  In order to achieve this object, the first characteristic configuration of the article transporting apparatus according to the present invention includes a moving body that is moved along a moving path and a driving means provided on the moving body side around the swing axis. A retraction position for movement located on the moving body in conjunction with a swinging operation of the swinging body by the driving means is connected to the swinging end side of the swinging body to be swung, and the moving body A mounting body for supporting the article placement, which is provided so as to be able to move up and down with respect to the projecting position for transfer located on the outer side and is freely movable up and down, and a drive for detecting the driving amount of the driving means A moving detection unit for controlling the movement of the moving body so as to move the moving body to an article transfer stop position with respect to an article supporting unit positioned along the movement path; In the state of stopping at the transfer stop position, it is supported by the article support section. The above-mentioned mounting body with respect to the article supported by the above-mentioned article supporting part, provided with operation control means for controlling the exit / retreat operation and lifting / lowering operation of the above-mentioned mounting body so as to take out the article or to wholesale the article to the article supporting part When the article state detection sensor for detecting the amount of displacement, which is the amount of displacement from the reference position in the exit / retreat direction, causes the placement body to protrude from the retracted position by a preset reference protrusion amount, The article is provided in the mounting body in a state in which the object to be detected provided in the article is detected, and the operation control means causes the mounting body to protrude from the retraction position by the reference protrusion amount. The advancing / retreating amount is obtained based on detection information of the state detection sensor and the driving amount detecting means, and the correction position shifted from the reference position in the advancing / retreating direction by the advancing / retreating amount is corrected. In the article conveying apparatus configured to control the moving operation of the placing body based on the detection information of the driving amount detecting means so as to position the placing body, the operation control means includes When the object is projected from the retraction position by the reference protrusion amount, the article state detection sensor detects the object to be detected. A conversion unit withdrawal / retraction amount, which is a unit withdrawal / retraction amount in the withdrawal / retraction direction of the placement body per unit drive amount of the driving means, is obtained, and the placement body is positioned with respect to the correction position. As the driving amount of the driving means for making the conversion amount by the conversion unit withdrawing / retracting amount when converting the withdrawal amount of the placing body in the retracting direction into the driving amount of the driving means, Sensor detection timing The driving amount of the driving means for positioning the above-described body with respect to the correction position is determined on the basis of detection information of the driving amount detection means.

  That is, the operation control means operates the drive means based on the detection information of the drive amount detection means so that the mounting body protrudes from the retracted position by the reference protrusion amount. The article state detection sensor is provided on the mounting body in a state of detecting the detected body provided on the article when the mounting body is protruded from the retraction position by a preset reference protrusion amount. When the object is projected from the retraction position by the reference protrusion amount, the article state detection sensor detects the article to be detected. An article state detection sensor that is expected when the mounting body projects from an article on the assumption that the drive amount of the drive means detected by the drive amount detection means at the detection timing is located at the reference position If the drive amount is different from the drive amount detected by the drive amount detection means at the detection timing, the article is shifted from the reference position by an amount different from the drive amount of the drive amount detection means planned when the article is at the reference position. You can see that In this way, the amount of deviation from the reference position of the article is detected based on the detection information of the article state detection sensor and the driving amount detection means, when the article is located at the reference position and when it is not. It can be determined from the difference in the relative position of the article with respect to the position of the mounting body at the timing.

  Then, the operation control means moves the placement body on the basis of the detection information of the drive amount detection means so as to position the placement body with respect to the correction position that is shifted from the reference position in the withdrawal / retraction direction by the amount of displacement. By controlling the retracting operation, the mounting body is positioned at the correction position.

  Here, the component contributing to the moving direction of the mounting body among the displacement on the rocking end side due to the rocking operation of the rocking body varies depending on the posture of the rocking body. If they are different, the posture of the swinging body is different, so that even if the driving amount of the driving means is the same, the mounting body is moved in the retracting direction by a different amount. Therefore, if the position of the placement body in the direction of withdrawal is different, the unit withdrawal amount in the direction of withdrawal of the placement body per unit driving amount is different.

  Therefore, when the mounting body is positioned with respect to the correction position that is shifted from the reference position in the retracting direction by the retracting / withdrawing amount, the unit exit / exit with high accuracy according to the position of the mounting body in the retracting direction. If the driving amount corresponding to the amount of displacement is calculated as the corrected driving amount based on the amount, for example, the reference driving amount of the driving means necessary for causing the mounting body to protrude by the reference protruding amount from the retracted position is corrected and driven. Commanding the driving means after correction by the amount to the driving means, or for the correction operation to place the mounting body at the correction position from the position protruding from the retraction position by the reference protrusion amount Thus, the corrective driving amount is commanded to the driving means, so that the mounting body can be accurately positioned with respect to the correction position.

  Further, even when the amount of deviation from the reference position of the article is obtained, if the accurate unit is used as the unit withdrawal amount for the position in the direction of withdrawal of the mounting body at the sensor detection timing, the article is the reference It is possible to accurately measure the difference in the relative position of the article with respect to the position of the mounting body at the sensor detection timing in each of the case where the position is located and the case where the position is not, so that the driving amount detecting means of the sensor detection timing can be measured. Based on the detection information, the amount of displacement can be obtained with high accuracy.

  According to the present invention, the operation control means obtains the conversion unit withdrawal / retraction amount, which is the unit withdrawal / retraction amount for the position of the placement body in the withdrawal / retraction direction at the sensor detection timing, so the placement body at the sensor detection timing. A unit with a high accuracy can be used as the unit withdrawal amount at the position. The position of the mounting body when the article state detection sensor detects the article to be detected is extremely different from the position when the mounting body protrudes from the retraction position by the reference protrusion amount. Nearly, by calculating the drive amount corresponding to the exit / exit amount using the conversion unit exit / exit amount, which is the unit exit / exit amount at this position, a correction shifted by the exit / exit amount in the exit / exit direction from the reference position It is possible to accurately obtain the correction driving amount necessary for positioning the mounting body with respect to the use position. Further, by using the conversion unit withdrawal amount, it is possible to accurately measure the difference in the relative position of the article with respect to the position of the mounting body at the sensor detection timing when the article is positioned at the reference position and when it is not. Therefore, it is possible to accurately calculate the amount of displacement.

  Therefore, the amount of displacement of the article in the direction of exit / retreat is accurately measured, and the drive amount of the drive means is obtained by using an accurate correction drive amount corresponding to the amount of exit / retreat. Therefore, the article conveying apparatus capable of accurately adjusting the protruding amount from the retracted position of the mounting body to be a protruding amount corresponding to the deviation amount of the article from the reference position in the retracting direction of the mounting body. I came to get.

  According to a second characteristic configuration of the article transporting apparatus according to the present invention, the operation control means determines the sensor detection timing when determining the driving amount of the driving means for positioning the mounting body with respect to the correction position. The amount of displacement is determined based on the detection information of the drive amount detection means in the above, and the calculated amount of displacement is converted into the drive amount of the drive means by the conversion unit withdrawal amount. The driving amount is determined to be obtained.

  That is, the operation control means determines the correction drive amount necessary to position the mounting body with respect to the correction position shifted by the amount of withdrawal / extraction, and the drive means drive by the unit withdrawal / extraction amount for the amount of exit / exit deviation conversion. Since it is obtained by converting into an amount, when the driving means is driven, the placing body is withdrawn / withdrawn by an amount that accurately matches the withdrawing / withdrawing amount. As a result, the operation of the driving means is controlled to position the mounting body with respect to the correction position, and as a result, the amount of deviation from the reference position with respect to the position where the mounting body is actually positioned, and the article state detection The exit / exit amount obtained based on the detection information of the sensor and the drive amount detection means coincides with high accuracy. Therefore, when the amount of displacement is given, the amount of protrusion from the retracted position of the mounting body can be adjusted with high accuracy.

  According to a third characteristic configuration of the article conveying apparatus according to the present invention, when the operation control unit obtains the amount of displacement, the drive amount of the drive unit detected by the drive amount detection unit at the sensor detection timing is calculated. In the point which is converted into the amount of withdrawing / withdrawing of the above-mentioned object by the amount of unit withdrawing / withdrawing for conversion, the amount of withdrawal / withdrawal is obtained.

  That is, when the operation control means obtains the amount of displacement, based on the detection information of the article state detection sensor and the drive amount detection means, the unit control of the position of the mounting body in the direction of exit / retreat at the sensor detection timing. With the conversion unit withdrawal amount, which is the amount, the drive amount of the drive means at the sensor detection timing is converted into the withdrawal amount of the mounting body to obtain the withdrawal / retraction amount. That is, the drive amount detected by the drive amount detection means at the detection timing of the article state detection sensor scheduled when the mounting body is projected with respect to the article assumed to be located at the reference position and the actual amount The difference from the drive amount detected by the drive amount detection means at the sensor detection timing is a conversion unit exit / exit amount that is a unit exit / exit amount with respect to the position of the mounting body in the sensor detection timing By converting into the amount of withdrawal / withdrawal, the amount of departure / withdrawal represented as the difference in drive amount can be accurately converted to the amount of withdrawal / withdrawal. Therefore, it is possible to accurately determine the amount of article withdrawal and withdrawal.

  According to a fourth characteristic configuration of the article transporting apparatus according to the present invention, when the operation control means causes the placing body to project and operate to take out the article supported by the article support section, the sensor detection timing is Based on the detection information of the driving amount detecting means, the driving amount of the driving means for positioning the above-described body with respect to the correction position is obtained.

  That is, the operation control means obtains the driving amount of the driving means for positioning the mounting body with respect to the correction position when the mounting body is operated to protrude to take out the article supported by the article support section. If the article to be transferred is deviated from the reference position, the amount of displacement is used as the detection information of the article state detection sensor and the drive amount detection means for detecting the detected object in the actual article to be transferred. Will be based on. Then, the placement body is moved away from the reference protrusion amount by controlling the withdrawal operation of the placement body based on the detection information of the driving amount detection means so as to position the placement body with respect to the correction position. Thus, it can be positioned with respect to the correction position shifted by the actual amount of displacement of the article to be transferred.

  In other words, for example, the operation control means determines that the drive amount of the drive means after starting the projecting operation of the mounting body from the retracted position is equal to the reference drive amount of the drive means corresponding to the reference protrusion amount. It is only necessary to control the operation of the driving means so that the adaptive driving amount is corrected by the correction driving amount necessary for moving the mounting body in the retracting direction. In this case, when the operation control means causes the mounting body to project from the retracted position, first, the driving amount of the driving means after starting to project the mounting body from the retracted position becomes the reference driving amount. Based on the detection information of the drive amount detection means, the operation of the drive means is controlled. Then, after the sensor detection timing, when the withdrawal displacement amount is calculated, the adaptive drive amount is calculated by correcting the reference drive amount by the correction drive amount corresponding to the withdrawal displacement amount, and the mounting body is moved from the retraction position. The operation of the drive means is controlled so that the drive amount of the drive means after starting the protrusion operation becomes the adaptive drive amount. Therefore, the operation control means is configured so that the drive amount becomes the adaptive drive amount from the state in which the operation of the drive unit is controlled so that the drive amount of the drive unit after starting the projecting operation of the mounting body becomes the reference drive amount. By switching to the state in which the operation of the driving means is controlled, the mounting body can be positioned with respect to the correction position. That is, the operation control means consistently sets the drive amount of the drive means from the start of driving of the drive means to project the placement body from the retracted position until the placement body is positioned with respect to the correction position. The operation of the drive means will be controlled so that the drive amount becomes the same, and the mounting body can be corrected simply by changing the target drive amount from the reference drive amount to the adaptive drive amount while maintaining the control mode of the operation control means. It can be positioned relative to the service position. In addition, it is possible to change the target drive amount from the reference drive amount to the adaptive drive amount during the retreat operation after starting the protrusion from the retraction position, so that the mounting body protrudes to the reference protrusion amount. It is also possible to smoothly place the mounting body with respect to the correction position without making it stop, or without stopping when the base protrusion is made to protrude.

  In addition, for example, the operation control means drives the mounting body by a correction driving amount necessary for moving the mounting body in the withdrawing / withdrawing direction after the mounting body protrudes from the retraction position by the reference protrusion amount. Also by controlling the operation of the driving means so as to operate the means, the correction position deviates from the reference protrusion amount by the actual withdrawal displacement amount of the article to be transferred in the withdrawal direction. Can be positioned.

  In this way, the actual withdrawal amount from the reference position of the article to be transferred is obtained, and the position shifted from the reference position by the actual withdrawal amount is set as the correction position, and the article is taken out. The amount of protrusion from the retracted position of the mounting body at that time can be a protrusion amount that appropriately corresponds to the actual amount of displacement from the reference position in the direction of withdrawal of the article to be transferred.

  According to a fifth characteristic configuration of the article transporting apparatus according to the present invention, the article state detection sensor includes a pair of detection units arranged in a longitudinal direction of the movement path, and the operation control means includes the mounting body. When projecting by the reference projection amount from the retraction position, the distance difference in the withdrawal direction until each of the pair of detection units detects the detected object is determined by each of the pair of detection units. A difference in drive amount detected by the drive amount detection means when the detected object is detected is converted by the conversion unit withdrawal amount, and is supported on the article support unit from the obtained distance difference. It is the point which is comprised so that the inclination from the reference | standard attitude | position in planar view about the performed article | item may be calculated | required.

  When the mounting body is protruded from the retraction position by the reference protrusion amount, the mounting body protrudes assuming that the posture of the article supported by the article support portion is the reference posture. Therefore, when the posture of the article supported by the article support portion is tilted from the reference posture, when the detection unit detects the detected object when the mounting body protrudes from the retraction position by the reference protrusion amount. There is a difference between the drive amount detected by the drive amount detection means and the drive amount detected by the drive amount detection means when the other detection unit detects the detection target. Therefore, the difference can be grasped as a distance difference in the exit / retreat direction until each of the pair of detection units detects the detection object, and the inclination from the reference posture can be obtained from the distance difference. Therefore, the article in the reference posture can be placed on the placement body by correcting the obtained inclination. In addition, when calculating the inclination from the reference posture, when converting the difference in drive amount into the distance difference in the exit / exit direction, conversion is performed using the conversion unit exit / exit amount, so that more accurate inclination from the reference posture can be obtained. It is possible to accurately place the article in the reference posture on the placing body.

  According to a sixth characteristic configuration of the article transporting apparatus according to the present invention, the swinging body includes an operation arm that is swingably supported on the movable body side, and a swing that is swingably connected to a distal end side of the operation arm. The above-mentioned body is linearly moved along the withdrawing / retracting direction as the operating arm is swung by the driving means. It is in the point where it is constituted so that.

  That is, since the rocking body is configured to include a bending-extension-type double link arm, it bends at the retracted position side of the mounting body and extends at the projecting position side, so that the mounting body protrudes from the retracted position. It will be moved in and out of the position. For this reason, the change in the posture of the swinging body when the mounting body is withdrawn / retracted is less likely to project in the lateral direction in the retracting / retracting direction for the retracting stroke of the mounting body. Therefore, the problem of interference between the oscillator and the outside hardly occurs.

  In addition, since the mounting body is moved linearly along the exit / retreat direction, the placement body does not deviate from the exit / retreat direction even when the withdrawal amount is corrected. Even if the position in the direction intersecting the exit / retreat direction, for example, the position in the longitudinal direction of the moving path of the moving body is also adjusted, the position in the exit / retreat direction is difficult to affect these adjustments. Can be adjusted.

  A seventh characteristic configuration of the article transporting apparatus according to the present invention is the detection information of the driving amount detecting means when the operation control means is in an overlapping posture in which the operation arm and the swing arm overlap vertically in a vertical view. Can be stored as reference detection information, and when the mounting body is protruded by the reference protrusion amount, based on the detection information of the drive amount detection means and the reference detection information at the sensor detection timing , A swing angle detecting means for detecting a swing angle from the overlapping posture of the operation arm at the sensor detection timing, and the mounting body when the operation arm and the swing arm are in the overlapping posture. The sensor detection timing is converted by converting the unit withdrawal amount with respect to the position in the withdrawal direction based on detection information of the swing angle detection means. In that it is constituted by a unit extending and retracting amount conversion means for acquiring the unit out Shisaryou about the position in the projecting and retracting direction before described mounting body in.

  That is, the operation control means causes the swing angle detection means to function so that the detection information of the drive amount detection means when the swing body stored as the reference detection information is in the overlapping posture and the drive amount detection at the sensor detection timing. From the detection information of the means, the swing angle from the overlapping posture of the operation arm at the sensor detection timing is obtained.

  When the oscillating body is in an overlapping posture, the tangential direction with respect to the oscillating trajectory at the oscillating end of the oscillating body faces the exit / retreat direction. The vector will turn in the exit / exit direction. Then, as the swinging body swings from the overlapping posture and the swinging angle increases, the component in the retracting direction of the change rate vector with respect to the swinging angle of the swinging end of the swinging body is determined from the overlapping posture of the swinging body. It decreases according to the rocking angle. At this time, the change rate vector for the change in the swing angle of the swing end of the swing body is only the cosine component of the swing angle contributes to the exit / retreat direction. The relationship between the backward component and the swing angle is fixed.

  Further, the unit withdrawal / retreat amount in the overlapping posture is the unit drive amount per unit drive amount if the unit drive amount of the drive means is set to a value that makes the swing angle with the unit drive amount sufficiently small with respect to the swing radius. Since the rocking angle of the rocking body is a sufficiently small value as an angle in the arc method, the arc length standing at a minute angle with respect to a certain radius and the tangent of a right triangle with the radius as the base and the apex angle consisting of the minute angle By applying this approximate relationship, it can be obtained from the rocking radius of the rocking body and the rocking angle by the unit driving amount of the driving means.

  Therefore, the operation control unit operates the unit withdrawal / retraction amount conversion unit to change the unit withdrawal amount with respect to the position in the withdrawal / retraction direction of the mounting body when the swinging body is in the overlapping posture at the sensor detection timing. By converting based on the swing angle from the overlapping posture of the arm, the magnitude of the component that contributes to the retracting direction of the change rate vector of the swing end with respect to the change of the swing angle is changed to the swing angle. It can be extracted as a corresponding unit withdrawal amount.

  In this way, by calculating the swing angle on the basis of the posture in which the swing arm and the operation arm overlap with each other and the position where the swing arm and the operation arm easily appear, based on the unit withdrawal amount in the overlapping posture. Since the unit withdrawal / retraction amount according to the swing angle can be obtained, the accuracy when calculating the swing angle from the reference by the unit withdrawal / retraction amount conversion means is improved, so that the unit according to the swing angle is improved. The withdrawal amount can be obtained with high accuracy.

  An eighth characteristic configuration of the article transporting apparatus according to the present invention is such that an engagement hole is provided in each of the operation arm and the swing arm at a position where the axes coincide with each other in a plan view in the overlapping posture. The oscillating body in FIG. 5 is detachably provided with a positioning member that fits in both the engagement holes in the mounted state to position the operation arm and the oscillating arm in the overlapping posture. It is in.

  That is, by engaging the positioning member with respect to the swinging body in the overlapping posture, the engagement hole provided at the position where the axial center coincides with the operation arm and the swinging arm in a plan view in the overlapping posture. The positioning member is fitted to both of them. Thereby, the operation arm and the swing arm are positioned in the overlapping posture. As described above, the operation arm and the swing arm can be positioned in an overlapping posture by a simple operation of simply fitting the positioning member into the engagement hole.

  If the positioning member is maintained in the mounted state, the operation arm and the swing arm are maintained in the overlapping posture, so that the detection information of the drive amount detection means in the overlapping posture of the swing body is detected as a reference. It can be reliably recorded as information.

Vertical section of automated warehouse Cross section of automated warehouse Side view of stacker crane Perspective view of the article Longitudinal sectional view of article transfer device Top view of the stacker crane in the retired state Front view of stacker crane in retired state Top view of the stacker crane in the protruding state Front view of stacker crane in protruding state Control block diagram The figure which shows the posture etc. of the rocking body in the sensor detection timing Explanatory drawing for calculating | requiring the inclination from the reference | standard attitude | position in planar view about the articles | goods supported by the article | item support part. (A) Explanatory drawing for obtaining the amount of deviation from the reference position in the exit / retreat direction of the mounting body for the article supported by the article support part (b) Supported by the article support part at the reference position at the reference position The figure which shows the relationship between articles | goods, reference | standard protrusion amount, and sensor detection timing The figure which shows the control parameter memorize | stored in the memory | storage part of an operation control apparatus. Flow chart of constantly moving transfer operation performed by the operation control device Flow chart of tip pulse rate calculation processing executed by operation control device Flowchart of overlapping posture teaching work performed by workers (A) The figure which shows the position of the mounting body in a duplication attitude | position, and the attitude | position of a link mechanism (b) Explanatory drawing of fitting operation of an arm centering jig

An embodiment in which an article transporting apparatus according to the present invention is applied to an automatic warehouse will be described with reference to the drawings.
As shown in FIGS. 1 and 2, this automatic warehouse is installed in a clean room, and has an article storage shelf 2 provided with a plurality of article storage units 1 arranged vertically and horizontally, and a moving space 3 in front of the article storage shelf 2. A stacker crane 5 is provided as an article transporting device that takes out the article 4 supported by the article storage unit 1 and takes the article 4 out of the article storage unit 1. And although illustration is abbreviate | omitted, in the clean room, it is comprised so that purified dust may be ventilated from the ceiling part toward the floor part in which the several hole part was formed, and the dust which floats may be discharged | emitted below the floor part. . The article 4 is constituted by, for example, a storage cassette that stores a plurality of glass substrates.

  A pair of the article storage shelves 2 are provided in a state where the front sides face each other and a moving space 3 is formed therebetween. Each article storage shelf 2 is supported in a state extending across the pair of front and rear columns 6 erected with a space in the width direction of the shelf and the pair of front and rear columns 6 and is provided with a space in the vertical direction of the shelf. It is comprised from the mounting support part 7. FIG. Each article storage unit 1 is configured to store the article 4 in a state in which both ends of the article 4 in the shelf width direction are placed and supported by the pair of left and right placement support parts 7.

  As shown in FIG. 4, the article storage unit 1 is configured to store an article holder 4 that can hold a plate-like article such as a glass substrate as an article. The article holding body 4 includes an upper frame body 4a and a lower frame body 4b formed in a lattice shape, a plurality of coupling bodies 4c that couple the upper frame body 4a and the lower frame body 4b, and a vertical direction to the coupling body 4c. And a wire-like support portion 4d that connects the connecting bodies 4c that are horizontally spaced and are connected to each other. The plate-like article is held in a vertically spaced manner in a state where it is placed and supported by each support part 4d, and air can flow in all of the upper part, the lower part, and the side part of the article holder 4. It is configured. In the following description, the article holder 4 is simply referred to as the article 4.

  An article loading / unloading portion 8 for carrying the article 4 from the outside to the article storage shelf 2 or for carrying the article 4 to the outside from the article storage shelf 2 is installed at a location adjacent to the article storage shelf 2 in the shelf width direction. . The article carry-in / out section 8 is configured by, for example, a transport conveyor that places and transports the articles 4.

  In addition to the article carry-in / out section 8, an article placement section 10 for carrying in / out the article 4 to / from the article processing facility 9 that performs predetermined processing on the article 4 is provided. ing. As shown in FIG. 1, the article placement section 10 is provided in place of the article storage section 1 corresponding to the lowermost stage in the article storage shelf 2. The article processing facility 9 is provided at a location adjacent to the article storage shelf 2 in the front-rear width direction of the article storage shelf 2, and the article placement unit 10 is provided in the article processing facility 9 in the front-rear width direction of the article storage shelf 2. It is provided at an adjacent location.

  In the article placement section 10, when the article 4 is unloaded by the stacker crane 5, the position of the article 4 is restricted to an appropriate transfer position by a position restriction device (not shown). When a predetermined processing is performed on the glass substrate stored in the storage cassette that is the article 4 by the article processing facility 9, the transfer device provided in the article processing facility 9 transfers the glass from the storage cassette that is the article 4 to the glass. Take out the substrates one by one. Further, when the glass substrate that has been subjected to the predetermined processing in the article processing facility 9 is stored in the storage cassette that is the article 4, the transfer device provided in the article processing facility 9 is position-regulated by the position-regulating device at an appropriate transfer position. One by one is stored in the storage cassette that is the article 4 that has been processed.

  In the moving space 3, a pair of right and left traveling rails 11 are installed on the floor portion as a moving path extending over the entire range of the article storage shelf 2 in the width direction of the shelf and the article loading / unloading section 8. A stacker crane 5 is provided so as to move horizontally on the traveling rail 11. As shown in FIG. 3, the stacker crane 5 includes a traveling carriage 12 as a movable body that can travel along the traveling rail 11, and a lifting platform that can be moved up and down along a lifting mast 13 that stands on the traveling carriage 12. 14 and an article transfer device 15 mounted on the lifting platform 14.

  The stacker crane 5 includes an article storage unit 1, an article carry-in / out unit 8, and an article placement unit 10 by a traveling operation of the traveling carriage 12, an elevation operation of the lifting platform 14, and a transfer operation of the article transfer device 15. The article 4 supported by the product is taken out or the article 4 is wholesaled to the article storage unit 1, the article carry-in / out unit 8, and the article placement unit 10.

  The article support unit 41 includes the article storage unit 1, the article carry-in / out unit 8, and the article placement unit 10.

  In the stacker crane 5, a pair of front and rear masts 13 are provided in the front and rear ends of the traveling carriage 12, one on each side. An upper frame 16 that connects the upper ends of the pair of front and rear masts 13 is provided at the upper end of the lift mast 13.

  The lifting platform 14 is supported and supported by a pair of front and rear lifting masts 13 erected on the traveling carriage 12, and is supported by a pair of lifting wires 17 connected to the left and right sides thereof. . Each of the elevating wires 17 is wound around a guide pulley 18 provided on the upper portion of the elevating mast 13 and is wound around a take-up drum 20 provided at an end of the traveling carriage 12.

  Each of the winding drums 20 is provided with an inverter type lifting electric motor 21. The two lifting electric motors 21 are synchronously rotated in the forward and reverse directions so that the lifting and lowering operation of the pair of lifting wires 17 is performed and the lifting platform 14 is moved up and down. Yes.

  The traveling carriage 12 is projected with a beam beam for distance measurement along the raising / lowering direction of the lifting platform 14 toward the reflection plate 22 installed on the lower surface of the lifting platform 14, so that the lifting platform 14 is lifted / lowered in the lifting / lowering direction. An elevating laser range finder 23 for detecting the elevating position of the table 14 is provided. The elevating laser range finder 23 detects the distance to the elevating table 14 in the elevating direction of the elevating table 14 by receiving the light reflected by the reflecting plate 22, and detects the elevating position of the elevating table 14. Is configured to do.

  In the stacker crane 5, a pair of traveling wheels 24 are arranged at both ends in the width direction of the traveling carriage 12 with an interval in the longitudinal direction of the traveling rail 11. Of the pair of traveling wheels 24, one traveling wheel is configured as a driving wheel 24a, and the other traveling wheel is configured as a freely driven driven wheel 24b. An inverter type traveling electric motor 25 (see FIG. 1) is provided on each of the drive wheels 24a disposed at both ends in the width direction of the traveling carriage 12. The two traveling electric motors 25 are driven to rotate forward and backward synchronously, so that the traveling carriage 12 travels along the traveling rail 11.

  A beam beam for distance measurement is projected onto the traveling carriage 12 along the longitudinal direction of the traveling rail 11 toward the reflector 26 installed at one end of the traveling rail 11, so A traveling laser range finder 27 that detects the traveling position of the traveling carriage 12 is provided. The traveling laser range finder 27 detects the distance to the traveling carriage 12 in the traveling direction of the traveling carriage 12 by receiving the light reflected by the reflecting plate 26 and detects the traveling position of the traveling carriage 12. Is configured to do.

  As shown in FIGS. 1, 2, 3 and 6 to 9, the article transfer device 15 is a swivel base supported so as to be capable of swiveling around a swivel vertical axis P0 with respect to the lift 14. 28 and a pair of link mechanisms 30 for supporting the placing body 29 for placing and supporting the article 4 with respect to the swivel base 28 so as to be retractable. The swivel base 28 is configured to be swiveled around the swivel upper and lower axis P0 by the operation of a swivel electric motor 31 installed on the lower side of the swivel base 28.

  The link mechanism 30 includes a first arm 32 as an operation arm whose base end is connected to the swivel base 28 so as to be rotatable around the first vertical axis P1, and a distal end portion of the first arm 32. And a second arm 33 as a swinging arm that is pivotally connected around the second vertical axis P2 and is pivotally connected to the mounting body 29 around the third vertical axis P3. A so-called SCARA arm composed of a double-stretch type link arm provided is used.

  As shown in FIG. 5, in order to cause the mounting body 29 to project or retract, the retracting electric motor 34 and the deceleration are provided below the swivel 28 at a position corresponding to the base end of the first arm 32. A machine is provided. In the state where the electric motor 34 for exit / retreat is linked to the input shaft of the speed reducer provided for each motor and the output shaft of the speed reducer is linked to the first arm 32, A pair is provided corresponding to each of the first arms 32. When the pair of exit / exit electric motors 34 operate in synchronization, the rotation operation of the motor output rotation shaft is input to the reduction gears provided separately for each of the exit / exit electric motors, and a predetermined reduction ratio ( In the present embodiment, the rotation speed of the output shaft of the speed reducer decelerated at 1/119) causes the pair of first arms 32 to swing around the first vertical axis P1 in synchronization. Although not shown in FIG. 6, in order to link the movement of the first arm 32 and the movement of the second arm 33, the shaft portion in the first vertical axis P <b> 1 and the shaft portion in the second vertical axis P <b> 2. A chain is stretched over. The distance between the first vertical axis and the second vertical axis and the distance between the second vertical axis and the third vertical axis (see FIG. 11) are the same distance C [mm].

  As a result, the pair of link mechanisms 30 is configured such that the swinging direction and swinging amount of the first arm 32 are the same in the direction opposite to the swinging direction and swinging amount of the second arm 33, and so on. Thus, the first arm 32 is interlocked to swing around the first vertical axis P1, and the base arm side of the mounting body 29 is moved by the swinging first arm 32 via the pair of second arms 33. By pushing or pulling, the mounting body 29 is moved back and forth in the front-rear direction of the mounting body 29 with respect to the swivel base 28.

  In this way, the pair of exit / retreat electric motors 34 are operated in synchronization with each other, whereby the first arm 32 and the second arm 33 of the link mechanism 30 are connected to the mounting body 29 as shown in FIGS. A protruding posture for storing and taking out articles that protrudes long from the swivel base 28 toward the storage shelf 2 so that the front end side reaches the article storage unit 1, and the entire mounting body 29 as shown in FIGS. The operation is switched to the retreating posture for conveying the article retired toward the swivel base 28 from the protruding position. The position of the mounting body 29 is the retracted position when the first arm 32 and the second arm 33 are in the retracted position, and the position of the mounting body 29 when the first arm 32 and the second arm 33 are in the protruding position. Is the protruding position. Then, in conjunction with the swinging operation of the first arm 32 and the second arm 33 in the link mechanism 30 by the pair of exit / retreat electric motors 34, the placement body 29 travels with the retraction position located on the movable body 12. It is comprised so that it may linearly move along the exit / retreat direction between the protrusion positions located outside the carriage 12. That is, the first arm 32 and the second arm 33 constituting the link mechanism 30 are configured so that their postures can be changed from a retracted posture in which the mounting body 29 is positioned in the retracted position to a protruding posture in which the mounting body 29 is positioned in the protruding position. The drive means of the present invention is constituted by a pair of exit / exit electric motors 34.

  A reference turning position detection sensor 35 for detecting that the turning position of the turntable 28 is the first reference turning position or the second reference turning position is provided. The first reference turning position is a reference turning position when the article 4 is transferred to the article support portion 41 located on one side of the traveling rail 11 in the front-rear width direction of the article storage shelf 2. The second reference turning position is a reference turning position when the article 4 is transferred to the article support portion 41 located on the other side with respect to the traveling rail 11 in the front-rear width direction of the article storage shelf 2. This is a position that is turned 180 degrees from the one reference turning position.

  The reference turning position detection sensor 35 is composed of a light projecting / receiving sensor. The reference turning position detection sensor 35 is configured such that the turning position of the turntable 28 is the first reference turn position or the second reference turn by blocking the light projected by the detection plate installed on the turntable 28. It is comprised so that it may detect that it is a position. Further, the turning electric motor 31 detects the turning amount of the turntable 28 after detecting the first reference turning position or the second reference turning position by the reference turning position detection sensor 35, so A turning rotary encoder 38 for detecting the turning position is provided.

  The tip zone detection sensor 36 for detecting that the placement body 29 is located at the retraction side position of the tip pulse rate detection zone Z set near the protrusion side limit of the withdrawal / retraction range, and the placement body A retirement position detection sensor 37 is provided for detecting that 29 is retired to the retirement limit of the retreat range and located at the retirement position. The tip zone detection sensor 36 and the retraction position detection sensor 37 are configured by a light projecting / receiving type sensor, like the reference turning position detection sensor 35.

  The front end zone detection sensor 36 has a bottom innermost portion in which the front end portion of the mounting body 29 is located on the farthest rear side in the protruding side in the retracting direction in the lower frame body 4b of the article 4 supported by the article support portion 41. When the light is projected by the detection plate installed at the base end portion of the first arm 32 when positioned on the retraction side in the retracting direction from the horizontal frame 4t, the mounting body 29 is blocked. It is detected that it is located at the retreat side end of the tip pulse rate detection zone Z. Thereby, when the mounting body 29 is protruded, it can be detected that the mounting body 29 has entered the tip pulse rate detection zone Z. The plate to be detected for the front end zone detection sensor 36 is provided at the base end portion of the first arm 32 so that the position of the plate can be changed, and the specifications of equipment such as the position of the bottom innermost horizontal frame 4t in the article holder 4 are provided. Accordingly, the position of the first arm 32 at the base end is adjusted.

  The retraction position detection sensor 37 is configured such that the light that is projected by the detection plate installed at the base end portion of the first arm 32 when the link mechanism 30 is in the retraction posture is blocked, so that the mounting body 29 is It is detected that the vehicle is in the retirement position (home position HP).

The exit / exit electric motor 34 is provided with an exit / exit rotary encoder 39 as drive amount detecting means for detecting the rotational drive amount of the output shaft of the exit / exit electric motor 34. In the present embodiment, an absolute rotary encoder having a resolution of 17 bits is used as the rotary encoder 39, and the reduction ratio of the reduction gear is 1/119. One rotation (360 °) of the speed reducer output shaft in the electric motor 34 for withdrawal is detected at 2 ¹⁷ × 119 counts. That is, if the rotary encoder 39 for exit / exit outputs 1 count, the output shaft of the speed reducer is driven to rotate by 360 ° / (2 ¹⁷ × 119). Since the swing operation amount of the first arm 32 coincides with the rotational drive amount of the output shaft of the speed reducer, if the output of the rotary encoder 39 is changed by 1 count, 360 ° / (2 ¹⁷ × 119 ), The first arm 32 is swung.

  The swinging operation angle of the first arm 32 per count of the rotary encoder 39 for exit / exit is a reduction gear ratio data D5 of the reduction gear as device specification data registered in advance in a storage unit of the operation control device 40 described later and Based on the encoder resolution data D6 (see FIG. 14B), the calculation program provided in the operation control device 40 is calculated at the time of startup of the device, and the calculated value is a reference pulse rate data D1, which will be described later. Along with various parameter data (see FIG. 14A) such as posture pulse count data D2 and home position angle data D3, it is stored in the storage unit of the operation control device 40 as swing angle data D4 per pulse.

  As shown in FIG. 10, an operation control device 40 is provided as an operation control means for controlling the operation of the stacker crane 5. The operation control device 40 controls the traveling operation of the traveling carriage 12 and the raising / lowering operation of the lifting platform 14 to move the article transfer device 15 to the article transfer stop position with respect to the article support portion 41, and the article transfer operation. In the state where the loading device 15 is stopped at the article transfer stop position, the transfer operation of the article transfer device 15 is performed in order to take out the article 4 supported by the article support unit 41 or to take the article 4 to the article support unit 41. Configured to control.

  Based on the detection information of the traveling laser rangefinder 27, the operation control device 40 travels the traveling carriage 12 to move the article transfer device 15 to the article transfer stop position in the traveling direction of the traveling carriage 12. In order to move the article transfer device 15 to the article transfer stop position in the lifting / lowering direction of the lifting / lowering table 14 based on the detection information of the traveling control unit 40a for controlling the operation and the laser rangefinder 23 for lifting / lowering, the lifting / lowering table 14 Lifting control unit 40b for controlling the lifting / lowering operation of the article, transfer control for controlling the transfer operation of the article transfer device 15 to take out the article 4 supported by the article support part 41 or to take the article 4 to the article support part 41 It is comprised from the part 40c.

  The travel control unit 40 a operates the travel electric motor 25 to operate the travel cart 12, and the travel position of the travel cart 12 detected by the travel laser rangefinder 27 is in the travel direction of the travel cart 12. When the article transfer stop position is reached, the traveling electric motor 25 is deactivated, and the article transfer device 15 is positioned at the article transfer stop position in the traveling direction of the traveling carriage 12.

  The lifting control unit 40b operates the lifting electric motor 21 to lift and lower the lifting platform 14, and the lifting position of the lifting platform 14 detected by the lifting laser range finder 23 is in the lifting direction of the lifting platform 14. When the article transfer stop position is reached, the lifting electric motor 21 is deactivated, and the article transfer device 15 is positioned at the article transfer stop position in the lifting / lowering direction of the lifting platform 14. Incidentally, when the article 4 is unloaded on the article support section 41, the article transfer stop position in the lifting / lowering direction of the lifting platform 14 is set upward by a set distance than when the article 4 supported by the article support section 41 is taken out. Has been.

  When the article 4 supported by the article support unit 41 is taken out, the transfer control unit 40 c controls the operation of the turning electric motor 34 based on the detection information of the turning rotary encoder 38 to remove the placement body 29. After adjusting the retreating direction, the mounting body 29 is caused to project by controlling the operation of the retreating electric motor 34 based on the detection information of the retreating rotary encoder 39. Then, the transfer control unit 40c places the article 4 supported by the article support unit 41 by causing the mounting body 29 to protrude and then raising the lifting platform 14 by a set distance by the lifting control unit 40b. It is placed and supported on the mounting body 29. Thereafter, the transfer control unit 40 c controls the operation of the electric motor 34 for withdrawal and withdrawal based on the detection information of the rotary encoder 39 for withdrawal and retraction of the mounting body 29. At this time, when the retraction position detection sensor 37 detects that the placement body 29 is at the retraction position, the retraction operation of the placement body 29 is stopped.

  It should be noted that errors are accumulated by repeating the retreat operation when the mounting body 29 is at the retreat position, and the initial value of the retreat rotary encoder 39 at the start of the protrusion operation changes. In order to prevent this, the transfer control unit 40c resets the count value of the rotary encoder 39 for withdrawal when the retraction position detection sensor 37 detects that the placement body 29 is at the retraction position. Yes. As a result, the count value of the rotary encoder 39 when the mounting body 29 is located at the retracted position is always “0”.

  When the article 4 is wholesaled on the article support section 41, after the placing body 29 is protruded and operated, only the operation of lowering the lifting platform 14 by a set distance by the lifting control section 40b is different. This is the same operation as when the article 4 supported by the article support section 41 is taken out.

  In this way, the operation control device 40 controls the operation of the stacker crane 5 to take out the article 4 supported by the article carry-in / out section 8 and wholesale the taken-out article 4 to the article storage section 1, The article 4 supported by the article storage unit 1 is taken out and the taken-out article 4 is unloaded to the article placement unit 10, and the like between the article carry-in / out unit 8, the article storage unit 1, and the article placement unit 10. The article 4 is configured to be conveyed.

  In order to properly take out the article 4 supported by the article support part 41, the posture and position of the article 4 supported by the article support part 41 with respect to the projecting and actuated mounting body 29 are appropriate and It needs to be in position. That is, the article 4 supported by the article support unit 41 has a reference posture in plan view (for example, a posture parallel or substantially parallel to the longitudinal direction of the traveling rail 11), and a reference position in the longitudinal direction of the traveling rail 11 ( For example, the center of the mounting body 29 projecting in the longitudinal direction of the traveling rail 11 and the center of the article 4 supported by the article support portion 41 are vertically positioned), and Position at the reference position in the exit / retreat direction (for example, the position where the center of the mounting body 29 protruding in the retracting direction of the mounting body 29 and the center of the article 4 supported by the article support portion 41 overlap vertically) It is necessary to.

  Therefore, the reference stop for the traveling carriage 12 is performed so that the posture and position of the mounting body 29 that is protruded and operated with respect to the article 4 supported by the article support portion 41 become an appropriate posture and position with respect to the article 4. The position, the reference exit / retreat direction for the mounting body 29 and the reference protrusion amount for the mounting body 29 are determined in advance, and the operation control device 40 uses the traveling carriage 12 as a reference for each of the article support portions 41. A reference distance from the origin position for stopping at the stop position, a reference turning drive amount DP for turning from the first reference turning position or the second reference turning position to direct the turntable 28 in the reference exit / retreat direction, and mounting A reference advancing / retreating drive amount DQ for causing the body 29 to protrude from the retraction position by a reference protrusion amount is stored in the storage unit. These reference values are not stored as actual distances and angles, but are stored as values converted into control parameters corresponding to the respective driving amounts. For example, in the case of the reference advancing / retreating drive amount DQ, the count of the output pulses of the retreating rotary encoder 39 when the mounting body 29 is driven by the drive amount necessary to project the mounting body 29 by the reference protrusion amount. The value CNT (TOP) is stored.

  However, due to an installation error of the article support unit 41 or a transfer error when the article 4 is unloaded to the article support unit 41, the article 4 supported by the article support unit 41 is displaced from the reference position in a posture inclined from the reference posture. The position of the article 4 supported by the article support portion 41 from the reference position in plan view, the amount of deviation from the reference position in the longitudinal direction of the traveling rail 11, and the placement The amount of deviation from the reference position in the exit / retreat direction of the body 29 is obtained.

  As shown in FIGS. 6 to 9, the inclination of the article 4 supported by the article support portion 41 from the reference posture in plan view, the amount of deviation from the reference position in the longitudinal direction of the traveling rail 11, and the placement An article state detection sensor 44 for detecting the amount of deviation from the reference position in the exit / retreat direction of the body 29 and detecting that the mounting body 29 protrudes to the tip pulse rate detection position is provided at the tip of the mounting body 29. It is provided on the upper surface part of the part. The article state detection sensor 44 includes a first tip sensor 46 a and a second tip sensor 46 b as a pair of detection units arranged in the longitudinal direction of the traveling rail 11.

  Each of the first tip sensor 46a and the second tip sensor 46b is, for example, a photo interrupter type sensor, and a frame in which the light projected upward is located on the protruding side in the direction in which the lower frame body 4b of the article 4 protrudes and retracts. It is configured to detect the end of the bottom innermost horizontal frame 4t by receiving the reflected light reflected by the bottom innermost horizontal frame 4t serving as a part to be detected. Further, the detection sensitivity of these sensors based on the vertical distance between the lower frame body 4b of the article 4 and the placement body 29 when the placement body 29 is protruded with respect to the article 4 in order to take out the article 4. Has been adjusted.

  In this manner, the article state detection sensor 44 causes the mounting body 29 to protrude from the retracted position by the reference protrusion amount (the count value for the output pulse of the exit / retreat rotary encoder 39 corresponds to the reference protrusion / retraction amount). When the electric motor 34 is operated so that the count value CNT (TOP) indicating the driving amount DQ is obtained.), The bottom innermost horizontal frame 4t of the article 4 is provided to detect. Thereby, after detecting that the placing body 29 has entered the leading edge pulse rate detection zone Z by the leading edge zone detection sensor 36, the tip end portion of the placing body 29 is in the withdrawal direction and the bottommost side of the bottom of the article 4. It is possible to detect the protrusion to the tip pulse rate detection position, which is the position reaching the frame 4t.

  And about the positional relationship of the 1st front-end | tip sensor 46a and the 2nd front-end | tip sensor 46b, and the bottom part innermost horizontal frame 4t, in the state which the traveling vehicle 12 stopped to the reference | standard stop position, the mounting body 29 is made into a reference | standard exit / retreat direction. When the article 4 is projected by the reference protrusion amount, the article 4 supported by the article support portion 41 is in the reference posture in plan view, is located at the reference position in the longitudinal direction of the traveling rail 11, and If it is located at the reference position in the exit / retreat direction, as shown in FIG. 13B, each of the first tip sensor 46a and the second tip sensor 46b is connected to the first standard point Ga and the bottom innermost lateral frame 4t. It is set to be located immediately below the second standard point Gb.

  The operation control device 40 causes the placement body 29 to project in the reference exit / retreat direction in a state where the article transfer device 15 is positioned at the reference stop position with respect to the article support portion 41, so that the placement body 29 has a tip pulse rate. Based on information detected by the article state detection sensor 44 after entering the detection zone Z, the inclination of the article 4 supported by the article support unit 41 from the reference posture in plan view and the length of the traveling rail 11 The amount of deviation from the reference position in the direction and the amount of deviation from the reference position in the direction in which the mounting body 29 is withdrawn / retracted are determined.

First, a description will be given of how to obtain the inclination from the reference posture in plan view of the article 4 supported by the article support unit 41.
As shown in FIG. 12, a case is considered where the article 4 supported by the article support section 41 is inclined by an angle θ1 from the reference posture in plan view. In order to make the article 4 supported by the article support portion 41 in an inclined state from the reference attitude with respect to the mounting body 29, the swivel base 28 is turned by an angle θ1. Therefore, in order to set the inclination of the article 4 supported by the article support unit 41 from the reference posture in plan view to the correct correction posture in plan view, the posture of the article 4 with respect to the mounting body 29 is adjusted. Obtained as a turning correction amount P (angle) for turning operation. In FIG. 12, M indicates the turning center when the turntable 28 is turned.

The angle θ1 at which the article 4 is inclined from the reference posture is equal to the inner angle θ2 of the triangle S1. Since the triangle S1 is a right triangle, the following relational expression (Formula 1) holds.
θ1 = θ2 = arctan (L1 / L2) (Equation 1)
However, when L1 projects and operates the mounting body 29 in the direction inclined by the angle θ1 from the reference exit / retreat direction, the second tip sensor 46b located on the left side in FIG. The first tip sensor 46a located on the right side in FIG. 12 of the protrusion amount and the article state detection sensor 44 when detecting the retreat side end 4te in the retreating direction of the bottom deepest horizontal frame 4t is the bottom deepest side. This is the distance in the exit / retreat direction corresponding to the difference from the protrusion amount when detecting the end 4te of the frame 4t. L <b> 2 is an installation interval of the first tip sensor 46 a and the second tip sensor 46 b in the longitudinal direction of the traveling rail 11.

  When the placement body 29 is operated to protrude, one of the pair of article state detection sensors 44 is in a state of detecting the end 4te of the bottom innermost horizontal frame 4t. The primary sensor detection timing value CNT (ON1), which is a count value for the output pulse of, and the output of the rotary encoder 39 for exit / retreat when both are in the state of detecting the end 4te of the bottom innermost horizontal frame 4t Based on the difference from the secondary sensor detection timing value CNT (ON2) that is a count value for the pulse, the unit exit / retreat amount in the exit / retreat direction of the mounting body 29 per unit drive amount of the exit / exit electric motor 34 (for example, The distance L1 can be obtained using the amount of exit / retreat for one count of the rotary encoder 39. Since L2 is a predetermined value, the angle θ1 can be obtained by (Expression 1).

  When the angle θ1, which is the inclination of the article A from the reference orientation in plan view, is obtained, the turning angle per pulse of the turning rotary encoder 38 is stored in advance in the storage unit. A correction turning drive amount DPadj required for turning operation by θ1 can be obtained, and a reference for turning the turntable 28 from the first reference turning position or the second reference turning position detected by the reference turning position detection sensor 35. The reference turning drive amount DP for the turning electric motor 31 corresponding to the turning amount (angle) can be corrected by the corrected turning drive amount DPadj to obtain the adaptive turning drive amount DP ′ of the turning electric motor 31. .

  In this way, when the operation control device 40 causes the mounting body 29 to project by the reference projection amount, the article support unit 41 is based on the detection information of the pair of article state detection sensors 44 and the exit / retreat rotary encoder. The inclination of the mounting body 29 with respect to the article 4 supported on the plane in a plan view is obtained on the basis of the tip pulse rate R (ON) as the conversion unit withdrawal amount, and the article The article 4 supported by the support unit 41 is configured to correct the direction in which the mounting body 29 is withdrawn based on the angle θ1 indicating the inclination from the reference posture in plan view.

Next, a description will be given of how to obtain the amount of deviation from the reference position in the direction in which the placing body 29 moves out and with respect to the article 4 supported by the article support portion 41.
In order to set the article 4 supported by the article support portion 41 in a state shifted from the reference position to an appropriate position in the direction in which the placing body 29 is withdrawn, the amount of protrusion of the placing body 29 is corrected. . Therefore, the amount of deviation of the article 4 supported by the article support unit 41 from the reference position in the direction of withdrawal of the mounting body 29 from the reference position, and the position of the article 4 relative to the mounting body 29 in the direction of withdrawal of the mounting body 29. In order to obtain an appropriate correction position, it is obtained as an exit / extraction correction amount Q (distance) for moving the mounting body 29 out and out.

  As shown in FIG. 13B, when the mounting body 29 is protruded from the retracted position by the reference protrusion amount, the distance of the protrusion operation after both the pair of article state detection sensors 44 are turned on is L4. When the placing body 29 is positioned in the standard state with respect to the article 4 positioned at the reference position, that is, the traveling carriage 12 is stopped at the reference stop position, and the reference protrusion is made from the retracted position along the reference exit / retreat direction. When projecting in the retracting direction by the amount, the distance L4 coincides with the distance L7 in the retracting direction from the end 4te of the bottom innermost lateral frame 4t to the first standard point Ga and the second standard point Gb. Since both the pair of article state detection sensors 44 are simultaneously turned on and project by the distance L4, the projecting amount from the retreat position reaches the reference projecting amount.

  When the mounting body 29 is protruded from the retracted position in the retracting direction in a state where the retracting direction of the mounting body 29 is not the reference retracting direction, as shown in FIG. Before reaching the protruding amount, first, one of the pair of article state detection sensors 44 (second tip sensor 46b in the example illustrated in FIG. 13A) is turned on, and then the mounting body 29 is moved in and out. After the projecting operation by the distance L1, the other one (in the example illustrated in FIG. 13A, the first tip sensor 46a) is turned on. Thereafter, the protrusion amount from the retracted position of the mounting body 29 reaches the reference protrusion amount by protruding the distance L4 while both the pair of article state detection sensors 44 are simultaneously turned on. Therefore, when one of the pair of article state detection sensors 44 is turned on, the projection operation is performed for the distance L1 + L4, and when the other is activated, the projection operation is performed for the distance L4. Reaches the reference protrusion amount.

  That is, when the article 4 located in such a posture and position projects the mounting body 29 by the reference protrusion amount when the article 4 is in the reference posture, the protrusion amount after the first tip sensor 46a is turned on. Both the first tip sensor 46a and the second tip sensor 46b are simultaneously turned on by an average L4 ′ (L4 + L1 / 2) of (L4) and the protrusion amount (L1 + L4) after the second tip sensor 46b is turned on. It is located at a position in the exit / retreat direction so as to project.

If the article 4 is positioned at the reference position in the retracting direction in the reference posture, when the mounting body 29 is protruded by the reference protrusion amount, both the first tip sensor 46a and the second tip sensor 46b are simultaneously used. Since the projecting operation is performed by L7 after being turned on, the exit / withdrawal correction amount Q in the exit / withdrawal direction of the article 4 obtained based on the detection information of the pair of article state detection sensors 44 is given by It is done.
Q = L7−L4 ′ = L7− (L4 + L1 / 2) (Formula 2)

  If the article 4 is shifted from the reference position to the protruding side in the retracting direction, both the pair of article state detection sensors 44 are positioned at the bottom innermost horizontal frame when the mounting body 29 is protruded from the retracted position by the reference protruding amount. Since the timing for detecting the end portion 4te of 4t (corresponding to the sensor detection timing in this case) is delayed, both the pair of article state detection sensors 44 detect the end portion 4te of the bottom innermost horizontal frame 4t; After that, the moving distance L4 ′ toward the projecting side becomes smaller in the direction in which the mounting body 29 moves out and out. Therefore, when the article 4 is shifted from the reference position to the protruding side in the retracting direction, the distance L4 ′ becomes smaller than the distance L7, and a positive value is obtained as the retracting / leaving correction amount Q. In order to set the position of the body 29 in the exit / retreat direction to an appropriate correction position with respect to the article 4, the reference protrusion amount is corrected to the increase side (protrusion side) in the exit / retreat direction.

  On the contrary, if the article 4 is displaced from the reference position toward the retreating side in the retreating direction, the distance L4 ′ becomes larger than the distance L7, and a negative value is obtained as the retreating correction amount Q. In order to set the position of the placement body 29 in the exit / retreat direction to an appropriate position with respect to the article 4, the reference protrusion amount is corrected to the decrease side (protrusion side) in the exit / retreat direction.

  As described above, the distance L1 is used for entering and exiting from the difference between the primary sensor detection timing value CNT (ON1) and the secondary sensor detection timing value CNT (ON2) when the mounting body 29 is operated to protrude. It can be obtained by using the unit withdrawal amount in the withdrawal / retraction direction of the mounting body 29 per unit drive amount of the electric motor 34.

  In addition, the distance L4 is the second sensor detection timing value CNT (ON2) when the mounting body 29 is operated to project, and the output for operating the mounting body 29 by the reference projection amount from the retracted position. From the difference from the target count value CNT (TOP) for the output pulse of the retreat rotary encoder 39, the unit retreat amount in the retreat direction of the mounting body 29 per unit drive amount of the retreat electric motor 34 is used. Can be obtained.

  And if the deviation | shift amount in the withdrawing / withdrawing direction of the article | item 4 is calculated | required as the withdrawing / withdrawing correction amount Q, the unit withdrawing / withdrawing amount in the withdrawing / withdrawing direction of the mounting body 29 per unit driving amount of the withdrawing / withdrawing electric motor 34 is used. Thus, a corrected exit / retreat drive amount DQadj required for moving the mounting body 29 by the retracting / leaving correction amount Q can be obtained, and the output corresponding to the reference protrusion amount for projecting the mounting body 29 from the retracted position is obtained. The reference exit / exit drive amount DQ for the withdrawal electric motor 34 can be corrected by the corrected exit / exit drive amount DQadj to determine the adaptive exit / exit drive amount DQ ′ of the exit / exit electric motor 34.

  In this way, when the operation control device 40 causes the mounting body 29 to project by the reference projection amount, the operation support device 40 is based on the detection information of the pair of article state detection sensors 44 and the rotary encoder 39 for exit and withdrawal. 41, the amount of deviation from the reference position in the exit / retraction direction of the mounting body 29 with respect to the article 4 supported by 41 is determined by the unit output in the exit / retraction direction of the mounting body 29 per unit drive amount of the exit / retreat electric motor 34. The amount of protrusion of the mounting body 29 is corrected based on the amount of deviation from the reference position in the exit / retreat direction for the article 4 that is configured to be obtained using the withdrawal amount and is supported by the article support portion 41. It is configured as follows.

  Although not described in detail, the operation control device 40 moves the traveling carriage 12 in the longitudinal direction of the traveling rail 11 in a state where the mounting body 29 protrudes from the retracted position by a predetermined amount of movement correction amount detection. When moved, at least one of the non-illustrated side end member detectors provided in a pair in the mounting body 29 in a direction perpendicular to the direction of the loading / unloading of the mounting body 29 is on the article 4 side. Based on the amount of movement of the traveling carriage 12 until the end portion is detected, the amount of deviation from the reference position in the longitudinal direction of the traveling rail 11 of the article 4 supported by the article support 41 is obtained as a movement correction amount. It is configured as follows. The travel stop position of the traveling carriage 12 is corrected based on the amount of deviation from the reference position in the longitudinal direction of the traveling rail 11 for the article 4 supported by the article support portion 41.

  As described above, when the operation control device 40 causes the mounting body 29 to project from the retracted position by the reference projection amount, the operation control device 40 determines the inclination of the article 4 supported by the article support unit 41 from the reference posture in plan view. Obtained as the turning correction amount P, the amount of deviation from the reference position in the exit / retreat direction of the mounting body 29 is obtained as the exit / retreat correction amount Q, and the amount of deviation from the reference position in the longitudinal direction of the traveling rail 11 is obtained as the movement correction amount. . Then, a correction drive amount for each drive means corresponding to the turning correction amount P, the exit / exit correction amount Q, and the movement correction amount is obtained, and based on the adaptive drive amount obtained by correcting the reference drive amount with these correction drive amounts. Thus, the article 4 can be properly scooped by placing the mounting body 29 in an appropriate posture and position with respect to the article 4.

  The operation control device 40 acquires the distance L1 and the distance L4 necessary for calculating the angle θ1 as the turning correction amount P and the above-described distance L7-L4 ′ as the exit / extraction correction amount Q. In the case where the corrected exit / exit drive amount DQadj is obtained from the distance “L7−L4 ′” as the exit / exit correction amount Q, the drive amount when the electric motor 34 for exit / exit is driven and the placement body 29 by the drive are driven. As the relationship with the change amount of the position in the withdrawal / retreat direction, the article state detection sensor 44 is mounted at the sensor detection timing at which the end 4te on the withdrawal side is detected in the withdrawal / retreat direction of the bottom innermost horizontal frame 4t of the article 4. The tip pulse rate R (ON), which is the unit withdrawal amount in the exit / retreat direction of the mounting body 29 per unit drive amount of the exit / retreat electric motor 34, for the position in the exit / retreat direction of the placement body 29 is calculated. doing.

  With reference to FIG. 11, a description will be given of the unit withdrawal amount in the withdrawal / retraction direction of the mounting body 29 per unit drive amount of the withdrawal / retraction electric motor 34.

  When the mounting body 29 is located at the retracted position, the first arm 32 and the second arm 33 (only one link mechanism 30 is shown in FIG. 11) of the pair of link mechanisms 30 are in the retracted posture. When the electric motor 34 for withdrawal is operated to project the mounting body 29 by the reference projection amount from this state, the first arm 32 and the second arm 33 of the pair of link mechanisms 30 are moved from the retracted posture to the first. With the swinging motion of the arm 32 and the second arm 33, the first arm 32 and the second arm 33 change their postures through overlapping postures that overlap in a vertical view.

  The first arm 32 and the second arm 33 of the pair of link mechanisms 30 respectively have a distance between the first vertical axis P1 and the second vertical axis P2 and a distance between the second vertical axis P2 and the third vertical axis P3. Are the distance C [mm], and therefore, when the unit drive amount of the electric motor 34 for exit / exit is “1 count” of the rotary encoder 39 for exit / exit, the second vertical axis of the first arm 32 per count The displacement (hereinafter also referred to as arc length pulse rate R) of the center P2 along the swing locus (arc) is (2πC / 360 °) × [swing angle θc per pulse]. As described above, the calculation result of the oscillation angle θc [° / pulse] per pulse is stored as the oscillation angle data D4 per pulse in the storage unit of the operation control device 40. For the distance C [mm], The arm length data D7 is registered in the storage unit of the operation control device 40.

  Since the displacement along the swing locus of the second vertical axis P2 per count of the rotary encoder 39 is very small, this displacement is tangent to the position of the second vertical axis P2 on the swing locus. It can be regarded as a displacement in the direction. When the first arm 32 and the second arm 33 are in the overlapping posture, the displacement in the tangential direction all contributes to the moving direction of the mounting body 29 when the first arm 32 swings. It will be. Therefore, the arc long pulse rate R indicates the displacement of the second arm axis P2 of the first arm 32 in the retracting direction when the first arm 32 and the second arm 33 are in the overlapping posture.

  In the present embodiment, the operation control device 40 converts the arc length pulse rate R based on the angle θ of the first arm 32 with respect to the phase of the first arm 32 in the link mechanism 30 in the overlapping posture to convert the tip pulse rate. In order to obtain R (ON), the arc length pulse rate R is managed as a reference pulse rate R for calculating the tip pulse rate R (ON). The reference pulse rate R is calculated when the apparatus is started up by a calculation program provided in the operation control device 40. Once calculated, the reference pulse rate R is stored in the storage unit of the operation control device 40 as reference pulse rate data D1. .

  The swinging direction of the first arm 32 when the posture of the first arm 32 and the second arm 33 changes is opposite to the swinging direction of the second arm 33. The mounting body 29 pivotally connected to the third vertical axis P3 side of the second arm 33 has a second vertical axis P2 around the first vertical axis P1 generated by the swinging operation of the first arm 32. Of the displacement, a component that contributes to the retracting direction, and a component that contributes to the retracting direction of the displacement around the third vertical axis P3 around the second vertical axis P2 generated by the swing operation of the second arm 33 Will be displaced in the direction of withdrawal.

  Further, from the overlapping posture, the first arm 32 and the second arm 33 are changed in posture, and from the phase when the first arm 32 is in the overlapping posture (hereinafter also referred to as the overlapping phase) to the phase swung by the angle θ. If it is swinging, the component contributing to the retracting direction of the displacement of the second vertical axis P2 of the first arm 32 per unit driving amount of the retracting electric motor 34 at this time is multiplied by cos θ, Similarly, the component contributing to the retracting direction of the displacement of the third vertical axis P3 of the second arm 33 is also multiplied by cos θ.

Therefore, the first arm 32 and the second arm 33 change their posture from the overlapping posture, and the first arm 32 is output per pulse in a state where the first arm 32 is swung by the angle θ from the overlapping phase overlapping the second arm 33. The unit retreat amount R (θ), which is the displacement in the retreat direction, is given by the following (Equation 3).
R (θ) = R × 2cosθ (Formula 3)

  Thus, the unit withdrawal / retraction amount R (θ) can be obtained from the reference pulse rate R and the angle θ from the overlapping phase of the first arm 32. Then, the swing angle θ from the overlapping phase of the first arm 32 is such that the count value CNT (SP) for the output pulse of the rotary encoder 39 in the overlapping phase of the first arm 32 and the overlapping phase of the first arm 32 are the same. From the count value of the output pulse of the rotary encoder 39 for exit / retreat when the actuator swings by the swing angle θ, and the swing per pulse stored as the swing angle data D4 per pulse in the storage unit It can be obtained from the moving angle θc [° / pulse]. Further, the count value CNT (SP) for the output pulse of the rotary encoder 39 for the first arm 32 in the overlapping phase corresponds to the reference detection information of this case, and the operation control is performed by the overlapping posture teaching work described later. It is stored in the storage unit of the device 40 as overlapping posture pulse count data D2.

  The tip pulse rate R (ON) is a unit exit / withdrawal amount R (θ) for the position of the mounting body 29 in the exit / retreat direction at the sensor detection timing, and as shown in FIG. The tip pulse rate R (ON) can be obtained by converting the reference pulse rate R by (Equation 3) based on the swing angle θ (SP-ON) of one arm 32.

  In this embodiment, the sensor detection timing is a timing at which both of the pair of article state detection sensors 44 detect the end 4te of the bottom innermost horizontal frame 4t. When the projecting operation is performed by the projecting amount, the sensor detection timing is given by the count value CNT (ON2) for the output pulse of the rotary encoder 39 for exit / exit when both the pair of article state detection sensors 44 are turned on. .

  When the article 4 supported by the article support portion 41 is inclined from the reference posture as shown in FIGS. 12 and 13A, for example, when the mounting body 29 is protruded from the retracted position by the reference protrusion amount. Although the timing at which the first tip sensor 46a and the second tip sensor 46b are turned on is different, in this case, the count value CNT (ON2) for the output pulse of the rotary encoder 39 that indicates the sensor detection timing is as follows: The count value is the later timing among the timings at which the first tip sensor 46a and the second tip sensor 46b are turned on.

  The registration work of the overlapping posture pulse count CNT (SP) necessary for obtaining the swing angle θ (SP-ON) of the first arm 32 at the sensor detection timing will be described based on the work flow shown in FIG.

  The operator switches the operation control device 40 to the manual mode with a key switch (not shown) (# B1). Thereafter, the operator instructs the inching operation by an inching operation by an inching command freely commandable command means, thereby causing the electric motor 34 for ingress / egress to perform an inching operation, as shown in FIG. The postures of the first arm 32 and the second arm 33 are changed to an overlapping posture in which the first arm 32 and the second arm 33 overlap in a vertical view (# B2). At this time, the position of the mounting body 29 in the withdrawing / retracting direction is the teaching position on the protruding side from the retreating position.

  Then, as shown in FIG. 18B, the arm centering jig 45 as a positioning member is passed through the arm centering hole 47 of the second arm 33 located on the upper side, and the first arm located on the lower side. The two arm centering holes 47 and 48 are inserted from above to be inserted into the 32 arm centering holes 48 (# B3). Both arm centering holes 47 and 48 are located at positions where the axial centers of the first arm 32 and the second arm 33 coincide with each other when the first arm 32 and the second arm 33 overlap with each other in plan view. Is provided. Therefore, by fitting the arm centering jig 45 into both the arm centering holes 47 and 48, the deviation from the overlapping posture that cannot be adjusted by the inching command is minimized, and the swing base end of the first arm is reduced. The first arm 32 and the second arm 33 can be positioned in a state where the first vertical axis P1 on the side coincides with the third axis P3 on the swing end portion side of the second arm.

  Then, the operator issues a teaching command using a manually operated command means that can command the teaching command (# B4). As a result, the operation control apparatus 40 acquires the count value CNT (SP) for the output pulse of the exit / retreat rotary encoder 39 at this time, and stores it in the storage unit as overlapping posture pulse count data D2.

  At this time, the operation control device 40 determines that the swing angle θ (HP) of the first arm 32 when the mounting body 29 is located at the retracted position (home position HP) (when the link mechanism 30 is in the retracted position). -SP) is calculated based on the swing angle θc [° / pulse] per pulse stored in the swing angle data D4 per pulse, and is stored in the storage unit as the home position angle data D3. When the registration of the overlapping posture pulse count CNT (SP) is completed, the operator pulls out the arm centering jig 45 and switches the operation control device 40 to the normal operation mode with a key switch (not shown) to perform teaching work. Exit.

  Next, the control content of the operation control means 40 in the constant transfer operation for performing the scooping operation of the article 4 executed in the normal operation mode will be described based on the flowchart of FIG. In the following description, when each step in FIG. 15 is shown, the word “step” is omitted and is simply indicated by a step number.

  First, the operation control device 40 controls the traveling operation of the traveling carriage 12 by the traveling control unit 40a in order to move the article transfer device 15 to the article transfer stop position with respect to the article support unit 41 on which the article 4 is supported. And the raising / lowering operation | movement of the raising / lowering stand 14 is controlled by the raising / lowering control part 40b, and the goods transfer apparatus 15 is stopped in the stop position for goods transfer (# M1).

  And the operation control apparatus 40 controls the transfer operation | movement of the article transfer apparatus 15 in the transfer control part 40c, and starts the protrusion operation | movement of the mounting body 29 (# M2). In this projecting operation, the count value of the output pulse of the retracting rotary encoder 39 (hereinafter also simply referred to as the count value of the retracting rotary encoder 39) so that the mounting body 29 projects from the retracted position by the reference projecting amount. Based on this, the operation of the electric motor 34 is controlled. In the storage unit of the operation control device 40, CNT (TOP) is set in advance as a count value indicating the reference exit / retreat drive amount DQ that is the drive amount of the exit / retreat electric motor 34 corresponding to the reference protrusion amount.

  When the protrusion operation is started, the operation control device 40 determines whether the position of the mounting body 29 has reached the tip pulse rate detection zone Z shown in FIG. 9 based on the detection information of the tip zone detection sensor 36. Whether or not is monitored (# M3). Then, after the position of the loading / unloading body 29 reaches the tip pulse rate detection zone Z, it is monitored whether the pair of article state detection sensors 44 are turned on (# M4). In this way, the pair of article state detection sensors 44 are monitored at the bottom of the article 4 by monitoring the ON state of the pair of article state detection sensors 44 after the placement body 29 reaches the tip pulse rate detection zone Z. Even if the detected horizontal frames other than the bottom innermost horizontal frame 4t are detected and turned on, the detected information can be ignored, and the bottom innermost horizontal by the pair of article state detection sensors 44 can be ignored. The detection of the end 4te of the frame 4t can be ensured.

  When the protrusion amount from the retracted position of the mounting body 29 reaches the reference protrusion amount before the pair of article state detection sensors 44 are turned on, that is, the count value of the rotary encoder 39 for withdrawal is set to CNT (TOP ), The article 4 supported by the article support part 41 is located at a position shifted from the reference position to the protruding side or the retracting side in the retracting direction beyond the allowable range, or some control abnormality has occurred. As a result, an abnormal stop is performed (# M5 and # M6).

  In # M4, the operation control device 40 sets the count value of the rotary encoder 39 for exit / retreat when the first tip sensor 46a and the second tip sensor 46b of the pair of article state detection sensors 44 are turned on. Obtained as a primary sensor detection timing value CNT (ON1) and a secondary sensor detection timing value CNT (ON2).

  When both of the pair of article state detection sensors 44 are turned on, the process proceeds to # M7, and the tip pulse rate calculation process is executed. As will be described in detail later, in this process, the reference pulse rate R is converted by (Equation 3) based on the swing angle θ (SP-ON) from the overlapping posture of the first arm 32 at the sensor detection timing. Obtain the tip pulse rate R (ON).

  In # M8, the difference between the primary sensor detection timing value CNT (ON1) and the secondary sensor detection timing value CNT (ON2) is converted into the distance L1 at the tip pulse rate R (ON), and (Equation 1) A turning correction amount P (angle) is obtained.

  In # M9, the difference between the primary sensor detection timing value CNT (ON1) and the secondary sensor detection timing value CNT (ON2) is converted to the distance L1 at the tip pulse rate R (ON), and similarly, the reference protrusion amount The difference between the count value CNT (TOP) indicating the reference drive / retreat driving amount DQ corresponding to the value and the secondary sensor detection timing value CNT (ON2) is converted into the distance L4 at the tip pulse rate R (ON), The exit / exit correction amount Q (distance) is obtained by 2).

  In # M10, the reference for the electric motor 31 for turning corresponding to the reference turning amount (angle) for turning the turntable 28 from the first reference turning position or the second reference turning position detected by the reference turning position detection sensor 35. The count value of the turning rotary encoder 38 indicating the turning drive amount DP is corrected using the turning angle per pulse to the count value indicating the corrected turning drive amount DPadj corresponding to the turning correction amount P (angle). A count value indicating the adaptive turning drive amount DP ′ of the electric motor 31 is obtained.

  In # M11, the count value of the rotary encoder 39 for exit / exit indicating the reference exit / exit drive amount DQ for the exit / exit electric motor 34 corresponding to the reference projection amount (distance) for projecting the mounting body 29 from the retracted position is By correcting the count value indicating the corrected exit / exit drive amount DQadj for the exit / exit correction amount Q (distance) using the tip pulse rate R (ON), the adaptive exit / exit drive amount DQ ′ of the exit / exit electric motor 34 is obtained. Obtain the count value shown.

  In # M12, the operation of the turning electric motor 31 is controlled so that the count value of the turning rotary encoder 38 becomes the count value indicating the adaptive turning drive amount DP ′ (the count value obtained in # M10). The swivel base 28 is swung.

  In # M13, the operation of the exit / exit electric motor 34 is controlled so that the count value of the exit / exit rotary encoder 39 becomes the count value indicating the adaptive exit / exit drive amount DQ '(the count value obtained in # M11). Then, the mounting body 29 is moved out and out.

  Thereafter, in # M14, the operation control device 40 updates and records the count value indicating the adaptive turning drive amount DP ′ as a new reference turning drive amount DP for the article support portion 41 that is the transfer target location of the current scooping operation. Then, in # M15, the count value indicating the adaptive exit / exit drive amount DQ 'is updated and recorded as a new reference exit / exit drive amount DQ for the article support portion 41 that is the transfer target location of the present scooping operation.

  Here, although omitted in the flow of FIG. 15, the longitudinal direction of the traveling rail 11 for the article 4 supported by the article support portion 41 at any time until the processing of # M7 to # M15 is completed. The movement correction amount calculation process for determining the amount of deviation from the reference position as the movement correction amount, and the stop for correcting the travel stop position of the traveling carriage 12 based on the calculated movement correction amount by causing the travel control unit 40a to function. The position correction moving process is executed. Thereby, even if the article 4 supported by the article support portion 41 is deviated from the reference position in the longitudinal direction of the traveling rail 11, the position of the mounting body 29 with respect to the article 4 in the traveling direction is set to an appropriate position. Can do.

  And the operation control apparatus 40 makes the raising / lowering control part 40b function by # M16, and raises / lowers the raising / lowering stand 14 only a set raising / lowering stroke. At this time, even if the article 4 is supported by the article support unit 41 at a position that is inclined from the reference position and deviated from the reference position, the mounting body 29 is in an appropriate posture and position with respect to the object 4 to be scooped. Therefore, the article 4 is placed and supported by the placing body 29 in a state where the article 4 is in an appropriate posture and position with respect to the placing body 29.

  After the article 4 is scooped up in this way, the operation control device 40 causes the transfer control unit 40c to function again at # M17, while controlling the retraction speed based on the count value of the exit / retreat rotary encoder 39, When the mounting body 29 in the state of supporting 4 is retreated, and the retraction position detection sensor 37 detects that the mounting body 29 is located at the retraction position, the retraction operation of the mounting body 29 is stopped. Then, the count value of the exit / retreat rotary encoder 39 is reset to “0” to complete the transfer operation.

  In this way, the operation control device 40 determines the inclination of the article 4 from the reference posture, the amount of deviation from the reference position in the longitudinal direction of the traveling rail 11, and the amount of deviation from the reference position in the exit / retreat direction as the actual transfer target. By using the detection information of the article state detection sensor 44 that detects the article 4 and controlling the operation of the traveling carriage 12 and the article transfer device 15 so as to eliminate the inclination and the deviation amount, the article can be obtained. The article 4 can be rescued in a state in which the mounting body 29 is in an appropriate posture and position with respect to 4.

  Next, the tip pulse rate calculation processing of # M7 in the control flow of the constantly scooping transfer operation of FIG. 15 will be described based on the flowchart shown in FIG.

  First, at # A1, the count value CNT (ON) of the rotary encoder 39 for exit / exit at the sensor detection timing is acquired. In the present embodiment, since the sensor detection timing is a timing at which both of the pair of article state detection sensors 44 detect the end 4te of the bottom innermost horizontal frame 4t, the mounting body 29 is referred to the reference position from the retracted position. The count value CNT (ON2) for the output pulse of the rotary encoder 39 for exiting / exiting when both the pair of article state detection sensors 44 are turned on when the projection operation is performed by the projection amount is the count value CNT (ON). To be acquired.

  In # A2, the count value CNT (SP) for the output pulse of the rotary encoder 39 for exit and retraction in the overlap phase of the first arm 32 stored as overlap posture pulse count data D2 in the storage unit and the output at the sensor detection timing The difference from the count value CNT (ON) of the retraction rotary encoder 39 is calculated. The difference between the count values is the amount of change in the rotary encoder 39 for moving the link mechanism 30 from the overlapping posture to the posture at the sensor detection timing. The driving amount of the electric motor 34 for exiting / retreating until the position becomes is shown, and the swing angle θ (SP-ON) from the overlapping phase of the first arm 32 at the sensor detection timing is shown.

  In # A3, from the difference of the count value [pulse] calculated in # A2 based on the swing angle θc [° / pulse] per pulse stored as the swing angle data D4 per pulse in the storage unit Then, the swing angle θ (SP-ON) from the overlapping phase of the first arm 32 at the sensor detection timing is calculated.

  When # A2 and # A3 cause the operation control device 40 to project the mounting body 29 by the reference protrusion amount, the detection information of the rotary encoder 39 for exit and exit at the sensor detection timing and the overlapping posture pulse count value as the reference detection information Based on CNT (SP), the swing angle θ (SP-ON) from the overlapping posture of the first arm 32 at the sensor detection timing is detected. Therefore, the swing angle detecting means is configured by a control program (more specifically, processing of # A2 and # A3) incorporated in the operation control device 40.

  In # A4, the tip pulse rate R (ON) is calculated. Since the tip pulse rate R (ON) is the unit retreat amount R (θ) when the swing angle θ from the overlapping phase of the first arm 32 is the swing angle θ (SP-ON), The pulse rate R (ON) can be calculated by setting θ = θ (SP-ON) in (Equation 3).

  By # A4, the operation control device 40 swings the unit retreat amount R (θ) with respect to the position of the mounting body 29 in the retreat direction when the first arm 32 and the second arm 33 are in the overlapping posture. By converting based on the detection information of the angle detection means (processing results of # A2 and # A3), the unit withdrawal amount, that is, the tip pulse rate R with respect to the position of the mounting body 29 in the withdrawal direction at the sensor detection timing. (ON) is acquired. Therefore, the control unit incorporated in the operation control device 40 (more specifically, the processing of # A4) constitutes a conversion unit withdrawal / acquisition amount acquisition means.

  In the present embodiment, when the distance L1 and the distance L4 are measured based on the change in the count value of the rotary encoder 39 for exit / exit when calculating the turning correction amount P and the exit / exit correction amount Q, and the exit / exit correction amount When calculating the count value of the rotary encoder 39 for exit and exit corresponding to Q (distance), the distance L1 and the distance L4 can be accurately measured by using the tip pulse rate R (ON), and the exit / exit correction is performed. The count value of the rotary encoder 39 for exit and exit corresponding to the quantity Q (distance) can be calculated with high accuracy. Therefore, it is possible to accurately obtain the amount of deviation of the article 4 to be transferred, which is located at a position that is tilted from the reference position and deviated from the reference position. In addition, when correcting the moving direction and the moving amount of the mounting body 29 according to the inclination and the amount of deviation, the correction driving amount is accurately set to an appropriate posture and position with respect to the article 4 to be transferred. The driving amount can be adjusted to match.

[Another embodiment]
Hereinafter, other embodiments of the present invention will be listed.
(1) In the above embodiment, the sensor detection timing is when both the pair of article state detection sensors 44 are turned on, but when one of the pair of article state detection sensors 44 is turned on. Or, when one of them is turned on for a predetermined time or a predetermined drive-out drive amount after being turned on, or when it is operated for a predetermined time or a predetermined drive-out drive amount after both are turned on, etc. The sensor detection timing is not limited to that described in the above embodiment.

(2) In the above-described embodiment, the article state detection sensor is provided at the end portion on the protruding side in the retracting direction of the mounting body, and the detected body is positioned at the end portion on the protruding side in the exiting and retracting direction of the article. However, the present invention is not limited to this. For example, an article state detection sensor is provided at an end portion on the withdrawal side in the direction of withdrawal of the mounting body, and the object to be detected is located at the end on the withdrawal side in the direction of withdrawal of the article. It may be one that is located at a part, or an article state detection sensor is provided at an intermediate location in the direction of withdrawal of the mounting body, and the detected object is located at an intermediate location in the direction of withdrawal of the article, etc. The position of the article state detection sensor on the mounting body and the position of the detected body on the article can be changed as appropriate.

  In the above-described embodiment, the object to be detected is exemplified by the bottom innermost horizontal frame 4t that is a component frame of the article. However, the object to be detected is attached to the bottom surface of the article 4, for example. It may be added to the article, such as a reflector.

(3) In the above embodiment, the article state detection sensor is configured by a pair of sensors, but the article state detection sensor may be configured by one or three or more sensors. .

(4) In the above embodiment, the article state detection sensor is a photo interrupter type sensor, but other types of sensors such as a proximity sensor can be used instead.

(5) In the above-described embodiment, the stacker crane in which the mounting body 29 moves up and down in the wholesale or scooping transfer operation using the lifting and lowering operation of the lifting platform 14 that moves up and down across the upper and lower storage units is exemplified. However, the present invention is not limited to this, for example, a moving body equipped with an elevating table that performs an elevating operation for a scooping operation, or a moving guide rail that guides the moving body along a moving path is provided to be movable up and down That is, the moving body itself may be moved up and down.

(6) In the embodiment described above, the first arm 32 and the second arm 33 of the link mechanism 30 are positioned in the overlapping posture by the arm centering jig 45, but the first arm 32 and the second arm of the link mechanism 30 are illustrated. One or both of the arms 33 may be provided with a marking for confirming the overlapping posture, and an operator who commands and operates the inching command may confirm the overlapping posture by visually observing the marking. Further, the engagement hole 47 into which the arm centering jig 45 is fitted may be formed in a bracket or the like attached to the side portions of the first arm 32 and the second arm 33.

(7) In the above-described embodiment, the drive amount detection unit exemplifies the detection of the rotation speed of the output rotation shaft of the electric motor 36 for exit / retreat as the drive unit. However, the present invention is not limited to this. As a means, a means for directly detecting the swing operation amount of the first arm 32 may be used.

(8) In the above-described embodiment, an example in which the tip zone detection sensor 36 detects that the mounting body 29 has reached the pulse rate detection zone Z has been exemplified. Based on the count value, it may be detected that the mounting body 29 has reached the pulse rate detection zone Z.

(9) In the above embodiment, the reference drive amount of the driving means corresponding to the reference protrusion amount is corrected to the adaptive drive amount corrected by the correction drive amount while the mounting body is operated to protrude by the reference protrusion amount from the retracted position. In this example, the drive means is controlled so that the drive amount of the drive means after the placement body starts to protrude from the retracted position becomes the adaptive drive amount. The driving amount of the driving means after the mounting body is protruded from the retraction position by the reference protruding amount, the protruding operation is once stopped and then the retracting operation is resumed, and the driving means after the stopping operation of the mounting body is stopped is the corrected driving amount. The operation of the driving means may be controlled so that

(10) In the embodiment described above, the article support unit 41 actually supports the article 4 to be transferred, thereby tilting the article 4 supported by the article support unit 41 from the reference posture in plan view, The amount of deviation from the reference position in the exit / retreat direction of the mounting body 29 and the amount of deviation from the reference position in the longitudinal direction of the traveling rail 11 are obtained. The inclination from the reference posture in plan view, the mounting body 29 A dummy article for determining the amount of deviation from the reference position in the exit / retreat direction and the amount of deviation from the reference position in the longitudinal direction of the traveling rail 11 is supported by the article support portion 41 and supported by the article support portion 41. Of the dummy article to be tilted from the reference position in plan view, the amount of deviation from the reference position in the direction in which the mounting body 29 is withdrawn, and the base in the longitudinal direction of the traveling rail 11 It can be determined shift amount from the position. In this case, the obtained shift amount may be stored in correspondence with each article support unit as a learning drive amount with a value converted into a drive amount based on the conversion unit withdrawal amount. Then, when taking out the article supported by the article support unit during the article transport operation, the operation control means includes a learning drive amount in which the drive amount of the drive means is stored corresponding to the article support unit. What is necessary is just to control the action | operation of a drive means so that it may become.

(11) In the above-described embodiment, the bending-extension-type double link including the operating arm that is swingably supported on the movable body side and the swinging arm that is swingably connected to the distal end side of the operating arm. Although an example in which the arm is provided is illustrated, the specific structure of the oscillating body is not limited thereto. For example, the oscillating body is configured to include a single arm that is swingably supported on the movable body side. May be.

1, 8, 10, 41 Article support unit 4 Article 4t Detected object 5 Article conveying device 11 Moving path 12 Moving body 29 Mounted body 30 Oscillating body 32 Operating arm 33 Oscillating arm 34 Driving means 39 Driving amount detecting means 40 Operation Control means 44 Article state detection sensor 45 Positioning members 46a and 46b A pair of detection portions 47 and 48 Engagement hole L1 Distance difference P Inclination Q from reference posture QLeading / leaving amount DQadj Correction drive amount DQ 'Adaptive drive amount R (ON ) Unit withdrawal amount R (θ) Unit withdrawal amount
CNT (SP) reference detection information
CNT (ON), CNT (ON2) sensor detection timing

Claims (8)

A moving body that is moved along the movement path;
The drive means provided on the movable body side is connected to the swing end portion side of the swing body that is swing-operated around the swing axis, and is linked to the swing operation of the swing body by the drive means. For article placement support provided to move back and forth between a retraction position for movement located on the movable body and a protruding position for transfer located on the outer side of the movable body, and to be movable up and down A mounting body of
Drive amount detection means for detecting the drive amount of the drive means;
The moving body is controlled to move so as to move the moving body to an article transfer stop position with respect to an article support portion positioned along the movement path, and the moving body is moved to the article transfer stop position. Operation control means is provided for controlling the exit / retreat operation and the lifting / lowering operation of the mounting body so as to take out the article supported by the article support section in the state of being stopped or to wholesale the article to the article support section,
An article state detection sensor for detecting an amount of displacement, which is an amount of deviation from a reference position in the direction of withdrawal of the placement object with respect to the article supported by the article support unit, the retraction of the placement object. In a state of detecting the detected object provided in the article when protruding from the position by a preset reference protrusion amount, the object is provided in the above described body,
When the operation control means causes the mounting body to protrude from the retraction position by the reference protrusion amount, the amount of displacement is determined based on detection information of the article state detection sensor and the drive amount detection means, The above description is based on the detection information of the driving amount detecting means so as to position the mounting body with respect to the correction position that is shifted by the amount of displacement in the exit / retreat direction from the reference position in the exit / retreat direction. An article transporting device configured to control an exit / retreat operation of the body,
When the operation control means causes the object body to protrude from the retraction position by the reference protrusion amount, the output of the object body at the sensor detection timing at which the article state detection sensor detects the object to be detected. For the position in the retreat direction, a conversion unit retreat amount that is a unit retreat amount in the retreat direction of the mounting body per unit drive amount of the driving means is obtained, and the correction position is On the other hand, as the driving amount of the driving means for positioning the mounting body, the conversion unit output when converting the retracting amount of the mounting body in the retracting direction into the driving amount of the driving means. Conversion based on the retraction amount is performed, and based on the detection information of the drive amount detection means at the sensor detection timing, the drive amount of the drive means for positioning the above-described body relative to the correction position is obtained. Ni It has been that the article transport device.   When the operation control means obtains the drive amount of the drive means for positioning the mounting body with respect to the correction position, the output is based on the detection information of the drive amount detection means at the sensor detection timing. 2. A configuration is provided in which a displacement amount is obtained, and the obtained displacement amount is converted into a drive amount of the drive means by the conversion unit withdrawal amount to obtain a drive amount of the drive means. The article conveying apparatus according to the description.   When the operation control means obtains the amount of displacement, the drive amount of the drive means detected by the drive amount detection means at the sensor detection timing is converted into the conversion unit withdrawal amount of the mounting body. The article conveying apparatus according to claim 2, wherein the article conveying apparatus is configured to obtain the withdrawal / retreat amount by converting into a withdrawal / retreat amount.   In the case where the operation control means causes the mounting body to project and operate in order to take out the article supported by the article support section, the correction control is performed based on the detection information of the drive amount detection means at the sensor detection timing. The article conveying apparatus according to any one of claims 1 to 3, wherein the article conveying device is configured to obtain a driving amount of the driving means for positioning the mounting body with respect to a position. The article state detection sensor includes a pair of detection units arranged in the longitudinal direction of the movement path,
When the operation control means causes the mounting body to protrude from the retraction position by the reference protrusion amount, a distance in the retracting direction until each of the pair of the detection units detects the detection object. The difference is obtained by converting the difference in drive amount detected by the drive amount detecting means when each of the pair of detection units detects the detected object by the conversion unit withdrawal amount, The article conveyance device according to any one of claims 1 to 4, wherein the article conveyance device is configured to obtain an inclination from a reference posture in a plan view of an article supported by the article support unit from the obtained distance difference.   The oscillating body includes a bending-extension-type double link arm including an operation arm that is swingably supported on the movable body side, and a swing arm that is swingably connected to a distal end side of the operation arm. 6. The structure according to claim 1, wherein the mounting body is linearly moved along the withdrawing / retracting direction as the operating arm is oscillated by the driving means. Item conveying apparatus of Claim 1.   The operation control means is configured to be able to store detection information of the drive amount detection means as reference detection information when the operation arm and the swing arm are overlapped in a vertical direction as viewed in the vertical direction, The overlapping posture of the operation arm at the sensor detection timing based on the detection information of the drive amount detection means and the reference detection information at the sensor detection timing when the described body is protruded by the reference protrusion amount Swinging angle detecting means for detecting a swinging angle from the unit, and the unit retracting amount with respect to the position of the mounting body in the retracting direction when the operating arm and the swinging arm are in the overlapping posture Is converted on the basis of the detection information of the swing angle detection means, and includes a conversion unit withdrawal amount obtaining means for obtaining the conversion unit withdrawal amount. Has been that an article carrying apparatus according to claim 6, wherein. Each of the operation arm and the swing arm is provided with an engagement hole at a position where the axes coincide with each other in plan view in the overlapping posture,
The oscillating body in the overlapping posture is detachably provided with a positioning member that fits in both the engagement holes in the mounted state and positions the operation arm and the oscillating arm in the overlapping posture. The article conveying device according to claim 7 .

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