JP6024720B2 - Transfer equipment - Google Patents

Description

  The present invention relates to a transfer device that is mounted on a transport device and used.

  2. Description of the Related Art A transfer device such as a stacker crane is used for transferring articles such as a FOUP (hoop) that accommodates semiconductor wafers in an automatic warehouse (see, for example, Patent Document 1). This stacker crane is equipped with a transfer device that transfers articles to a storage shelf such as an automatic warehouse, a lifting device that can vertically lift the transfer device, a transfer device and a lifting device, and is laid on the floor surface. A traveling carriage movable along the track. The transfer device has a plurality of arms provided on a lifting platform that is lifted and lowered by the lifting device. Each of the plurality of arms expands and contracts by rotating, supports the article by a hand portion provided at the tip thereof, and moves the article to the storage shelf by moving back and forth by rotating the arm (for example, , See Patent Document 2).

Japanese Patent No. 2699887 Japanese Patent No. 5098562

  In the transfer device as described above, the driving wheels of the traveling carriage travel on, for example, a T-type or I-type rail. Therefore, the transfer device mounted on the traveling carriage has a height of the traveling carriage on the rail. The lowest point position is determined by. In addition, the electric motor and the speed reducer that drive the transfer device are integrated by attaching the speed reducer to the output shaft of the electric motor. Moreover, since these electric motors and reduction gears are accommodated in the lifting platform, the lifting platform is made as thick as the height of the electric motor and reduction gear. For this reason, the transfer device can be lowered only to a height that combines the height of the traveling carriage and the thickness of the traveling carriage even when the lifting platform is positioned at the lowest point. Therefore, in a conventional automatic warehouse or the like, there is a problem that the position of the lowermost storage shelf must be set in accordance with the lowest point position of the transfer device, and the space on the floor surface cannot be used effectively. . On the other hand, in an automatic warehouse, etc., it is required to store many articles on the same site area, and the transfer device can be moved downward to use the space on the floor for storing articles. It is hoped to do.

  Further, for example, when a semiconductor wafer of 450 mm becomes mainstream, the hoop becomes large to cope with this wafer size, and the rigidity of the arm is increased, so that the weight increases as a whole. For this reason, an electric motor and a reduction gear will be enlarged and coped with. In the transfer device having the conventional structure, since the lifting platform accommodates these large electric motors and reducers, it becomes thicker. As a result, the lowest point position of the transfer device is raised, so the position of the lowermost storage shelf Will also increase the unused space on the floor.

  The present invention has been made in view of the above-described circumstances, and by enabling the lowering to a lower position in the vertical direction, the position of a storage shelf such as an automatic warehouse is set downward to improve the storage efficiency of articles. It is an object of the present invention to provide a transfer device capable of performing the above.

  The transfer device of the present invention includes a lifting platform that can be lifted and lowered along a mast extending in a vertical direction from a traveling carriage that runs on a track on a floor surface, and a swivel arm whose base end side is rotatably supported by the lifting platform; A telescopic arm whose base end side is rotatably supported on the free end side of the swivel arm, and a hand unit which is provided on the free end side of the telescopic arm and moves forward and backward by the rotation of the swivel arm and the telescopic arm, A turning drive unit that rotates a turning arm through a reduction gear for turning, and an expansion / contraction drive unit that rotates an extension arm through an extension reduction device. The swivel driving unit and the telescopic driving unit are installed on the lifting platform in a state of protruding downward from the lifting platform at a position off the track as viewed from the vertical direction. .

  In addition, at least one of the turning drive unit and the telescopic drive unit may be located on the side of the track when the lifting platform is lowered most. Further, each of the turning speed reducer and the telescopic speed reducer may be arranged apart from both the turning drive section and the telescopic drive section in a direction orthogonal to the vertical direction. Further, the telescopic speed reducer may be disposed in the turning arm. A turning transmission shaft that transmits rotation from the turning drive unit to the turning speed reducer; and a telescopic transmission shaft that transmits rotation from the telescopic speed reducer to the telescopic speed reducer. The telescopic transmission shaft may be arranged coaxially.

  In the present invention, the turning drive unit and the telescopic drive unit are installed on the lifting platform in a state of protruding downward from the lifting platform at a position off the track as viewed from the vertical direction. Therefore, the elevating platform can be lowered without causing the trajectory to interfere with each of the turning drive unit and the telescopic drive unit. Thus, according to the present invention, it is possible to provide a transfer device that can be lowered to a low position in the vertical direction.

  Further, when at least one of the turning drive unit and the telescopic drive unit is located on the side of the track when the lifting platform is at the lowermost end, the turning drive unit and the turning drive unit using the dead space on the side of the track A telescopic drive unit can be arranged. Further, when the turning speed reducer and the telescopic speed reducer are arranged apart from both the turning drive unit and the telescopic speed reducer in the direction orthogonal to the vertical direction, The size of the lifting platform can be reduced. Moreover, when the expansion / contraction reduction gear is arrange | positioned in an expansion-contraction arm, it can make a lifting platform thinner than the structure which arrange | positions the expansion-contraction reduction part in an lifting platform. A turning transmission shaft for transmitting rotation from the turning drive unit to the turning reduction gear; and a telescopic transmission shaft for transmitting rotation from the expansion / contraction driving unit to the extension reduction gear; When the telescopic transmission shaft is arranged coaxially, the space can be saved by concentrating these shafts in one place.

An example of the transfer apparatus which concerns on this embodiment is shown, (A) is the figure seen from the advancing direction of a conveying apparatus, (B) is a top view. It is a figure which shows the traveling trolley and transfer equipment seen from the perpendicular direction. It is a figure which shows the traveling trolley and transfer equipment seen from the direction of the track. It is the figure of the traveling trolley and transfer equipment seen from the direction orthogonal to a track.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention is not limited to this. Further, in the drawings, in order to describe the embodiment, the scale is appropriately changed and expressed by partially enlarging or emphasizing the description. In the following drawings, directions in the drawings will be described using an XYZ coordinate system. In this XYZ coordinate system, the vertical direction is the Z direction, and the horizontal direction is the X direction and the Y direction. In each of the X direction, the Y direction, and the Z direction, the direction of the arrow in the figure is the + direction, and the direction opposite to the arrow direction is the − direction.

  FIG. 1 is a diagram conceptually illustrating an automatic warehouse including a transfer device 4 on which a transfer device 1 according to the present embodiment is mounted. FIG. 1A shows a view from the X direction, and FIG. 1B shows a view from the Z direction. The automatic warehouse 2 includes a plurality of storage shelves 3 and a transfer device 4 such as a stacker crane.

  An article OB can be stored in each of the plurality of storage shelves 3. The article OB is a container such as a FOUP that contains a semiconductor wafer. When the article OB is a hoop, the article OB may be 25 kg or more depending on the size of the semiconductor wafer, the number of sheets accommodated, and the like. Note that the article OB may be, for example, a reticle case or another object other than the hoop, and the mass thereof is not limited.

  The conveyance device 4 includes a traveling carriage 6 including a traveling drive unit (not illustrated) such as a drive wheel 5 and an electric motor. The drive wheels 5 are installed on a base frame 7 constituting the traveling carriage 6 and are arranged on a T-shaped or I-shaped rail (track) 8 installed on the floor surface F. The base frame 7 includes a pair of rollers 9 that sandwich an intermediate portion of the rail 8. The traveling carriage 6 travels by rotationally driving the drive wheels 5 by a travel drive unit (not shown), and the drive wheels 5 can be moved in the X direction by the rollers 9 without falling off the rails 8. Note that the X direction is the direction in which the transport device 4 travels, and may be referred to as the front-rear direction.

  The base frame 7 is provided with a mast 10 extending in the vertical direction. The height of the mast 10 is set to a height at which the transfer device 1 can transfer the article OB to the uppermost storage shelf 3. A pair of rollers 11 are provided at the upper end of the mast 10 so as to sandwich the ceiling rail 12. The roller 11 is rotationally driven in synchronization with the drive wheel 5 by a drive device (not shown), and the upper end portion of the mast 10 is sent by the roller 11 in the traveling direction of the traveling carriage 6. Note that driving of the drive wheels 5 and driving of the rollers 11 are controlled by a control device (not shown).

  The plurality of storage shelves 3 are arranged side by side in the front-rear direction (X direction) and the vertical direction (Z direction) along the rail 8. Each storage shelf 3 is formed so as to be able to place an article OB, and a space capable of storing the article OB is formed on the upper surface side of each storage shelf 3. Each storage shelf 3 is provided with, for example, three pins on the upper surface (not shown), and the articles OB are positioned by inserting the pins into grooves provided on the bottom surface of the article OB. In FIG. 1, the storage shelf 3 is disposed only on one side (−Y side) of the rail 8, but the storage shelf 3 may be provided on both sides of the rail 8. The transport device 4 can deliver the article OB to both the −Y side storage shelf 3 and the + Y side storage shelf.

  The transfer device 1 includes an elevator 20, a swing arm 21, an extendable arm 22, and a hand unit 23. The lifting platform 20 can be moved up and down along the mast 10 by a lifting device (not shown). The mast 10 is provided with a linear guide 24 extending in the vertical direction. The lifting platform 20 can be moved up and down along the linear guide 24 by a driving force supplied from a lifting device (not shown).

  The lifting device includes, for example, a drive unit such as an electric motor, a sprocket that is rotationally driven by the drive unit, and a chain that is hung on the outer periphery of the sprocket. The chain spans from the upper end portion to the lower end portion of the mast 10 and moves (circulates) as the sprocket rotates. The elevator 20 is connected to the chain, and ascends or descends along the linear guide 24 as the chain moves. The lifting device is not limited to the above-described configuration, and an endless belt may be used instead of the chain. Moreover, it is not limited to raising / lowering the lifting platform 20 with a chain or a belt, For example, this pinion gear is rotated using the rack gear installed along the mast 10, and the pinion gear installed in the lifting platform 20. Then, the lifting platform 20 may be raised and lowered. In addition, the traveling drive part which drives the drive wheel 5, and the raising / lowering apparatus which raises / lowers the raising / lowering stand 20 are controlled by the control apparatus not shown.

  As shown in FIG. 1A, the turning arm 21 is provided on the lifting platform 20. The extendable arm 22 is provided on the turning arm 21, and the hand portion 23 is provided on the extendable arm 22. The hand unit 23 can place the article OB on the upper surface thereof, and supports the lower surface of the article OB. Note that, for example, three pins are provided on the upper surface of the hand portion 23, and the article OB is positioned by the pins entering a groove provided on the bottom surface of the article OB. Further, a cover member (see FIG. 1A) for covering the lid of the placed article OB (hoop) may be provided on the upper surface of the hand portion 23.

  As shown in FIG. 1B, a rotating shaft 21a is provided on the proximal end side of the turning arm 21, and the turning arm 21 is connected to the lifting platform 20 by the rotating shaft 21a. The swivel arm 21 is rotatable with respect to the lifting platform 20 around the rotation shaft 21a. The telescopic arm 22 is supported on the free end side (front end side) of the turning arm 21. A rotation shaft 22a is provided on the proximal end side of the extendable arm 22, and the extendable arm 22 is connected to the turning arm 21 by the rotation shaft 22a. The telescopic arm 22 is rotatable with respect to the turning arm 21 around the rotation shaft 22a.

  The swivel arm 21 and the extendable arm 22 can arbitrarily position the free end (tip) of the extendable arm 22 within a predetermined range according to the respective rotation angles. This predetermined range is defined by the length of the revolving arm 21 and the telescopic arm 22 and the angle between them. Further, the swing arm 21 and the extendable arm 22 can control the moving direction of the distal end of the extendable arm 22 by synchronously driving the drive units described later.

  The hand portion 23 is provided on the free end side of the telescopic arm 22. The hand part 23 moves in a direction approaching the storage shelf 3 when the revolving arm 21 and the telescopic arm 22 are extended (the angle between them is opened), and the revolving arm 21 and the telescopic arm 22 are contracted. By moving into a state (a state in which the angle between the two is narrow or a state in which both are overlapped), it moves away from the storage shelf 3 and moves above the lifting platform 20. The telescopic arm 22 is provided with a later-described link mechanism (see the link mechanism 46 in FIGS. 3 and 4) that adjusts the orientation of the hand portion 23. The link mechanism 46 will be described later. For example, when the hand unit 23 is advanced and retracted in the −Y direction by rotating the telescopic arm 22 and the turning arm 21, the tip of the hand unit 23 is on the −Y side (the storage shelf 3 side). When the hand unit 23 is above the lifting platform 20, the hand unit 23 is configured to face in the + X direction. When the storage shelf 3 is disposed on the + Y side, the tip of the hand portion 23 is configured to face the + Y side when the telescopic arm 22 and the swing arm 21 are rotated to the + Y side.

  The storage shelf 3 is provided with a notch 25 through which the hand portion 23 can pass in the vertical direction. When handing the article OB to the storage shelf 3, the hand unit 23 moves downward from the state where the bottom surface of the article OB is supported at a position higher than the storage shelf 3 so as to pass through the notch 25. Accordingly, the bottom surface of the article OB is supported by the storage shelf 3, the article OB is placed on the storage shelf 3, and the hand unit 23 is retracted below the storage shelf 3. Further, when receiving the article OB from the storage shelf 3, the hand unit 23 is arranged at a position lower than the storage shelf 3 on which the article OB is placed and moves upward so as to pass through the notch 25. As a result, the bottom surface of the article OB is supported on the upper surface of the hand portion 23, and the article OB is placed on the hand portion 23.

  FIG. 1B shows a state in which the transfer device 1 is delivering the article OB to the -Y-side storage shelf 3 with respect to the rail 8, but the swing arm 21 is set to the rotation shaft 21a. The article OB can be delivered to the storage shelf on the + Y side by rotating it around the + Y side.

  Next, the transfer apparatus 1 will be described in detail with reference to FIGS. FIG. 2 is a diagram showing the transfer device 1 and the traveling carriage 6 as seen from the vertical direction. The transfer device 1 includes a turning drive unit 31, a turning speed reducer 32, a telescopic drive unit 33, and a telescopic speed reducer 34.

  The turning drive unit 31 rotationally drives the turning arm 21 via the turning speed reducer 32. The turning drive unit 31 is disposed at a position away from the rail 8 when viewed from the vertical direction. The turning drive unit 31 is disposed on the opposite side of the storage shelf 3 with respect to the rail 8 in the Y direction (see FIG. 1). The turning speed reducer 32 is arranged away from both the turning drive unit 31 and the extension drive unit 33 when viewed from the vertical direction. Further, the turning speed reducer 32 is disposed at the position of the rotating shaft 21a of the turning arm 21 when viewed from the vertical direction.

  The expansion / contraction drive unit 33 drives the expansion / contraction arm 22 via the expansion / contraction speed reducer 34. The telescopic drive unit 33 is disposed at a position away from the rail 8 when viewed from the vertical direction. The telescopic drive unit 33 is disposed on the opposite side of the storage shelf 3 with respect to the rail 8 in the Y direction. The turning drive unit 31 and the telescopic drive unit 33 are arranged side by side in the X direction. The telescopic speed reducer 34 is disposed away from both the turning drive unit 31 and the telescopic drive unit 33 when viewed from the vertical direction. Similarly to the turning speed reducer 32, the telescopic speed reducer 34 is disposed at the position of the rotating shaft 21a of the turning arm 21 when viewed from the vertical direction. Therefore, the turning speed reducer 32 and the telescopic speed reducer 34 are arranged so as to overlap each other when viewed from the vertical direction.

  FIG. 3 is a view of the transfer device 1 and the traveling carriage 6 in the state where the lifting platform 20 is lowered most as viewed from the direction of the rails 8. FIG. 4 is a view of the transfer device 1 and the traveling carriage 6 in the state where the lifting platform 20 is lowered most as viewed from the direction perpendicular to the rails 8.

  First, the drive system of the turning arm 21 will be described. As shown in FIGS. 3 and 4, the turning drive unit 31 is installed on the lifting platform 20 so as to protrude downward from the lifting platform 20. The upper end of the turning drive unit 31 is fixed to the lifting platform 20, and the lower end thereof is disposed below the lifting platform 20. At least a part of the turning drive unit 31 is located on the side of the rail 8 in a state where the lifting platform 20 is lowered to the lowest end of the lifting range. The position of the lower end of the turning drive unit 31 is set so as not to collide with the floor surface F in a state in which the lifting platform 20 is lowered to the lowest end of the lifting range.

  The turning drive unit 31 includes, for example, an electric motor and an encoder that detects the rotation of the electric motor. As the electric motor, a motor that generates torque necessary for rotating the swing arm 21 and the like is used. The turning drive unit 31 rotationally drives the turning arm 21 via the turning speed reducer 32 to rotate the turning arm 21 with respect to the lifting platform 20. The rotation of the turning drive unit 31 is controlled by a control device (not shown). This control device servo-controls the electric motor using the detection result of the encoder. Note that the control device may be the same as the control device that controls the travel drive unit and the lifting device, or another control device may be used.

  As shown in FIG. 4, the output shaft 31 a of the turning drive unit 31 is disposed in the lifting platform 20, and the turning shaft 20 is turned in the lifting platform 20 via a belt 37, a pulley 36, and a turning transmission shaft 35. A reduction gear 32 is connected. The turning speed reducer 32 includes a mechanism that reduces the rotational speed of the turning transmission shaft 35 to, for example, 1/100 or 1/50. As this speed reduction mechanism, for example, an arbitrary speed reduction mechanism is used such as one that sets a predetermined speed reduction ratio using two or more gears and one that sets a predetermined speed reduction ratio using pulleys and a belt.

  The input side of the turning speed reducer 32 is connected to the turning transmission shaft 35. The turning transmission shaft 35 is disposed away from the output shaft 31a of the turning drive unit 31 when viewed from the vertical direction. The turning transmission shaft 35 is a cylindrical member extending downward (−Z direction) from the turning speed reducer 32 and is supported so as to be rotatable around an axis along the Z direction. The pulley 36 is fixed to the lower end of the turning transmission shaft 35. The pulley 36 rotates integrally with the turning transmission shaft 35. A belt 37 is stretched between the pulley 36 and the output shaft 31a without slack. Since the outer diameter of the pulley 36 is larger than the outer diameter of the rotary shaft 31a, the rotational speed of the output shaft 31a is reduced and transmitted to the turning transmission shaft 35.

  The output side of the turning speed reducer 32 is connected to the rotating shaft 21a. The rotating shaft 21a is a cylindrical member extending in the Z direction, and is supported by the lifting platform 20 so as to be rotatable around an axis along the Z direction. The rotating shaft 21a is disposed coaxially with the turning transmission shaft 35. The rotating shaft 21 a is fixed to the turning arm 21. Therefore, when the output shaft 31 a of the turning drive unit 31 rotates, the belt 37 moves (circulates) and rotates the turning transmission shaft 35 together with the pulley 36. The rotation of the turning transmission shaft 35 is decelerated at a predetermined reduction ratio by the turning speed reducer 32 and transmitted to the rotating shaft 21a. As the rotating shaft 21a rotates, the turning arm 21 rotates around the axis along the Z direction. Rotate to.

  The mechanism for transmitting the rotation of the output shaft 31a of the turning drive unit 31 to the turning transmission shaft 35 is not limited to using the pulley 36 and the belt 37, and for example, a gear train using two or more gears is used. May be.

  Next, the drive system of the telescopic arm 22 will be described. As shown in FIG. 3 and FIG. 4, the telescopic drive unit 33 has an upper end fixed to the elevator 20 and a lower end disposed below the elevator 20. The expansion / contraction drive unit 33 is located at a side of the rail 8 in a state where the lifting platform 20 is lowered to the lowest end of the lifting range. The position of the lower end of the extension / contraction drive unit 33 is set so as not to collide with the floor surface F in a state in which the lifting platform 20 is lowered to the lowest end of the lifting range.

  The expansion / contraction drive unit 33 has the same configuration as the turning drive unit 31 and includes an electric motor and an encoder that detects the rotation of the electric motor. An electric motor that generates torque necessary for rotating the telescopic arm 22 and the like is used. The electric motor of the turning drive unit 31 and the electric motor of the telescopic drive unit 33 may be the same or different. The expansion / contraction drive unit 33 rotationally drives the expansion / contraction arm 22 via the expansion / contraction reduction gear 34 to rotate the expansion / contraction arm 22 relative to the turning arm 21. The rotation of the expansion / contraction drive unit 33 is controlled by the control device (not shown). The point that the control device servo-controls the electric motor using the detection result of the encoder is the same as described above.

  The telescopic reduction gear 34 is disposed in the turning arm 21. The expansion / contraction speed reducer 34 includes a mechanism that decelerates the rotational speed of the expansion / contraction transmission shaft 41 to, for example, 1/100 or 1/50. As this speed reduction mechanism, for example, an arbitrary speed reduction mechanism is used such as one that sets a predetermined speed reduction ratio using two or more gears and one that sets a predetermined speed reduction ratio using pulleys and a belt. Further, the turning speed reducer 32 and the telescopic speed reducer 34 may have the same configuration or different configurations.

  As shown in FIG. 4, the output shaft 33 a of the expansion / contraction drive unit 33 is disposed in the lifting platform 20, and the expansion shaft is extended and retracted through the belt 43, the pulley 42, and the expansion / contraction transmission shaft 41 in the lifting platform 20. A reduction gear 34 is connected. The output shaft 33a is disposed at a lower position (a position closer to the floor surface F) in the vertical direction than the output shaft 31a of the turning drive unit 31.

  The input side of the expansion / contraction speed reducer 34 is connected to the expansion / contraction transmission shaft 41. The telescopic transmission shaft 41 has an upper end disposed in the swing arm 21 and connected to the telescopic speed reducer 34, and the lower end passes through the inside of the rotary shaft 21 a and the inner side of the rotational transmission shaft 35, and the lower end is a lifting platform. It is pulled out to 20. The expansion / contraction transmission shaft 41 is a rod-like member extending downward (−Z direction) from the expansion / contraction speed reducer 34 and is supported so as to be rotatable around an axis along the Z direction. The expansion / contraction transmission shaft 41 is disposed away from the output shaft 33a of the expansion / contraction drive unit 33 when viewed from the vertical direction. The telescopic transmission shaft 41 is arranged coaxially with the turning transmission shaft 35 and the rotary shaft 21a.

  The pulley 42 is fixed to the lower end of the telescopic transmission shaft 41. The pulley 42 is disposed below the pulley 36 of the drive system of the turning arm 21. The pulley 42 rotates integrally with the expansion / contraction transmission shaft 41. The belt 43 is stretched between the pulley 42 and the output shaft 33a without slack. Since the outer diameter of the pulley 42 is larger than the outer diameter of the rotary shaft 33a, the rotational speed of the output shaft 33a is decelerated and transmitted to the telescopic transmission shaft 41.

  The output side of the telescopic reduction gear 34 is connected to a pulley 44 arranged in the turning arm 21. In the present embodiment, at least a part of the extender reduction gear 34 is disposed so as to be embedded inside the pulley 44, and overlaps the pulley 44 when viewed from the horizontal direction (side) perpendicular to the vertical direction. The pulley 44 is connected to the rotation shaft 22 a of the telescopic arm 22 in the turning arm 21. The lower end portion of the rotation shaft 22 a of the telescopic arm 22 is disposed in the turning arm 21, and the belt 45 is stretched between the rotation shaft 22 a and the pulley 44 without slack. The rotating shaft 22a is a cylindrical member extending in the Z direction, and is supported by the turning arm 21 so as to be rotatable around an axis along the Z direction. The rotating shaft 22 a is fixed to the telescopic arm 22.

  Therefore, when the output shaft 33 a of the expansion / contraction drive unit 33 rotates, the belt 43 moves (circulates) and rotates the expansion / contraction transmission shaft 41 together with the pulley 42. The rotation of the expansion / contraction transmission shaft 41 is decelerated at a predetermined reduction ratio by the expansion / contraction reduction gear 34 and transmitted to the pulley 44 via the output shaft of the expansion / contraction reduction gear 34. As the pulley 44 rotates, the belt 45 moves (circulates) and is transmitted to the rotating shaft 22a of the telescopic arm 22, and the telescopic arm 22 rotates around the axis along the Z direction as the rotating shaft 22a rotates. .

  The mechanism for transmitting the rotation of the output shaft 33a of the expansion / contraction drive unit 33 to the expansion / contraction transmission shaft 41 is not limited to the use of the pulley 42 and the belt 43. For example, a gear train using two or more gears is used. May be. The mechanism for transmitting the rotation of the output shaft of the telescopic reduction gear 34 to the rotating shaft 22a of the telescopic arm 22 is not limited to using the pulley 44 and the belt 45. For example, a gear train using two or more gears may be used. May be used.

  Next, the hand unit 23 will be described. As shown in FIGS. 3 and 4, the rotating shaft 23 a of the hand portion 23 is rotatably supported on the distal end side of the telescopic arm 22. The rotating shaft 23 a is connected to a link mechanism 46 provided in the telescopic arm 22. The link mechanism 46 gives a predetermined amount of rotation to the rotation shaft 23a in conjunction with the rotation position of the turning arm 21 and the telescopic arm 22. Thereby, the direction of the front-end | tip of the hand part 23 is prescribed | regulated with rotation of the rotating shaft 23a. As the link mechanism 46, any mechanism that defines the direction of the tip of the hand portion 23 is applied. For example, the rotational positions of the swing arm 21 and the telescopic arm 22 are transmitted using a plurality of gear trains, belts, and pulleys, and the tip of the hand portion 23 is directed in a predetermined direction (for example, as shown in FIG. 1) according to each rotational position. Set to the direction of the storage shelf 3). The hand unit 23 is not limited to the configuration in which the direction of the tip is defined by the link mechanism 46, and is configured to be rotatable by a driving device different from the turning driving unit 31 and the expansion / contraction driving unit 33. You may drive and set the direction of the front-end | tip of the hand part 23. FIG.

  As described above, according to the present embodiment, the turning drive unit 31 and the telescopic drive unit 33 are installed on the lifting platform 20 in a state of protruding downward from the lifting platform 20 at a position off the rail 8. The elevating platform 20 can be positioned further down, and the elevating platform 20 becomes thinner, so that the swivel arm 21 and the like can be positioned further downward. Thereby, the lowermost storage shelf 3 of the automatic warehouse 2 can be set at a low position, and the storage efficiency of the articles OB can be improved.

  The embodiment has been described above, but the present invention is not limited to the above description, and various modifications can be made without departing from the gist of the present invention. For example, in the above-described embodiment, a part of the turning drive unit 31 and the expansion / contraction drive unit 33 are located on the side of the rail 8 when the lifting platform 20 is lowered most, but not limited thereto. It may be higher than the rail 8. In the above-described embodiment, the expansion / contraction reduction gear 34 is disposed in the turning arm 21, but the expansion / contraction reduction device 34 may be disposed in the lifting platform 20. Further, in the above-described embodiment, the turning speed reducer 31 is disposed in the lifting platform 20, but the turning speed reducer 31 may be disposed in the turning arm 21.

  In the above-described embodiment, the two swivel arms 21 and the telescopic arm 22 are arranged between the lifting platform 20 and the hand unit 23, but three or more arms may be arranged instead. .

DESCRIPTION OF SYMBOLS 1 ... Transfer equipment, 6 ... Traveling trolley, 8 ... Rail (track), 10 ... Mast, 20 ... Lifting platform, 21 ... Turning arm, 22 ... Telescopic arm , 23 ... Hand part, 31 ... Turning drive part, 32 ... Turning speed reducer, 33 ... Telescopic drive part, 34 ... Telescopic speed reducer, 35 ... Turning part Transmission shaft, 41 ... telescopic transmission shaft, OB ... article

Claims (5)

A lifting platform that can be lifted and lowered along a mast extending in a vertical direction from a traveling carriage traveling on a track on the floor surface;
A swivel arm whose base end side is rotatably supported by the lifting platform;
A telescopic arm whose base end side is rotatably supported on the free end side of the swivel arm;
A hand portion that is provided on the free end side of the telescopic arm and transfers the article by advancing and retreating by rotation of the swivel arm and the telescopic arm;
A turning drive for rotating the turning arm via a turning speed reducer;
A telescopic drive unit that rotates the telescopic arm via a telescopic speed reducer,
The swivel reducer and the telescopic reducer are arranged so as to overlap when viewed from the vertical direction,
The transfer device installed on the lifting platform in a state in which the turning driving unit and the expansion / contraction driving unit protrude downward from the lifting platform at a position deviated from the track when viewed from the vertical direction.   2. The transfer device according to claim 1, wherein at least one of the turning drive unit and the telescopic drive unit is positioned on a side of the track when the lifting platform is lowered most.   2. The turning reducer and the extension / reduction reducer are respectively arranged apart from both the turning drive unit and the extension drive unit in a direction orthogonal to the vertical direction. Item 3. The transfer device according to Item 2.   The transfer device according to claim 3, wherein the extender reduction gear is disposed in the swivel arm. A turning transmission shaft for transmitting rotation from the turning drive unit to the turning speed reducer;
A telescopic transmission shaft for transmitting rotation from the telescopic drive unit to the telescopic speed reducer,
The transfer device according to claim 3 or 4, wherein the turning transmission shaft and the telescopic transmission shaft are arranged coaxially.

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