JP6593313B2 - Transfer equipment - Google Patents

Description

  The present invention relates to a transfer apparatus that transfers an article to and from a transfer target position by reciprocating a holding unit that holds the article in a predetermined transfer direction.

  For example, Patent Document 1 below discloses a stacker crane 3 that transports containers W (articles) to a plurality of storage units 1 provided in an article storage shelf 2. The stacker crane 3 includes a transfer device 15 that transfers articles to and from the storage unit 1. The transfer device 15 can transfer the article to and from the storage unit 1 by reciprocating the support 17 that can support the article in a state of facing the specific storage unit 1 that is a transfer target location. It is configured.

  In general, such a transfer device moves to a position facing a specific storage unit that is a transfer target location, and transfers the article appropriately with the storage unit. A sensor for detecting a relative position with respect to the target location, a sensor for detecting the presence or absence of an article in the transfer target location, and the like are provided. And such a transfer apparatus is provided with the movable part which reciprocates with a support body, and the fixed part which supports the said movable part while being fixed to a mobile body (elevating body), These movable parts, A cable for supplying power to the movable part is connected to the fixed part.

Japanese Patent Laid-Open No. 2006-94264

  By the way, when the movable part reciprocates in the transfer device as described above, the relative position between the movable part and the fixed part changes, so that the force acting on the cable connecting the movable part and the fixed part. The direction and size of the cable also changed, and as a result, the movement trajectory of the cable was not stable, and the operating area of the cable was sometimes widened. In this case, it is necessary to arrange the sensor at a position that avoids the operating area of the cable. For this reason, in the transfer apparatus as described above, the area occupied by the cable operation area and the sensor arrangement area is relatively large, and there is room for improvement in order to improve the space efficiency.

  Therefore, it is desired to realize a transfer device capable of improving the space efficiency by reducing the area occupied by the cable operation area and the sensor arrangement area.

  In view of the above, the characteristic configuration of the transfer device is a transfer device that reciprocates a holding unit that holds an article in a predetermined transfer direction to transfer the article to and from the transfer target location. A driving mechanism for reciprocating the holding portion; a supporting portion for supporting the driving mechanism; and a second end that is fixed to the holding portion and has a first end that is one end. A cable having an end portion fixed to the support portion and a sensor fixed to the support portion so as to face the direction of the transfer target portion, and the first end portion is the first end portion The direction in which the cable extends from the second direction is fixed so that the direction toward the first direction in the transfer direction, which is one side of the transfer direction, is the second end portion of the cable from the second end portion. The extending direction is fixed so as to be the direction toward the transfer direction first side, and the first end portion and the The two end portions are separated in a separation direction orthogonal to the transfer direction, and the first end portion is disposed on the first side in the separation direction which is one side of the separation direction with respect to the second end portion. A bending portion is formed between the first end portion and the second end portion to bend the cable in the separating direction to reverse the extending direction of the cable, and the sensor includes the first end portion The first side in the separation direction with respect to the end portion, disposed at a position overlapping the cable when viewed in the separation direction, and disposed between the sensor and the first end portion in the separation direction; A cable guide for guiding the reciprocating movement of the bending portion along the transfer direction accompanying the reciprocating movement of the holding portion is provided.

  According to this configuration, the cable guide disposed between the sensor and the first end in the separation direction guides the cable bending portion so as to reciprocate along the transfer direction. The interference between the cable and the sensor can be suppressed. As a result, the sensor can be arranged close to the cable, so that the area occupied by the cable operation area and the sensor arrangement area can be reduced to improve the space efficiency.

  Further features and advantages of the technology according to the present disclosure will become more apparent from the following description of exemplary and non-limiting embodiments described with reference to the drawings.

The principal part side view of the article conveyance equipment provided with the transfer apparatus. The principal part top view of the article conveyance equipment provided with the transfer apparatus. The side view which shows the transfer apparatus of a retirement state. The side view which shows the transfer apparatus of a protrusion state. The rear view which shows the transfer apparatus of a protrusion state. The schematic diagram which shows the arrangement | positioning relationship of the principal part in the retirement state of a transfer apparatus. The schematic diagram which shows the arrangement | positioning relationship of the principal part in the protrusion state of a transfer apparatus.

1. First embodiment 1-1. Outline of Article Conveying Equipment with Transfer Device A first embodiment of a transfer device will be described with reference to the drawings.
As shown in FIG. 1, the transfer device 1 is provided in an article conveyance facility F that conveys an article W. The transfer device 1 transfers the article W in the article transport facility F.

  The article transport facility F includes an article storage shelf 95 having a storage section S as a transfer target location. In the example shown in FIGS. 1 and 2, the article storage shelf 95 has a plurality of storage units S arranged side by side in the vertical direction and the horizontal direction. In the present embodiment, the transfer device 1 transfers the article W with one selected from the plurality of storage units S.

  For example, the article storage shelf 95 is formed in a lattice shape as a whole by combining a plurality of support members 96A arranged along the vertical direction and a plurality of beam members 96B arranged along the horizontal direction. Is done.

  In the present embodiment, the storage unit S as a transfer target location is configured by a mounting table 97. In the example shown in FIG. 2, the mounting table 97 has an opening cut out in a U shape in plan view. Thereby, for example, when the transfer device 1 transfers the article W in a mode in which the lower surface of the article W is held from below, the portion holding the lower surface of the article W in the transfer device 1 is placed on the mounting table 97. The transfer device 1 can transfer the article W to and from the mounting table 97 by moving the opening of the upper and lower sides in the vertical direction.

  As illustrated in FIG. 1, the article conveyance facility F includes a conveyance device 90 that conveys the article W. The transport device 90 includes a traveling platform 92 that travels on a rail 91 that is provided along a lateral direction in which a plurality of storage units S are arranged, a mast 93 that is provided upward from the traveling platform 92, and is moved up and down along the mast 93. And a transfer table 1 that transfers the article W. Thereby, the conveyance apparatus 90 can convey the articles | goods W between the some storage parts S arrange | positioned along with the up-down direction and the horizontal direction in the article storage shelf 95. FIG. Note that a pair of article storage shelves 95 may be provided so as to face each other with the conveying device 90 interposed therebetween. In this case, the conveyance device 90 is configured to be able to convey the article W between each of the pair of storage shelves 90.

1-2. Configuration of Transfer Device The transfer device 1 moves the holding unit 2 that holds the article W back and forth in a predetermined transfer direction to transfer the article W to and from the storage unit S as a transfer target location. Included. In this specification, the transfer direction is a direction connecting the transfer device 1 and the storage unit S in a state where the transfer device 1 faces the storage unit S. In the following description, the transfer direction is X, one side in the transfer direction X is the transfer direction first side X1, and the other side is the transfer direction second side X2. Further, a separation direction to be described later is Z, one side in the separation direction Z is a separation direction first side Z1, and the other side is a separation direction second side Z2. Further, a width direction to be described later is defined as Y, one side in the width direction Y is defined as a width direction first side Y1, and the other side is defined as a width direction second side Y2. The transfer direction X, the width direction Y, and the separation direction Z are orthogonal to each other. In the present embodiment, the transfer direction X is equal to the shelf depth direction of the storage unit S, the transfer direction first side X1 is equal to the shelf front side, and the transfer direction second side X2 is equal to the shelf depth side. Further, the separation direction Z is equal to the vertical direction described above, and the width direction Y is equal to the horizontal direction described above.

  As shown in FIGS. 2 to 5, the transfer device 1 includes a drive mechanism 3 that reciprocates the holding unit 2, a support unit 4 that supports the drive mechanism 3, and a first end EG <b> 1 that is one end. Is fixed to the holding part 2 and the second end EG2 which is the other end is fixed to the support part 4 and the support part 4 so as to face the direction of the storage part S as a transfer target location. And a fixed sensor SE.

  In the present embodiment, the drive mechanism 3 includes a link mechanism 30, a drive source (not shown) that drives the link mechanism 30, and an interlocking mechanism (not shown) that links the link mechanism 30. The link mechanism 30 includes a second link part 32 that is supported by the support part 4 and rotates around the third axis AX, and a first link part 31 that connects the second link part 32 and the holding part 2. ing. Here, the first link part 31 is connected to the second link part 32 so as to be relatively rotated around the second axis AX2, and is connected to the holding part 2 so as to be relatively rotated around the first axis AX1. Yes. The first axis AX1, the second axis AX2, and the third axis AX3 are axes along the separation direction Z. Then, the first link part 31 and the second link part 32 are rotated relative to each other by a driving source (for example, an electric motor) and an interlocking mechanism (for example, a chain and a sprocket) (not shown), and the link mechanism 30 is folded and extended. And can be switched.

  As shown in FIGS. 2 and 3, in the retracted state (folded state) where the holding unit 2 is located on the transfer direction first side X1, from the transfer direction first side X1 toward the transfer direction second side X2, The first axis AX1, the second axis AX2, and the third axis AX3 are arranged in this order. As shown in FIG. 4, in the protruding state (elongated state) where the holding unit 2 is located on the transfer direction second side X <b> 2, the third portion moves from the transfer direction first side X <b> 1 toward the transfer direction second side X <b> 2. The axis AX3, the second axis AX2, and the first axis AX1 are arranged in this order. In the present embodiment, the third axis AX3 is fixed so as not to move relative to the support portion 4. Therefore, the second axis AX2 and the first axis AX1 move in the transfer direction X by driving the link mechanism 30. Moreover, in this embodiment, since the holding | maintenance part 2 and 1st axis | shaft AX1 are being fixed so that it may not move relatively, the holding | maintenance part 2 also moves with the movement of 1st axis | shaft AX1. Accordingly, the holding unit 2 reciprocates along the transfer direction X.

  In the present embodiment, the holding unit 2 includes a box body 21 in which a control device or the like is accommodated, a holding table 22 that holds the article W from below, and a cable support unit 23 that supports the cable 5. . In the example shown in the figure, each of the holding base 22 and the cable support portion 23 is connected to the box body 21, and these move integrally as the holding portion 2.

  In the example shown in FIGS. 2 to 4, the holding table 22 is connected to the box body 21 so as to protrude from the box body 21 to the transfer direction second side X <b> 2. When the article W is transferred, the storage unit S as a transfer target portion is positioned on the transfer direction second side X2 when viewed from the transfer device 1. The holding table 22 holds the article W in a state where the article W is placed. In the example shown in FIGS. 3 to 5, a plurality of transfer positioning pins 22 </ b> P are provided on the upper surface of the holding table 22. When the transfer positioning pins 22P are fitted into engagement grooves (not shown) formed on the bottom surface of the article W, the article W held (placed) on the holding table 22 is positioned. Thereby, the stable transfer of the article | item W is attained.

  In the example shown in FIGS. 2 and 5, the cable support portion 23 is connected to the box body 21 so as to protrude from the box body 21 to the second width side Y <b> 2. The cable support portion 23 supports the cable 5 disposed on the second width side Y2 from the box body 21.

  The cable 5 is, for example, a power supply wiring that supplies power to the holding unit 2 or a control wiring that connects the control device housed in the box 21 to the outside. For example, the cable 5 is a fusion cable having a certain degree of rigidity and elasticity. The cable 5 may be covered with a cable bear. 2 and 5, a plurality of cables 5 are bundled (hereinafter simply referred to as cables).

  As shown in FIGS. 3 and 4, the first end portion EG1 and the second end portion EG2 are separated from each other in the separation direction Z orthogonal to the transfer direction X, and the first end portion EG1 becomes the second end portion EG2. On the other hand, it is arranged on the first side Z1 in the separation direction which is one side of the separation direction Z. In the present embodiment, the first end portion EG1 is a portion supported by the cable support portion 23 in the cable 5. The first end EG <b> 1 reciprocates along the transfer direction X together with the holding unit 2. Regardless of whether the first end EG1 is moving or stopped, the second end EG2 is fixed to the support portion 4 so as to be positioned on the second side Z2 in the separation direction from the first end EG1. .

  As shown in FIGS. 3 and 4, the first end EG <b> 1 has a direction toward the transfer direction first side X <b> 1 in which the extending direction of the cable 5 from the first end EG <b> 1 is one side of the transfer direction X. It is fixed to become. Further, the second end EG2 is fixed so that the extending direction of the cable 5 from the second end EG2 is a direction toward the transfer direction first side X1.

  In addition, a bent portion BE is formed between the first end portion EG1 and the second end portion EG2 to bend the cable 5 in the separation direction Z and reverse the direction in which the cable 5 extends. More specifically, the cable 5 extends from the first end EG1 to the transfer direction first side X1, and is curved in an arc so as to gradually move toward the second direction Z2 in the separation direction at the bending portion BE. And the cable 5 is extended to the said transfer direction 2nd side X2 from the edge part of the separation direction 2nd side Z2 in the curved part BE. The tip of the cable 5 extending along the transfer direction second side X2 is the second end portion EG2.

  As shown in FIGS. 6 and 7, the cable 5 includes a first curved end BE1 that is an end of the curved portion BE on the first side Z1 in the separation direction, the first curved end BE1 and the first end EG1. And a first extending portion ST1 extending in the transfer direction X. Further, the cable 5 is connected to the second curved end BE2 that is an end of the curved portion BE in the separation direction second side Z2, and the transfer direction X by connecting the second curved end BE2 and the second end EG2. And a second extending portion ST2 extending in the direction.

  The sensor SE detects the transfer state of the transfer device 1. In the present embodiment, the sensor SE is a fixed position sensor SE1 that detects that the transfer device 1 is located at a predetermined setting position for transferring the article W to and from the storage unit S. is there. In the example shown in FIGS. 3 to 5, the fixed position sensor SE <b> 1 is fixed to the support portion 4 via the sensor mounting bracket SB. For example, the fixed position sensor SE1 is a reflection type optical sensor that detects the light returned by reflecting the projected light on a reflection plate. In the example shown in FIGS. 1 and 2, a fixed position reflecting plate R <b> 1 is provided at each of the tip portions of the plurality of mounting tables 97. In a state in which the transfer device 1 is appropriately facing the storage unit S that is a transfer target location, the light projected from the fixed position sensor SE1 is reflected by the fixed position reflecting plate R1, thereby the storage. It is detected that the transfer device 1 is located at an appropriate position (fixed position) for transferring the article W to and from the part S.

  In the example illustrated in FIGS. 1 and 2, the transfer device 1 includes a load sensor SE <b> 2 that detects the presence or absence of the article W in the storage unit S, in addition to the fixed position sensor SE <b> 1 (sensor SE). The in-stock sensor SE2 is a reflection type optical sensor that reflects the projected light to the in-stock reflecting plate R2 that is disposed at a distance from the mounting table 97. The in-stock sensor SE2 projects light from below obliquely to the in-stock reflector R2 in a state where the transfer device 1 is in a fixed position, and there is no reflection from the in-stock reflector R2. If there is an article W, the presence of the article W in the storage unit S is detected. On the other hand, the stock sensor SE2 detects that there is no article W in the storage portion S when there is a reflection from the stock reflector R2. The in-stock sensor SE2 may be configured to detect reflected light from the article W. In this case, the stock reflector R2 is not necessary.

  As shown in FIGS. 2 to 5, the fixed position sensor SE <b> 1 is arranged at the first side Z <b> 1 in the separation direction with respect to the first end EG <b> 1 of the cable 5 and overlaps the cable 5 when viewed in the separation direction Z. Has been.

  Here, in the case where there is no cable guide 6 to be described later, the inventors found that the movement trajectory of the cable 5 is not stable as shown in FIG. 7 in the configuration in which the cable 5 is arranged as described above. Specifically, when the cable support portion 23 (holding portion 2) shown in FIG. 6 is switched from the retracted state to the protruding state shown in FIG. 7, the first end EG1 of the cable 5 is moved in the first transfer direction. Move from the side X1 to the second side X2 in the transfer direction. At this time, the bending portion BE of the cable 5 also moves from the transfer direction first side X1 to the transfer direction second side X2 while moving the position in the entire cable 5. At this time, an imaginary line (two-dot chain line in FIG. 7) is generated by inertia due to the movement of a part of the cable 5 and an elastic force that resists deformation of the cable 5 due to the movement of the curved portion BE in the entire cable 5. ), The movement trajectory of the cable 5 may not be stable, for example, the bending portion BE greatly bulges toward the first side Z1 in the separation direction. In this case, it is necessary to arrange the fixed position sensor SE1 at a position sufficiently away from the operation area of the cable 5 shown by the phantom line in FIG. 7, and there is room for improvement in order to improve space efficiency.

  In addition, due to the role of the fixed position sensor SE1 that detects the fixed position of the transfer device 1 as an appropriate transfer position, the fixed position sensor SE1 preferably projects light straight along the transfer direction X. Furthermore, since the position where the fixed position reflecting plate R1 can be arranged is limited, the arrangement of the fixed position sensor SE1 is greatly restricted. Therefore, it may be difficult to dispose the fixed position sensor SE1 at a position sufficiently away from the operation area of the cable 5.

  Therefore, in the present embodiment, the reciprocation along the transfer direction X of the bending portion BE that is disposed between the fixed position sensor SE1 and the first end EG1 in the separation direction Z and that accompanies the reciprocation of the holding unit 2 is guided. The cable guide 6 is provided. In the example illustrated in FIGS. 2 to 3 and the like, the cable guide 6 is disposed along the transfer direction X with the transfer direction X as a longitudinal direction. According to this configuration, the cable guide 6 disposed between the fixed position sensor SE1 and the first end EG1 in the separation direction Z reciprocates along the transfer direction X along the bending portion BE of the cable 5. Therefore, the movement trajectory of the cable 5 can be stabilized, and interference between the cable 5 and the fixed position sensor SE1 can be suppressed. As a result, the fixed position sensor SE1 can be arranged close to the cable 5, so that the area occupied by the operation area of the cable 5 and the arrangement area of the fixed position sensor SE1 can be reduced to improve the space efficiency. (See FIG. 7). Moreover, since the freedom degree of arrangement | positioning of fixed position sensor SE1 can be raised, fixed position sensor SE1 can be arrange | positioned in the position where it is easy to detect the fixed position of the transfer apparatus 1 appropriately.

  In the present embodiment, as shown in FIGS. 3 to 7, the cable guide 6 faces at least one of the cables 5 facing the separation direction second side Z <b> 2, which is the opposite side of the separation direction first side Z <b> 1 in the separation direction Z. The cable receiving part 61 which receives a part is provided. The cable receiving portion 61 functions to receive at least a part of the cable 5 that operates in accordance with the movement of the first end portion EG1 in the transfer direction X. As a result, the cable guide 6 can restrict the cable 5 from reaching the fixed position sensor SE1 and the sensor mounting bracket SB disposed on the first side Z1 in the separation direction from the cable guide 6. Accordingly, interference between the fixed position sensor SE1 and the cable 5 is suppressed.

  The cable receiving portion 61 is formed in a planar shape. As shown in FIGS. 3 to 5 and the like, in the present embodiment, the cable receiving portion 61 is formed in a planar shape along a plane orthogonal to the separation direction Z. As described above, since the cable receiving portion 61 has a planar shape having a certain extent in the width direction Y, the cable receiving portion 61 stabilizes the cable 5 even if the movement locus of the cable 5 slightly deviates in the width direction Y. Can be accepted. 2 and 5, when the cables 5 are bundled along the width direction Y, the cable receiver formed in a planar shape along the transfer direction X and along the width direction Y. By the unit 61, the bundle of cables 5 can be stably received in both the transfer direction X and the width direction Y.

  As shown in FIGS. 3 and 7, in the present embodiment, the cable guide 6 is disposed at a position separated from the first end EG1 by a certain distance on the first side Z1 in the separation direction. Accordingly, the cable guide 6 is configured such that when the bending portion BE of the cable 5 spreads to the first side Z1 in the separation direction in the process in which the transfer device 1 is switched from the retracted state to the protruding state, the bending portion BE becomes the cable receiving portion. 61 is provided so as to come into contact with 61.

  As shown in FIGS. 3 to 5, in the present embodiment, the cable guide 6 includes a fixing portion 62 provided at one end portion in the width direction Y of the cable receiving portion 61 and fixed to the support portion 4, and the cable receiving portion 61. A rib portion 63 that protrudes from the other end portion in the width direction Y toward the first side Z1 in the separation direction.

  In the example shown in FIGS. 3 to 5, the fixing portion 62 is provided at the edge of the cable receiving portion 61 on the second side Y <b> 2 in the width direction, and is fixed to the support portion 4 via a connecting member 98. Further, the fixing portion 62 is formed so as to extend along the separation direction Z. More specifically, the fixing portion 62 is formed in a plate shape extending along the separation direction Z and the transfer direction X. The cable guide 6 is supported by the support portion 4 by the fixing portion 62.

  Further, as shown in FIGS. 3 to 7 and the like, the cable guide 6 is provided at the end of the cable receiving portion 61 on the first side X1 in the transfer direction, and the first in the separation direction toward the first direction X1 in the transfer direction. It has an inclined portion 64 inclined to the side Z1. When the first end EG1 of the cable 5 moves to the second direction X2 in the transfer direction, the inclined portion 64 extends to the curved portion BE that moves to the second direction X2 in the transfer direction while spreading to the first side Z1 in the separation direction. It contacts and functions as a guide that guides the curved portion BE toward the second side Z2 in the separation direction. At this time, the curved portion BE of the cable 5 is guided while being in contact with the inclined surface of the inclined portion 64, so that the cable 5 is prevented from contacting the edge of the cable receiving portion 61. Therefore, dust generation from the cable 5 due to such contact can be suppressed.

  Moreover, in this embodiment, the 2nd cable guide 7 which guides 2nd extension part ST2 along the transfer direction X is further provided. In the example illustrated in FIGS. 3 to 7 and the like, the second cable guide 7 is disposed on the second side Z <b> 2 in the separation direction from the cable guide 6. The second cable guide 7 is disposed along the transfer direction X with the transfer direction X as a longitudinal direction. As shown in FIGS. 5 and 6, in the present embodiment, the second cable guide 7 is formed in a groove shape that opens toward the first side Z <b> 1 in the separation direction. Thereby, it can suppress that 2nd extension part ST2 shifts | deviates to the width direction Y. FIG. As a result, the attitude of the cable 5 can be stabilized along the transfer direction X, and the movement locus of the cable 5 can be stabilized. In the example shown in FIG. 5, the second cable guide 7 is formed with inclined surfaces in the edge portions on both sides of the opening portion so as to be separated from each other in the width direction Y toward the first direction Z1 in the separation direction. ing. Thereby, it can suppress that the cable 5 contacts the edge part of the opening part of the groove-shaped 2nd cable guide 7, and dust generation from the cable 5 can be suppressed.

  According to the configuration described above, it is possible to reduce the area occupied by the operation area of the cable 5 and the arrangement area of the fixed position sensor SE1 and improve the space efficiency.

2. Other Embodiments Next, other embodiments of the transfer device will be described.

(1) In the above embodiment, the drive mechanism 3 includes the link mechanism 30, a drive source (not shown) that drives the link mechanism 30, and an interlocking mechanism (not shown) that links the link mechanism 30. The configured example has been described. However, the present invention is not limited to such an example. The drive mechanism 3 may include a slide mechanism and a drive source that drives the slide mechanism. For example, the slide mechanism includes a slide rail extending in the transfer direction X, a slide portion that moves along the slide rail, a motor that drives the slide portion, and the like. In this case, the slide part and the holding part 2 are fixed, and the holding part 2 reciprocates in the transfer direction X by the movement of the slide part.

(2) In the above embodiment, the example in which the sensor SE is the fixed position sensor SE1 has been described. However, the present invention is not limited to such an example. That is, any sensor SE can be used as long as it is located on the first side Z1 in the separation direction with respect to the first end EG1 of the cable 5 and overlaps the cable 5 when viewed in the separation direction Z. Even a sensor is included. Therefore, the type and number of sensors are not limited. For example, two or more sensors SE may be arranged. The type of sensor SE may be a stock sensor as described above, or a distance measuring sensor that measures the distance between the transfer device 1 and the storage unit S.

(3) In the above embodiment, the example in which the separation direction Z is equal to the vertical direction has been described. However, the present invention is not limited to such an example. The separation direction Z may be the same as the lateral direction. In this case, the cable 5 is arranged so that the first end portion EG1 and the second end portion EG2 of the cable 5 are separated in the lateral direction. The cable guide is disposed between the sensor SE and the first end EG1 in the lateral direction. In addition, the separation direction Z may be set to a direction inclined with respect to the vertical direction or the horizontal direction.

(4) It should be noted that the configuration disclosed in each of the above-described embodiments can be applied in combination with the configuration disclosed in another embodiment as long as no contradiction arises. Regarding other configurations, the embodiments disclosed herein are merely examples in all respects. Accordingly, various modifications can be made as appropriate without departing from the spirit of the present disclosure.

3. Outline of the above embodiment Hereinafter, an outline of the transfer apparatus described above will be described.

  A transfer device that reciprocates a holding unit that holds an article in a predetermined transfer direction to transfer the article to and from a transfer target location, and a drive mechanism that reciprocates the holding unit; A support part that supports the drive mechanism, a cable in which a first end that is one end is fixed to the holding part, and a second end that is the other end is fixed to the support part, A sensor fixed to the support portion so as to face the direction of the transfer target portion, and the first end portion has a direction in which the cable extends from the first end portion in the transfer direction. It is fixed so that it may become a direction which goes to the transfer direction first side which is one side, and the 2nd end is a direction where the direction where the cable extends from the 2nd end goes to the transfer direction 1st side The first end and the second end are separated so as to be perpendicular to the transfer direction. And the first end is disposed on the first side in the separation direction, which is one side of the separation direction with respect to the second end, and the first end and the second end A bending portion is formed to bend the cable in the separation direction and reverse the direction in which the cable extends, and the sensor is on the first side in the separation direction with respect to the first end portion. And arranged in a position overlapping with the cable when viewed in the separation direction, disposed between the sensor and the first end portion in the separation direction, and the transfer of the bending portion accompanying the reciprocating movement of the holding portion. A cable guide for guiding reciprocal movement along the loading direction is provided.

  According to this configuration, the cable guide disposed between the sensor and the first end in the separation direction guides the cable bending portion so as to reciprocate along the transfer direction. The interference between the cable and the sensor can be suppressed. As a result, the sensor can be arranged close to the cable, so that the area occupied by the cable operation area and the sensor arrangement area can be reduced to improve the space efficiency.

  Further, the cable guide has a cable receiving portion that receives at least a part of the cable facing a second direction in the separating direction that is opposite to the first side in the separating direction in the separating direction. Is preferably formed in a planar shape along a plane orthogonal to the separating direction.

  According to this structure, a part of cable which moves to a separation direction 1st side with the movement to the transfer direction of a holding | maintenance part can be received by a cable receiving part. As a result, interference between the cable and the sensor can be suppressed. Furthermore, such a cable receiving part is formed in the planar shape along the surface orthogonal to a separation direction. For this reason, even if the movement trajectory of the cable has a variation in the direction orthogonal to the separation direction, the cable can be stably received by the cable receiving portion.

  Further, with the direction perpendicular to both the transfer direction and the separation direction as the width direction, the cable guide is provided at one end portion in the width direction of the cable receiving portion and fixed to the support portion; It is preferable to have a rib portion that protrudes from the other end portion in the width direction of the cable receiving portion toward the first side in the separation direction.

  When the cable moving to the first side in the separation direction is received by the cable receiving portion, a load is applied to the entire cable guide including the cable receiving portion. According to this configuration, since the fixing portion provided at one end portion in the width direction of the cable receiving portion is fixed to the support portion, the cable guide is stably supported. Moreover, according to this structure, since it has a rib part in the other end part of the width direction in a cable receiving part, the rigidity of a cable receiving part can be improved. Furthermore, since the rib portion protrudes toward the first side in the separation direction, which is the opposite side to the cable side, the rib portion can be suppressed from hitting the cable, and as a result, dust generation from the cable can be suppressed. it can.

  Further, it is preferable that the cable guide has an inclined portion that is inclined toward the first side in the separation direction toward the first side in the transfer direction at the end portion on the first side in the transfer direction in the cable receiving portion. is there.

  According to this configuration, a part of the cable that moves toward the first side in the separation direction at the end portion on the first side in the transfer direction in the cable receiving portion can be guided along the inclined portion. Thereby, it is suppressed that the cable which moves to a separation direction 1st side contacts the edge of a cable guide, and dust generation from a cable can be suppressed.

  Further, a side opposite to the first side in the separation direction in the separation direction is a second side in the separation direction, and the cable has a second curved end portion that is an end portion of the curved portion on the second side in the separation direction; A second extension portion that connects the second curved end portion and the second end portion and extends in the transfer direction, and guides the second extension portion along the transfer direction. It is preferable to further include two cable guides.

  According to this configuration, the second extension of the cable extending in the transfer direction by connecting the second curved end and the second end is guided in the transfer direction by the second cable guide. It is possible to suppress the existing portion from shifting in the direction orthogonal to the transfer direction. As a result, the attitude of the entire cable can be stabilized along the transfer direction, and the movement trajectory of the cable can be stabilized.

  The technology according to the present disclosure can be used for a transfer device that transfers an article to and from a transfer target position by reciprocating a holding unit that holds the article in a predetermined transfer direction.

1: Transfer device 2: Holding unit 3: Link mechanism (drive mechanism)
4: support part 5: cable 6: cable guide 7: second cable guide 61: cable receiving part 62: fixing part 63: rib part 64: inclined part BE: curved part BE1: first curved end part BE2: second curved part End part EG1: First end part EG2: Second end part S: Storage part (location to be transferred)
SE: Sensor (fixed position sensor SE1)
ST1: First extension part ST2: Second extension part W: Article X: Transfer direction X1: Transfer direction first side X2: Transfer direction second side Y: Width direction Z: Separation direction Z1: Separation direction First side Z2: Separation direction second side

Claims (5)

A transfer device that reciprocates a holding unit that holds an article in a predetermined transfer direction to transfer the article to and from a transfer target location,
A drive mechanism for reciprocating the holding unit;
A support portion for supporting the drive mechanism;
A cable in which a first end portion which is one end portion is fixed to the holding portion and a second end portion which is the other end portion is fixed to the support portion;
A sensor fixed to the support so as to face the direction of the transfer target location,
The first end portion is fixed so that a direction in which the cable extends from the first end portion is a direction toward the transfer direction first side, which is one side of the transfer direction,
The second end is fixed so that the direction in which the cable extends from the second end is a direction toward the transfer direction first side,
The first end portion and the second end portion are separated from each other in a separation direction orthogonal to the transfer direction, and the first end portion is one side of the separation direction with respect to the second end portion. Arranged on the first side in the separation direction,
A bending portion is formed between the first end portion and the second end portion to bend the cable in the separating direction and reverse the extending direction of the cable.
The sensor is disposed on the first side in the separation direction with respect to the first end portion and at a position overlapping the cable when viewed in the separation direction,
A transfer device including a cable guide disposed between the sensor and the first end portion in the separation direction and guiding reciprocation along the transfer direction of the bending portion accompanying reciprocation of the holding portion. . The cable guide has a cable receiving portion that receives at least a part of the cable facing a second direction in the separation direction opposite to the first side in the separation direction in the separation direction,
The transfer device according to claim 1, wherein the cable receiving portion is formed in a planar shape along a plane orthogonal to the separation direction. The direction perpendicular to both the transfer direction and the separation direction is the width direction,
The cable guide is provided at one end portion in the width direction of the cable receiving portion and fixed to the support portion, and from the other end portion in the width direction of the cable receiving portion to the first side in the separation direction. The transfer device according to claim 2, further comprising a rib portion protruding toward the front.   The cable guide has an inclined portion that inclines toward the first side in the separation direction toward the first side in the transfer direction at the end of the cable receiving portion on the first side in the transfer direction. The transfer apparatus described in 1. The opposite side of the separation direction in the separation direction to the separation direction first side is the separation direction second side,
The cable extends in the transfer direction by connecting the second curved end portion, which is an end portion on the second side in the separation direction of the curved portion, and the second curved end portion and the second end portion. An extending portion, and
The transfer device according to any one of claims 1 to 4, further comprising a second cable guide for guiding the second extension portion along the transfer direction.

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