JP6210091B2 - Transfer device and transfer system - Google Patents

Description

  The present invention relates to a transfer apparatus and a transport system.

  2. Description of the Related Art A small transfer device that transfers packages to a shelf in an automatic warehouse is known (for example, see Patent Document 1).

JP 2002-167008 A

  The transfer device as described above is required to further reduce the size of the device from the viewpoint of improving the storage efficiency of luggage in an automatic warehouse, for example.

  An object of this invention is to provide the transfer apparatus which can achieve size reduction of an apparatus size, and a conveyance system provided with such a transfer apparatus.

  The transfer device of the present invention is provided on the first arm and the second arm on one side in the second direction perpendicular to the first direction and on the first arm and the second arm that opens and closes in the first direction. A first clamp portion that clamps the first load disposed; a second clamp portion that is provided on the first arm and the second arm on the other side in the second direction and clamps the second load disposed on the other side; A solenoid that opens and closes the first arm and the second arm, and at least a pair of first linear guides that are arranged on one side and the other side of the solenoid and guide the first arm along the first direction, And at least a pair of second linear guides that are arranged on one side and the other side of the solenoid and guide the second arm along the first direction.

  In this transfer apparatus, since a solenoid is used as a drive source for opening and closing the first arm and the second arm, space saving can be realized compared to a case where a motor is used as the drive source. . Furthermore, although the driving force of the solenoid tends to be smaller than the driving force of the motor, the first arm is guided by at least a pair of first linear guides and the second arm is guided by at least a pair of second linear guides. A reliable opening / closing operation of the first clamp part and the second clamp part can be realized. Therefore, according to this transfer apparatus, it is possible to reduce the size of the apparatus.

  The transfer device of the present invention extends from a solenoid in a first direction and has a first shaft to which a first arm is attached; a second shaft that extends in a first direction and to which a second arm is attached; A first rack gear provided on the first shaft so as to extend in the first direction; a second rack gear provided on the second shaft so as to extend in the first direction; a first rack gear and a second rack gear; And a first pinion gear that meshes with each of the first rack gear and the second rack gear. Thereby, it is possible to realize a reliable opening / closing operation of the first clamp part and the second clamp part with one solenoid while realizing further space saving.

  The transfer device of the present invention may further include a bush for guiding the second shaft along the first direction on the opposite side of the second rack gear from the second arm. Thereby, the smooth opening / closing operation | movement of a 1st clamp part and a 2nd clamp part is realizable, suppressing backlash.

  The transfer device of the present invention supports a solenoid, at least a pair of first linear guides, a first frame to which at least a pair of second linear guides are attached, and the first frame movably along a second direction. A second frame, a first arm and a second arm that are disposed laterally in the first direction and attached to the first frame; a second pinion gear connected to the motor; and a second direction extending in the second direction. And a third rack gear that is attached to the second frame and meshes with the second pinion gear. Thus, further space saving can be realized by arranging the motor laterally with respect to the first arm and the second arm and attaching the motor to the first frame.

  In the transfer device of the present invention, the first clamp portion has a first protrusion that engages with the first load, and the second clamp portion has a second protrusion that engages with the second load. Also good. Thereby, even if it is a case where sufficient clamping force cannot be obtained due to the weight of the load, etc., the first load and the second load can be reliably transferred.

  The transfer system according to the present invention relates to the transfer device, a mast extending in a vertical direction perpendicular to the first direction and the second direction, a moving mechanism for moving the mast along the first direction, and the mast. An elevating mechanism for elevating and lowering a pair of transfer devices arranged on both sides in the first direction along the mast.

  In this transport system, since the pair of transfer devices are arranged on both sides with respect to the mast, the work efficiency of the transfer can be improved while realizing space saving.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to provide the transfer apparatus which can achieve size reduction of an apparatus, and a conveyance system provided with such a transfer apparatus.

It is a front view of the automatic warehouse where the conveyance system of one embodiment of the present invention was applied. It is sectional drawing along the II-II line of FIG. It is an enlarged view of the transfer apparatus of the conveyance system of FIG. It is sectional drawing along the IV-IV line of FIG.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In addition, in each figure, the same code | symbol is attached | subjected to the same or an equivalent part, and the overlapping description is abbreviate | omitted.

  As shown in FIGS. 1 and 2, the transport system 1 includes a mast 2, a mast guide rail 3, a moving mechanism 4, a moving mechanism guide rail 5, an elevating mechanism 6, and a pair of transfer devices 10. It is equipped with. The transport system 1 is applied to an automatic warehouse including a first support frame 7 that supports a plurality of trays (first luggage) A1 and a second support frame 8 that supports a plurality of trays (second luggage) A2. ing.

  The first support frame 7 and the second support frame 8 face each other in the X-axis direction (second direction perpendicular to the first direction). The first support frame 7 is provided with a plurality of pairs of support arms 9 so as to extend toward the second support frame 8 along the X-axis direction. The second support frame 8 is provided with a plurality of pairs of support arms 9 so as to extend toward the first support frame 7 along the X-axis direction. The plurality of pairs of support arms 9 are arranged in a matrix along the YZ plane in each of the first support frame 7 and the second support frame 8. Each pair of support arms 9 supports a flange F provided at the opening of each tray A1, A2. In this automatic warehouse, the respective areas where the trays A1 and A2 are supported by each pair of support arms 9 function as shelves.

  The mast 2 extends in the Z-axis direction (vertical direction perpendicular to the first direction and the second direction) between the first support frame 7 and the second support frame 8. At the lower end of the mast 2, there are provided rollers or the like that can travel along the mast guide rail 3 that extends in the Y-axis direction (first direction). The moving mechanism 4 is provided at an intermediate portion of the mast 2 and moves along the moving mechanism guide rail 5 extending in the Y-axis direction, thereby moving the mast 2 along the Y-axis direction. The elevating mechanism 6 moves up and down along the mast 2 to raise and lower the pair of transfer devices 10 arranged on both sides in the Y-axis direction along the mast 2. With the transport system 1 configured as described above, the pair of transfer apparatuses 10 support the plurality of trays A2 on the first support frame 7 and the second support frame 8 in a region where the plurality of trays A1 are supported. The area between the areas can be moved along the YZ plane.

  Hereinafter, the configuration of one transfer device 10 of the pair of transfer devices 10 will be described in detail. Since the configuration of the other transfer device 10 is symmetrical with the configuration of the one transfer device 10 with respect to the mast 2, the description of the configuration of the other transfer device 10 is omitted.

  As shown in FIGS. 3 and 4, the transfer device 10 includes a first arm 11 and a second arm 12, a first clamp portion 13, a second clamp portion 14, a solenoid 17, and a first frame 18. A pair of first linear guides 23 and a pair of second linear guides 24.

  The first clamp portion 13 is provided on the first arm 11 and the second arm 12 on one side (the first support frame 7 side) in the X-axis direction. The 1st clamp part 13 opens and closes in the Y-axis direction with the operation | movement, when the 1st arm 11 and the 2nd arm 12 open and close in the Y-axis direction. Each of the pair of clamp pieces 13 a and 13 b constituting the first clamp portion 13 is provided with a pair of pads 15 and a pair of protrusions (first protrusions) 16 that face each other in the Y-axis direction. The pad 15 is made of an elastic material such as rubber, and the protrusion 16 is made of a material such as metal.

  The first clamp portion 13 abuts a pair of pads 15 from both sides on the side surface of the tray A1 supported (or planned to be supported) by the first support frame 7, and is provided on the side surface of the tray A1. The tray A1 is clamped by engaging the pair of protrusions 16 from both sides with the pair of grooves G1. Note that the pair of grooves G1 is located on the second support frame 8 side with respect to the center of the tray A1 when focusing on the tray A1 supported by the first support frame 7 (see FIG. 1), and opposed in the Y-axis direction. As shown, it is provided on the side surface of the tray A1.

  The second clamp portion 14 is provided on the first arm 11 and the second arm 12 on the other side (the second support frame 8 side) in the X-axis direction. The 2nd clamp part 14 opens and closes in the Y-axis direction with the operation | movement, when the 1st arm 11 and the 2nd arm 12 open and close in the Y-axis direction. Each of the pair of clamp pieces 14 a and 14 b constituting the second clamp portion 14 is provided with a pair of pads 15 and a pair of protrusions (second protrusions) 16 that face each other in the Y-axis direction.

  The second clamp portion 14 is provided on the side surface of the tray A2 while bringing the pair of pads 15 into contact with the side surface of the tray A2 supported (or planned to be supported) by the second support frame 8 from both sides. The tray A2 is clamped by engaging the pair of protrusions 16 with the pair of grooves G2 from both sides. Note that the pair of grooves G2 are located on the first support frame 7 side with respect to the center of the tray A2 and are opposed to each other in the Y-axis direction when focusing on the tray A2 supported by the second support frame 8 (see FIG. 1). As shown, it is provided on the side surface of the tray A2.

  The solenoid 17 is an electromagnetic actuator that opens and closes the first arm 11 and the second arm 12. The solenoid 17 is disposed on the side in the Y-axis direction (opposite to the mast 2) with respect to the first arm 11 and the second arm 12, and is fixed to the lower surface of the plate-like first frame 18. .

  The pair of first linear guides 23 guide the first arm 11 along the Y-axis direction. Each first linear guide 23 has a rail 23a and a slider 23b attached to the rail 23a via a ball, a roller or the like. Each rail 23a is fixed to the lower surface of the first frame 18 so as to extend along the Y-axis direction. Each slider 23 b is fixed to the upper surface of the first support member 21 that supports the first arm 11.

  The pair of first linear guides 23 are arranged on one side and the other side in the X-axis direction with respect to the solenoid 17. That is, in the X-axis direction, the center of the first linear guide 23 (X coordinate of the center) is located on one side with respect to the center of the solenoid 17 (X coordinate of the center). The center of the other first linear guide 23 (X coordinate of the center) is located on the other side with respect to the center of the solenoid 17 (X coordinate of the center).

  The pair of second linear guides 24 guide the second arm 12 along the Y-axis direction. Each second linear guide 24 includes a rail 24a and a slider 24b attached to the rail 24a via a ball, a roller, or the like. Each rail 24a is fixed to the lower surface of the first frame 18 so as to extend along the Y-axis direction. Each slider 24 b is fixed to the upper surface of the second support member 22 that supports the second arm 12.

  The pair of second linear guides 24 are arranged on one side and the other side in the X-axis direction with respect to the solenoid 17. That is, in the X-axis direction, the center of one second linear guide 24 (X coordinate of the center) is located on one side with respect to the center of the solenoid 17 (X coordinate of the center). The center of the other second linear guide 24 (X coordinate of the center) is located on the other side with respect to the center of the solenoid 17 (X coordinate of the center).

  The transfer device 10 further includes a first shaft 25, a second shaft 26, a first rack gear 27, a second rack gear 28, and a first pinion gear 29.

  The first shaft 25 extends from the solenoid 17 in the Y-axis direction. One end portion 25 a of the first shaft 25 is fixed to the drive shaft of the solenoid 17. The other end 25 b of the first shaft 25 is fixed to the first support member 21. That is, the first arm 11 is attached to the first shaft 25. The second shaft 26 extends from the second support member 22 in the Y-axis direction. One end portion 26 a of the second shaft 26 is fixed to the second support member 22. That is, the second arm 12 is attached to the second shaft 26. The other end 26b of the second shaft 26 is not fixed to any member. The first shaft 25 is disposed in an insertion hole 22 a provided in the second support member 22.

  The first rack gear 27 is provided at an intermediate portion of the first shaft 25 so as to extend in the Y-axis direction. The second rack gear 28 is provided at an intermediate portion of the second shaft 26 so as to extend in the Y-axis direction. The first rack gear 27 and the second rack gear 28 face each other in the X-axis direction. The first pinion gear 29 meshes with each of the first rack gear 27 and the second rack gear 28 between the first rack gear 27 and the second rack gear 28. The first pinion gear 29 is rotatably supported by the first frame 18.

  A bush 31 is fixed to the lower surface of the first frame 18. The bush 31 is a tubular slide bearing made of a low friction material such as resin, and supports the second shaft 26. The bush 31 guides the second shaft 26 along the Y-axis direction on the opposite side of the second rack gear 28 from the second arm 12.

  A stopper 32 is provided on the lower surface of the first frame 18 so as to face the end surface 27 a of the first rack gear 27 on the first support member 21 side. A pad 33 made of an elastic material such as rubber is attached to a surface of the stopper 32 that faces the end surface 27 a of the first rack gear 27. The stopper 32 and the pad 33 are provided with an insertion hole, and a portion of the first shaft 25 on the first arm 11 side with respect to the first rack gear 27 is disposed in the insertion hole. A coil spring 34 that surrounds the first shaft 25 is disposed between the stopper 32 and the first support member 21 in a compressed state.

  As shown in FIG. 3, the transfer device 10 further includes a second frame 35, a motor 36, a second pinion gear 38, and a third rack gear 39.

  The second frame 35 is a rectangular cylindrical member that opens on both sides in the X-axis direction, and forms a housing that accommodates each component of the transfer device 10. A pair of third linear guides 41 is disposed between the lower surface of the upper wall 35 a of the second frame 35 and the upper surface of the first frame 18. Each third linear guide 41 includes a rail 41a and a slider 41b attached to the rail 41a via a ball, a roller, or the like. Each rail 41a is fixed to the lower surface of the upper wall 35a of the second frame 35 so as to extend along the X-axis direction. Each slider 41 b is fixed to the upper surface of the first frame 18. Thus, the second frame 35 supports the first frame 18 so as to be movable along the X-axis direction.

  A pair of support members 37 are fixed to the upper surface of the lower wall 35 b of the second frame 35. The pair of support members 37 support the tray A1 transferred to the transfer device 10 through one opening of the second frame 35 so as to be slidable along the X-axis direction. Similarly, the pair of support members 37 supports the tray A2 transferred to the transfer device 10 through the other opening of the second frame 35 so as to be slidable along the X-axis direction.

  The motor 36 is, for example, a stepping motor. The motor 36 is disposed on the side in the Y-axis direction (the side opposite to the mast 2) with respect to the first arm 11 and the second arm 12, and is fixed to the lower surface of the first frame 18. Along with the solenoid 17, the motor 36 is disposed in a region between the second arm 12 and the side wall 35 c of the second frame 35. The second pinion gear 38 is connected to the drive shaft 36 a of the motor 36. The third rack gear 39 is fixed to the upper wall 35a of the second frame 35 so as to extend in the X-axis direction, and meshes with the second pinion gear 38.

  Operations of the transport system 1 and the transfer device 10 configured as described above will be described. Here, a case where the tray A1 is transferred from one of the regions functioning as a shelf in the first support frame 7 to one transfer device 10 will be described.

  As shown in FIG. 1, the transport system 1 moves the pair of transfer devices 10 by driving the moving mechanism 4 and the lifting mechanism 6, and one of the regions functioning as a shelf in the first support frame 7 and one of them. The pair of transfer devices 10 are stopped in a state in which the transfer devices 10 face each other in the X-axis direction. Subsequently, as shown in FIG. 3, one transfer device 10 drives the motor 36 to move the first clamp portion 13 toward the first support frame 7, so that the pair of grooves G <b> 1 of the tray A <b> 1 are moved. The 1st clamp part 13 is stopped in the position which can engage a pair of protrusion part 16 of the 1st clamp part 13 from both sides. More specifically, when the motor 36 is driven, the second pinion gear 38 is rotated. At this time, since the motor 36 is fixed to the first frame 18 and the second pinion gear 38 meshes with the third rack gear 39 fixed to the second frame 35 so as to extend in the X-axis direction, The first frame 18 is moved together with the motor 36 and the second pinion gear 38 to the first support frame 7 side. Thereby, the 1st clamp part 13 is moved to the 1st support frame 7 side.

  When the first clamp portion 13 is moved to the first support frame 7 side, the solenoid 17 is turned off (that is, no current flows through the electromagnetic coil of the solenoid 17), and the first clamp portion 13 is Opened. More specifically, in a state where the solenoid 17 is OFF, the first shaft 25 is in a state where the end surface 27 a of the first rack gear 27 is in contact with the pad 33 by the urging force of the coil spring 34. In this state, the first pinion gear 29 is engaged with each of the first rack gear 27 and the second rack gear 28 so that the first clamp portion 13 is in an open state.

  Subsequently, the solenoid 17 is turned on (that is, a current is passed through the electromagnetic coil of the solenoid 17), and the first clamp portion 13 is closed. As a result, the pair of pads 15 come into contact with the side surface of the tray A1 from both sides, the pair of protrusions 16 engage with the pair of grooves G1 of the tray A1 from both sides, and the first clamp portion 13 clamps the tray A1. To do. More specifically, when the solenoid 17 is turned on, the drive shaft of the solenoid 17 is attracted by the magnetic force, and the first shaft 25 moves toward the solenoid 17 side along the Y-axis direction (that is, to the biasing force of the coil spring 34). On the other hand, the end surface 27a of the first rack gear 27 is moved so as to be separated from the pad 33 (see FIG. 4). At this time, the second shaft 26 is moved to the opposite side of the solenoid 17 along the Y-axis direction via the first rack gear 27, the first pinion gear 29, and the second rack gear 28. Thereby, the 1st clamp part 13 clamps tray A1.

  Subsequently, one transfer device 10 drives the motor 36 to move the first clamp portion 13 to the side opposite to the first support frame 7, and the tray A <b> 1 is placed on the pair of support members 37. The 1st clamp part 13 is stopped in the position which was. Subsequently, the transport system 1 moves the pair of transfer devices 10 by driving the moving mechanism 4 and the lifting mechanism 6, and the tray A1 transferred to one of the transfer devices 10 is used as a delivery port of the automatic warehouse. Transport.

  When the tray A1 is transferred from one transfer device 10 to one of the regions functioning as a shelf in the first support frame 7, the operations of the transport system 1 and the transfer device 10 described above are reversed. The operation is performed. When transferring the tray A2 between one of the regions functioning as a shelf in the second support frame 8 and one transfer device 10, the one transfer device 10 is connected to the first clamp portion 13. Instead, the second clamp part 14 is operated.

  As described above, in the transfer device 10, the solenoid 17 is used as a drive source for opening and closing the first arm 11 and the second arm 12, and therefore, compared to a case where a motor is used as the drive source. Space saving can be realized. Furthermore, although the driving force of the solenoid 17 tends to be smaller than the driving force of the motor, the first arm 11 is guided by the pair of first linear guides 23 and the second arm 12 is guided by the pair of second linear guides 24. Therefore, the reliable opening / closing operation | movement of the 1st clamp part 13 and the 2nd clamp part 14 is realizable. Therefore, according to the transfer device 10, it is possible to reduce the size of the device.

  In addition, the transfer device 10 extends from the solenoid 17 in the Y-axis direction, the first shaft 25 to which the first arm 11 is attached, and the first shaft 25 to which the second arm 12 is attached and extends in the Y-axis direction. Two shafts 26, a first rack gear 27 provided on the first shaft 25 so as to extend in the Y-axis direction, and a second rack gear 28 provided on the second shaft 26 so as to extend in the Y-axis direction. A first pinion gear 29 that meshes with each of the first rack gear 27 and the second rack gear 28 is provided between the first rack gear 27 and the second rack gear 28. Thereby, it is possible to realize a reliable opening / closing operation of the first clamp portion 13 and the second clamp portion 14 with one solenoid 17 while realizing further space saving.

  In addition, the transfer device 10 includes a bush 31 that guides the second shaft 26 along the Y-axis direction on the opposite side of the second rack gear 28 from the second arm 12. Thereby, the smooth opening / closing operation | movement of the 1st clamp part 13 and the 2nd clamp part 14 is realizable, suppressing backlash.

  In addition, the transfer device 10 can move the first frame 18 along the X-axis direction, the first frame 18 to which the solenoid 17, the pair of first linear guides 23 and the pair of second linear guides 24 are attached. A second frame 35 to be supported, a motor 36 attached to the first frame 18, arranged on the side in the Y-axis direction with respect to the first arm 11 and the second arm 12, and a second connected to the motor 36. A pinion gear 38 and a third rack gear 39 attached to the second frame 35 so as to extend in the X-axis direction and meshing with the second pinion gear 38 are provided. Thus, by arranging the motor 36 on the side with respect to the first arm 11 and the second arm 12 and attaching the motor 36 to the first frame 18, further space saving can be realized.

  Moreover, in the transfer apparatus 10, the 1st clamp part 13 has the protrusion part 16 engaged with tray A1, and the 2nd clamp part 14 has the protrusion part 16 engaged with tray A2. Thereby, even if a sufficient clamping force cannot be obtained due to the weight of the tray A1 or the like, the tray A1 and the tray A2 can be reliably transferred.

  Further, in the transport system 1, since the pair of transfer devices 10 are arranged on both sides with respect to the mast 2, the work efficiency of the transfer can be improved while realizing space saving.

  Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment.

  For example, three or more first linear guides 23 may be provided as long as at least one pair of first linear guides 23 is disposed on one side and the other side in the X-axis direction with respect to the solenoid 17. Similarly, three or more second linear guides 24 may be provided as long as at least one pair of the second linear guides 24 is arranged on one side and the other side in the X-axis direction with respect to the solenoid 17.

  Further, regarding each first linear guide 23, the slider 23 b may be fixed to the lower surface of the first frame 18, and the rail 23 a may be fixed to the upper surface of the first support member 21. Similarly, for each second linear guide 24, the slider 24 b may be fixed to the lower surface of the first frame 18, and the rail 24 a may be fixed to the upper surface of the second support member 22. Further, regarding the first linear guide 23 and the second linear guide 24 facing each other in the Y-axis direction, when the rail 23a and the rail 24a are fixed to the lower surface of the first frame 18 as in the above embodiment, The rail 23a and the rail 24a may be continuous with each other. Further, regarding each third linear guide 41, the slider 41 b may be fixed to the lower surface of the upper wall 35 a of the second frame 35, and the rail 41 a may be fixed to the upper surface of the first frame 18.

  The motor 36 may be attached to the second frame 35 and the third rack gear 39 may be attached to the first frame 18. In that case, when the motor 36 is driven, the first frame 18 is moved together with the third rack gear 39.

  DESCRIPTION OF SYMBOLS 1 ... Conveyance system, 2 ... Mast, 4 ... Movement mechanism, 6 ... Elevating mechanism, 10 ... Transfer apparatus, 11 ... 1st arm, 12 ... 2nd arm, 13 ... 1st clamp part, 14 ... 2nd clamp part , 16 ... projecting parts (first projecting part, second projecting part), 17 ... solenoid, 18 ... first frame, 23 ... first linear guide, 24 ... second linear guide, 25 ... first shaft, 26 ... first 2 shafts, 27 ... first rack gear, 28 ... second rack gear, 29 ... first pinion gear, 31 ... bush, 35 ... second frame, 36 ... motor, 38 ... second pinion gear, 39 ... third rack gear, A1 ... tray (First luggage), A2 ... Tray (second luggage).

Claims (6)

A first arm and a second arm that open and close in a first direction;
A first clamp portion that is provided on the first arm and the second arm on one side in a second direction perpendicular to the first direction and clamps the first load disposed on the one side;
A second clamp portion that is provided on the first arm and the second arm on the other side in the second direction and clamps a second load disposed on the other side;
A solenoid for opening and closing the first arm and the second arm;
At least a pair of first linear guides arranged on each of the one side and the other side with respect to the solenoid and guiding the first arm along the first direction;
A transfer device, comprising: at least a pair of second linear guides arranged on each of the one side and the other side with respect to the solenoid and guiding the second arm along the first direction. A first shaft extending from the solenoid in the first direction and having the first arm attached thereto;
A second shaft extending in the first direction and having the second arm attached thereto;
A first rack gear provided on the first shaft so as to extend in the first direction;
A second rack gear provided on the second shaft so as to extend in the first direction;
The transfer device according to claim 1, further comprising: a first pinion gear that meshes with each of the first rack gear and the second rack gear between the first rack gear and the second rack gear.   The transfer device according to claim 2, further comprising a bush for guiding the second shaft along the first direction on a side opposite to the second arm with respect to the second rack gear. A first frame to which the solenoid, at least a pair of the first linear guides, and at least a pair of the second linear guides are attached;
A second frame that movably supports the first frame along the second direction;
A motor disposed laterally in the first direction with respect to the first arm and the second arm, and attached to the first frame;
A second pinion gear connected to the motor;
The transfer device according to claim 1, further comprising: a third rack gear that is attached to the second frame so as to extend in the second direction and meshes with the second pinion gear. The first clamp portion has a first protrusion that engages with the first load.
The transfer device according to any one of claims 1 to 4, wherein the second clamp portion has a second protrusion that engages with the second load. A pair of transfer devices according to any one of claims 1 to 5;
A mast extending in a vertical direction perpendicular to the first direction and the second direction;
A moving mechanism for moving the mast along the first direction;
And a lifting mechanism that lifts and lowers the pair of transfer devices disposed on both sides in the first direction with respect to the mast along the mast.

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