JP7358073B2 - Conveyance device - Google Patents

Description

Embodiments of the present invention relate to a conveyance device.

2. Description of the Related Art Conveyors have long been used to handle cargo from containers transported by freight cars such as trucks. Conveyors are installed both inside and outside the container during cargo handling operations. A worker manually stacks the cargo, which has been conveyed into the container from outside the container by a conveyor, into a predetermined position in the container. Further, the worker manually moves the cargo loaded in the container to a conveyor, and the conveyor moves the cargo from inside the container to outside the container.

Japanese Patent Application Publication No. 2005-8409

The problem to be solved by the present invention is to provide a transport device that can improve the efficiency of transport work for transporting cargo.

According to the embodiment, the transport device includes a transport section, a holding section, a horizontal movement device, a vertical movement device, and a traveling device. The transport unit transports the object. The holding section holds the object. The horizontal movement device moves the holding section in a substantially horizontal direction. The vertical moving device moves the holding portion substantially vertically. The traveling device integrally moves the conveyance section, the holding section, the horizontal movement device, and the vertical movement device. The traveling device is configured to be self-propelled. The vertical movement device includes a conveyance section vertical movement device that supports the conveyance section on a traveling device and moves the conveyance section in the vertical direction with respect to the traveling device.
The height of the conveyance device is adjusted by moving the holding section substantially in the vertical direction and moving the conveyance section in the vertical direction.

FIG. 1 is an explanatory diagram schematically showing the configuration of a transport device according to an embodiment. The perspective view which shows typically the structure of the conveyance apparatus main body used for the same conveyance apparatus. FIG. 2 is a front view schematically showing the configuration of the main body of the conveying device. FIG. 2 is a side view schematically showing the configuration of a holding section and its surroundings used in the main body of the conveyance device. FIG. 3 is a schematic diagram showing the operation of a horizontal movement device used in the main body of the conveying device. FIG. 4 is an explanatory diagram showing an example of an operation of loading cargo into a storage section by the transport device. FIG. 4 is an explanatory diagram showing an example of an operation of loading cargo into a storage section by the transport device. FIG. 4 is an explanatory diagram showing an example of an operation of loading cargo into a storage section by the transport device. FIG. 3 is a plan view schematically showing main parts of a modified example of the transport device. FIG. 7 is a perspective view showing the structure of a modified example of the holding section of the transport device.

A conveyance device 10 according to one embodiment will be described using FIGS. 1 to 8. FIG. 1 is an explanatory diagram schematically showing the configuration of the transport device 10. As shown in FIG. FIG. 2 is a perspective view schematically showing the configuration of a transport device main body 20 used in the transport device 10. As shown in FIG. FIG. 3 is a front view schematically showing the configuration of the transport device main body 20. As shown in FIG. Note that, in FIG. 3, the third vertical movement device 73 used in the transport device main body 20 and the holding section 40 are omitted. FIG. 4 is a side view schematically showing the structure of the holding section 40 used in the transport device main body 20 and its surroundings. FIG. 5 is a schematic diagram showing the operation of the horizontal movement device 60 of the transport device main body 20.

FIG. 6 is an explanatory diagram showing an example of the operation of the transport device main body 20 when loading the baggage 5 into the storage section 6. As shown in FIG. FIG. 7 is an explanatory diagram showing an example of the operation of the vertical movement device 70 used in the transport device main body 20. FIG. 8 is an explanatory diagram showing an example of the operation of the vertical movement device 70.

As shown in FIG. 1, the conveyance device 10 includes a conveyance device main body 20 that conveys the package to a target position in the storage section 6 that stores the package 5, or takes out the package 5 from the storage section 6; It includes a telescopic conveying section 125 that conveys the luggage 5 between the outside and the conveying device main body 20.

The luggage 5 is an example of an object transported by the transport device 10. The storage unit 6 is, for example, a container transported by a truck 7. The transport device 10 is used, for example, at the shipping berth 1. Note that the storage section 6 is not limited to a container. The storage unit 6 may be, for example, a truck bed or a storage space for the luggage 5 provided in a section of a factory. Moreover, storing the luggage 5 in the storage section 6 is a concept that also includes placing the luggage 5 in a storage space or the like. The storage section 6 has a floor surface on which the luggage 5 is placed, two side surfaces, a ceiling surface, and a front surface.

In the conveying device 10, the telescopic conveying section 125 conveys the baggage 5 from the outside of the storage section 6 to the conveying device main body 20, and the conveying device main body 20 transports the baggage 5 to a target position inside the storage section 6. The transport device 10 performs loading to a target position as an example of transport. Further, the conveyance device 10 moves the luggage 5 in the storage section 6 to the telescopic conveyance section 125 using the conveyance device main body 20. Then, the telescopic transport unit 125 transports the luggage 5 to a destination such as a luggage collection point.

In this way, the transport device 10 can perform a cargo handling operation as an example of transport. Further, the conveying device 10 can also move the luggage 5 conveyed by the telescopic conveying section 125 to another device such as a conveyor. The target position to be transported by the transport device 10 can be set as appropriate.

At a collection point or the like, the cargo 5 is handled by the telescopic transport section 125. For example, the robot arm 2 is used to handle cargo on the telescopic transport section 125. Further, the robot arm 2 moves the cargo 5 between, for example, the telescopic transport section 125 and the pallet 3. The pallet 3 is transported by a forklift 4, for example.

As shown in FIGS. 1 and 2, the conveyance device main body 20 moves the luggage 5 conveyed from the telescopic transport section 125 to a target position in the storage section 6, and moves the luggage 5 in the storage section 6 to the telescopic transport section. 125. Moving to the target position of the storage unit 6 includes stacking the luggage 5 flat on the floor of the storage unit 6 and stacking a plurality of items 5 on the floor. Further, the transport device main body 20 is configured to be self-propelled.

The transport device main body 20 includes, for example, a traveling device 30 configured to be self-propelled, a holding section 40 that holds the luggage 5, and a transport section 50 that transports the luggage 5 between the telescopic transport section 125 and the holding section 40. , a horizontal movement device 60 that moves the holding portion 40 in a substantially horizontal direction, a vertical movement device 70 that moves the holding portion 40 in a substantially vertical direction, a support portion 80 that supports the horizontal movement device 60, and a housing portion. 6, a cargo detection section 100 that detects the cargo 5 on the transport section 50, and a control section 110. The transport device main body 20 moves by a traveling device 30, holds the baggage 5 by a holding part 40, and moves the baggage 5 by using a horizontal movement device 60 and a vertical movement device 70.

The traveling device 30 is configured to be able to move the transport device main body 20 from outside the storage section 6 into the storage section 6 and from inside the storage section 6 to the outside of the storage section 6 . The traveling device 30 includes a traveling device base 31 and a traveling section 32 provided in the traveling device base 31.

The traveling device base 31 is configured to have a long shape in one direction, for example. The traveling device base 31 has a recess 31a in which at least a portion of the vertical movement device 70 can be placed, and a flange 31b formed at an edge along the longitudinal direction of the recess 31a.

The recess 31a is configured to accommodate, for example, a first vertical movement device 71 (described later) of the vertical movement device 70, and a main conveyance section 51 (described later) of the conveyance section 50 can be placed on the flange portion 31b. Specifically, the recess 31a has a depth that allows the main transport section 51 to come into contact with the flange section 31b when the first vertical movement device 71 moves the main transport section 51 downward. are doing.

The traveling section 32 is configured to be able to travel on the transport device main body 20 by being driven. Further, the traveling section 32 is configured to be able to travel, for example, in two directions orthogonal to each other on the conveying device main body 20. The traveling section 32 includes, for example, a plurality of wheels 32a. The wheel 32a is, for example, a mecanum wheel or an omni wheel. Alternatively, the traveling section 32 may use rubber crawlers instead of the wheels 32a. In this case, one or more rubber crawlers are used.

The length in the longitudinal direction of the traveling device base 31 configured in this manner is such that when the traveling device base 31 is disposed across the inside and outside of the housing portion 6, the traveling device base portion 31 is Even if there is a difference in height between the floor surface and the floor surface outside the storage section 6, the step between the floor surface of the storage section 6 and the floor surface outside the storage section 6 will not come into contact with the lower surface of the traveling device base 31. is set to Note that the height difference referred to here may change, for example, when the floor surface of the storage section 6 is lowered due to the weight of the luggage 5 loaded on the storage section 6.

The traveling device 30 also includes a sub-conveying portion support portion 33 that supports a sub-conveying portion 52 of the conveying portion 50, which will be described later, and a connecting portion 34 that connects the sub-conveying portion support portion 33 to the traveling device base 31. Equipped with

The support section 33 for the sub-transport section is configured to be movable in accordance with the traveling of the traveling device base 31 by the traveling section 32 . The support section 33 for the sub-transport section has, for example, a plurality of slide sections 35 that slide against wheels, the floor surface of the storage section 6, or the like. Moreover, the support part 33a for supporting parts 33 for sub-transportation parts is formed with the support part 33a which supports the connection part 34.

The connecting portion 34 is configured to be rotatable around the rotation axis 36 at the supporting portion 33a. The rotating shaft 36 is configured to be an axis parallel to the horizontal direction when the sub-conveying section support section 33 is arranged on a horizontal plane. For example, the connecting portion 34 may be configured to be detachable from the traveling device base 31.

The connection part 34 is used when there is a difference in height between the floor surface of the storage part 6 and the floor surface outside the storage part 6, and the base part 31 for the traveling device is arranged on the floor surface of the storage part 6, and the sub-transport When the section support section 33 is placed on the floor outside the storage section 6, the connecting section 34 rotates around the rotation axis 36, so that this difference in height can be absorbed.

The holding unit 40 is configured to be able to hold the luggage 5 by adsorbing the luggage 5, for example. The holding part 40 includes, for example, a holding part base 41 and an adsorption part 42 provided on the holding part base 41. The holding portion base 41 is configured, for example, in a plate shape, and a suction portion 42 is fixed to one main surface.

Adsorption section 42 is fluidly connected to a vacuum pump. The suction section 42 is evacuated by a vacuum pump while being in close contact with the luggage 5, so that the internal pressure becomes negative and the suction unit 42 attracts the luggage 5.

The transport section 50 includes a main transport section 51 arranged at a position where the luggage 5 can be attached and detached by the holding section 40, and a sub-transport section 52 arranged between the main transport section 51 and the telescopic transport section 125. .

The main transport section 51 is configured to be able to transport the cargo 5 in one direction parallel to the horizontal direction. The surface on which the cargo 5 is placed on the main transport section 51 becomes parallel to the horizontal direction when the transport device main body 20 is placed on a horizontal surface. A support section 80 is disposed above a midway portion of the main conveyance section 51 . In other words, the main conveyance section 51 has a first region R1 vertically facing the support section 80, a second region R2 on one end side with respect to the first region R1, and a second region R2 with respect to the first region R1. and a third region R3 on the other end side.

Further, the main transport section 51 is configured such that the first region R1, the second region R2, and the third region R3 can each independently transport the luggage 5. For example, the main conveyance section 51 includes a first conveyance section 53 that constitutes a first region R1, a second conveyance section 54 that constitutes a second region R2, and a third conveyance section that constitutes a third region R3. A transport section 55 is provided.

The first conveyance section 53, the second conveyance section 54, and the third conveyance section 55 are each independently configured to be able to convey the cargo 5 in both directions. The two directions mentioned here are the direction in which the baggage 5 is conveyed to a position where the baggage 5 can be attached and detached by the holding section 40, and the direction in which the baggage 5 is conveyed to the telescopic conveyance section 125 side. The first conveyance section 53, the second conveyance section 54, and the third conveyance section 55 are each, for example, a roller conveyor.

Note that the first conveyance section 53 may be configured to have a longer shape than the support section 80 along the conveyance direction of the first conveyance section 53, and both ends of the first conveyance section 53 in the conveyance direction are connected to the first conveyance direction. It may be arranged outside both ends of the support section 80 in a direction parallel to the conveyance direction of the conveyance section 53.

The sub-transport unit 52 is configured to be able to transport the luggage from the telescopic transport unit 125 to the main transport unit 51 and to transport the luggage 5 from the main transport unit 51 to the telescopic transport unit 125. The sub-transport unit 52 is, for example, a belt conveyor.

Further, the sub conveyance section 52 is configured to be able to change its inclination angle according to the height difference between the telescopic conveyance section 125 and the third conveyance section 55. Specifically, the sub-transport section 52 is rotatably supported at a predetermined height position by the sub-transport section support section 33 at one end in the transport direction around a rotation axis 59 parallel to the rotation axis 36. There is.

The sub-transport unit 52 configured in this manner has its other end removably attached to the vicinity of the third transport unit 55 of the main transport unit 51 in the transport direction, and rotates around the rotation axis 59 to tilt the sub-transport unit 52. The angle changes depending on the height position of the main conveyance section 51. Alternatively, the sub-transport section 52 may be a lifter whose height can be changed in the vertical direction.

The horizontal movement device 60 includes, for example, two devices that move the holding portion 40 in two axial directions that are substantially parallel to the horizontal direction and intersect with each other, and these two devices move the holding portion 40. It is configured to be movable in a substantially horizontal direction.
Note that the term "substantially horizontal direction" as used herein includes the horizontal direction and a direction slightly inclined with respect to the horizontal direction. The horizontal movement device 60 tilts the holding part 40 slightly with respect to the horizontal direction when the transport device main body 20 is placed on a floor surface that is inclined with respect to a plane perpendicular to the vertical direction. It may move in the direction. Further, depending on the accuracy of assembling the parts of the horizontal movement device 60, the movement direction may be slightly inclined with respect to the horizontal direction. In this way, the horizontal movement device 60 moves the holding part 40 in the horizontal direction or in a direction slightly inclined in the horizontal direction.

As a specific example, the horizontal movement device 60 supports the holding part 40 and is configured to move the holding part 40 in a substantially horizontal uniaxial direction along the transport direction of the main transport part 51. device 61 and a second horizontal movement which is fixed to the upper part of the support section 80 and supports the first horizontal movement device 61 so as to be movable in a substantially horizontal uniaxial direction intersecting the conveyance direction of the main conveyance section 51. A device 62 is provided.

The first horizontal movement device 61 is configured to be expandable and retractable in the transport direction of the transport unit 50, for example. The first horizontal movement device 61 supports the holding part 40 directly or indirectly. As an example, the first horizontal movement device 61 supports the holding portion 40 at its tip via a third vertical movement device 73 of the vertical movement device 70, which will be described later.

The first horizontal movement device 61 moves the holding part 40 at least to a position vertically facing the second transport part 54 and from the first transport part 53 to the second transport part 54 from this position. It is configured to be movable to a position outside the main transport section 51 along the direction toward which the main transport section 51 is directed.

As shown in FIG. 3, the second horizontal movement device 62 is moved perpendicularly to the transport direction of the baggage 5 by the main transport unit 51, as an example of a substantially horizontal direction that intersects with the transport direction of the baggage 5 by the main transport unit 51. The holding part 40 is moved in a substantially horizontal direction. Other examples may intersect at 60 degrees or 45 degrees.

The second horizontal movement device 62 is configured to be able to move the holding part 40 to a position outside the main transport part 51 or a position outside the support part 80 in a direction crossing the transport direction by the main transport part 51. . The second horizontal movement device 62 is configured to be able to move the holding part 40 to a position outside the main transport part 51 or a position outside the support part 80, for example, in a direction perpendicular to the transport direction by the main transport part 51. be done.

Here, the direction perpendicular to the transport direction of the main transport section 51 and perpendicular to the vertical direction is defined as the width direction. In this embodiment, the widthwise dimension of the main conveyance section 51 is smaller than the dimension of the support section 80 along the width direction. The main conveyance section 51 is arranged inside the support section 80 in the width direction. As an example, the second horizontal movement device 62 is configured to be able to move the holding part 40 to positions on both sides of the support part 80 in the width direction, as shown by the two-dot chain line in FIG. . For this reason, the second horizontal movement device 62 is configured to be able to move the holding section 40 outwardly with respect to both the support section 80 and the main conveyance section 51. In addition, in FIG. 5, the holding part 40 is shown by a two-dot chain line.

The second horizontal movement device 62 is, for example, a multi-stage rail device including a plurality of rail devices 65 including a rail 63 and a slide portion 64 movable along the rail 63. The second horizontal movement device 62 includes, for example, two rail devices 65. Here, one rail device 65 is called a first rail device 65A, and the other rail device 65 is called a second rail device 65B.

The first rail device 65A is fixed to the upper part of the support section 80 in a posture in which the rails 63 are parallel to a direction perpendicular to the direction of transport by the transport section 50. The rail 63 of the first rail device 65A has, for example, a length extending from a position near one end of the support section 80 to a position near the other end in the transport direction.

Further, the length of the first rail device 65A in the longitudinal direction is set to be shorter than the length of the support section 80 that is parallel to the direction perpendicular to the transport direction and the vertical direction of the main transport section 51. The entire first rail device 65A is arranged inside both ends of the support section 80 in a direction orthogonal to the conveyance direction of the support section 80.

The second rail device 65B is fixed to the slide portion 64 of the first rail device 65A in a posture in which the rails 63 are parallel to the direction perpendicular to the direction of transport by the main transport section 51. The length in the longitudinal direction of the second rail device 65B is set to be shorter than the length in the longitudinal direction of the first rail device 65A, for example.

As shown in FIG. 5, the length of each rail 63 of the plurality of rail devices 65 is such that the holding section 40 can be moved to a position outside the support section 80 in a direction perpendicular to the conveyance direction of the main conveyance section 51. length. In addition, in FIG. 5, as an example, the second rail device 65 in which the holding part 40 has been moved to one outside in the width direction with respect to the supporting part 80 is shown by a solid line, and the second rail device 65 in which the holding part 40 has been moved to the other outside in the width direction is shown by a solid line. The second rail device 65 is indicated by a two-dot chain line.

The vertical movement device 70 moves the holding section 40 approximately between at least the height position at which the second transport section 54 holds the cargo 5 and the target position at which the cargo 5 is placed in the storage section 6. It is configured to be movable in the vertical direction. The vertical movement device 70 is arranged, for example, between a height position where the luggage 5 can be placed on the floor surface of the storage section 6 and a height position higher than the height position where the luggage 5 is held in the second transport section 54. The holding section 40 is configured to be movable.

Note that the term "substantially up-down direction" as used herein includes the up-down direction and a direction slightly inclined with respect to the up-down direction. When the transport device main body 20 is used, for example, while being placed on a floor surface that is inclined to a plane orthogonal to the vertical direction, the vertical movement device 70 moves the holding part 40 in a direction that is slightly inclined with respect to the vertical direction. may be moved to. Further, depending on the accuracy of assembling the parts of the vertical moving device 70, the moving direction may be slightly inclined with respect to the vertical direction. In this way, the vertical movement device 70 moves the holding part 40 in the vertical direction or in a direction slightly inclined in the vertical direction.

Specifically, as shown in FIGS. 2 to 4, the vertical movement device 70 includes a first vertical movement device 71 that supports the transport section 50 on the traveling device base 31 so as to be movable in the vertical direction; A second vertical moving device 72 supports the supporting portion 80 so as to be movable in a substantially vertical direction with respect to the conveyance portion 50, and a third vertical moving device 72 supports the holding portion 40 so as to be movable in the vertical direction relative to the horizontal moving device 60. A vertical movement device 73 is provided.

The first vertical movement device 71 is fixed within, for example, the recess 31a of the traveling device base 31. The first vertical movement device 71 is fixed, for example, to a surface along the longitudinal direction of the inner surface of the recess 31a. Furthermore, the conveyance section 50 is fixed to the upper end of the first vertical movement device 71. The first vertical movement device 71 includes, for example, a link mechanism 71a that is extendable and retractable in the vertical direction, and a drive section that drives the link mechanism 71a.

For example, two link mechanisms 71a are provided. One link mechanism 71a is fixed to one edge of the recess 31a along the transport direction of the transport section 50. The other link mechanism 71a is fixed to the other edge. The first vertical movement device 71 is configured such that at least a portion of the main transport section 51 can be placed within the recess 31a.

The second vertical movement device 72 is fixed to the transport section 50. The second vertical movement device 72 is fixed to the base 51a of the main transport section 51, for example. The base portion 51a supports the first conveyance section 53, the second conveyance section 54, and the third conveyance section 55, and has a plate shape, for example. Further, a support portion 80 is fixed to the upper end of the second vertical movement device 72. The second vertical movement device 72 includes, for example, a link mechanism 72a that is extendable and retractable in the vertical direction, and a drive section that drives the link mechanism 72a. The second vertical movement device 72 moves the support part 80 from a height position where the vertical gap between the transport part 50 and the support part 80 is smaller than the height of the cargo 5. It is configured to be movable to a height position where the luggage 5 can pass between the two.

The third vertical movement device 73 is provided, for example, at the tip of the first horizontal movement device 61. The third vertical movement device 73 supports the holding portion base 41 so as to be movable in the vertical direction.

The second vertical movement device 72 and the third vertical movement device 73 are configured to be able to move at least the holding section 40 to a height position where the cargo 5 is held on the second conveyance section 54. Ru.

The support section 80 is arranged above the first conveyance section 53 of the conveyance section 50 . The support section 80 supports the second horizontal movement device 62 . The support portion 80 includes, for example, a pair of side wall portions 81 arranged on both sides of the first conveyance portion 53 and an upper wall portion 82 provided at the upper end of each of the pair of side wall portions 81.

The detection unit 90 is configured to be able to detect the luggage 5 stacked on the floor of the storage unit 6, the luggage 5 held in the holding unit 40, and the luggage 5 placed in the third transport unit 55 of the transport unit 50. be done. The detection unit 90 is, for example, a camera that can photograph the range in front of the transport device main body 20 and the second transport unit 54 along the direction from the first transport unit 53 to the second transport unit 54 . The detection section 90 is fixed to the support section 80, for example. The detection unit 90 transmits the photographed information to the control unit 110.

The baggage detection section 100 includes a first detection section 101 that detects the baggage 5 located on the first transport section 53, a second detection section 102 that detects the baggage 5 located on the second transport section 54, A third detection unit 103 that detects the luggage 5 located on the third transport unit 55 is provided. The first detection section 101 is provided in the first transport section 53. The second detection unit 102 is provided in the second transport unit 54. The third detection unit 103 is provided in the third transport unit 55. The first detection section 101, the second detection section 102, and the third detection section 103 transmit detection results to the control section 110.

The control unit 110 controls the holding unit 40, the conveyance unit 50, the horizontal movement device 60, and the vertical movement device 70. The control unit 110 is provided, for example, in the transport device main body 20, and is fixed to the support unit 80 as a specific example.

The control unit 110 is configured to be able to control the holding unit 40, the transport unit 50, the horizontal movement device 60, and the vertical movement device 70, for example, based on a signal from an operation unit operated by a worker. Note that the control unit 110 can control the holding unit 40, the transport unit 50, the horizontal movement device 60, and the vertical movement device 70 based on the detection results of the detection unit 90 and the cargo detection unit 100 and a pre-stored program. may be configured.

The telescopic transport section 125 transports the cargo between, for example, a collection point for the cargo 5 outside the storage section 6 and the transport section 50 . The telescopic conveyance section 125 is configured to be expandable and contractable in the conveyance direction, and is, for example, a conveyor that is configured to be expandable and contractible in the conveyance direction.

Next, as an example of the operation of the conveyance device 10, an example of the operation of the conveyance device 10 during the work of stacking one layer of luggage 5 on the floor surface of the storage section 6 will be described with reference to FIGS. 6 to 8.

First, the operator moves the transport device main body 20 into the storage section 6 by moving the transport device main body 20 using the traveling device 30 by operating the operation section based on visual observation or the image transmitted from the detection section 90. do.

The image taken by the detection unit 90 is displayed on a monitor installed at a position where the operator can see it. In the case where the operator operates the operating section based on the image captured by the detection section 90, the operating section may be provided at a position away from the transport device main body 20.

Note that the transport device 10 is moved in an initial state. As shown in FIG. 6A, in the initial state of the conveyance device 10, for example, the main conveyance section 51 is placed at the lowest height position of the vertical movement range by the first vertical movement device 71, and the The support part 80 is placed at the lowest height position in the movement range by the second vertical movement device 72, and the holding part 40 is placed at the lowest height position in the movement range by the third vertical movement device 73. . In the initial state, the first vertical movement device 71 is housed in the recess 31a, and the main conveyance section 51 is supported by being in contact with both flanges 31b. Therefore, in the initial state, the transport device main body 20 can run stably.

The control unit 110 causes the transport device 10 to travel by driving the travel unit 32 of the travel device 30 based on the signal received from the operation unit. When the conveyance device 10 is placed at a predetermined position in the storage section 6, the control section 110 stops driving the traveling section 32 and moves the conveyance device main body 20 based on a signal from the operation section operated by the operator. Stop running. The predetermined position of the storage section 6 referred to here is a position where the holding section 40 can move the luggage 5 to a target position on the floor surface of the storage section 6.

Next, as shown in FIG. 1, the operator places the telescopic transport section 125 at a position adjacent to the sub-transport section 52. Note that some or all of the work performed by the worker may be controlled by the control unit 110 and may be performed automatically.

Next, the control unit 110 drives the sub-transport unit 52 and the third transport unit 55 based on a signal from the operating unit operated by the operator. Next, the worker transports the luggage 5 to the transport device main body 20 via the telescopic transport section 125. Note that the drive of the telescopic conveyance section 125 may be controlled by the control section 110. The cargo 5 that has reached the transport device main body 20 is transported to the third transport section 55 by the sub transport section 52.

As shown in FIG. 6A, when the baggage 5 reaches the third transport section 55 of the transport section 50, the third detection section 103 detects the baggage. When the third detection unit 103 detects the luggage 5, it transmits a signal to the control unit 110. When the control unit 110 receives the signal from the third detection unit 103, it transmits a signal indicating that the third detection unit 103 has received the signal to the notification unit.

The notification unit is provided at a position that is visible to the operator. Based on the signal from the control unit 110, the notification unit notifies the surroundings that the cargo has arrived at the third transport unit 55. This notification is made, for example, by lighting a lamp.

When the operator confirms that the cargo 5 has arrived at the third conveyance section 55 based on the notification from the operation section, the operator operates the operation section to stop driving the third conveyance section 55. When the control unit 110 receives a signal to stop driving the third transport unit 55 from the operation unit, it stops the third transport unit 55. By stopping the driving of the third transport section 55, the cargo 5 is held by the third transport section 55.

Next, the control unit 110 controls the support unit 80 to move the cargo 5 between the main transport unit 51 and the support unit 80 based on a signal from the operation unit operated by the operator. Move to a height that allows it to pass through.

Next, the control unit 110 drives the third transport unit 55, the first transport unit 53, and the second transport unit 54 based on a signal from the operation unit operated by the operator. As shown in FIG. 6C, when the baggage 5 reaches the second transport unit 54, the second detection unit 102 detects the baggage 5 and transmits a signal to the control unit 110. When the control unit 110 receives the signal from the second detection unit 102, it transmits a signal to the operating unit and to the notification unit indicating that the baggage 5 has arrived at the second transport unit 54. Based on the signal from the control unit 110, the notification unit notifies the surroundings that the luggage 5 has arrived at the second transport unit 54.

Next, the control unit 110 stops driving the first conveyance unit 53 and the second conveyance unit 54 based on a signal from the operation unit operated by the operator. By stopping the driving of the second transport section 54, the cargo 5 is held on the second transport section 54.

Next, the control unit 110 drives and holds, for example, the horizontal movement device 60 and the vertical movement device 70, as shown in FIG. The suction part 42 is brought into contact with the upper part of the baggage 5 by moving the part 40 directly above the baggage 5, and the baggage is sucked by the suction part 42 by driving the vacuum pump. By suctioning the baggage 5 by the suction part 42, the baggage 5 is held by the holding part 40.

Next, the control unit 110 controls the first horizontal movement device 61 and the first vertical movement device 61 as shown in FIGS. The directional moving device 71 is driven to move the holding section 40 and the luggage 5 to the target position in the storage section 6.

Next, the control unit 110 stops the operation of the vacuum pump or closes the valve of the flow path connecting the vacuum pump and the suction unit 42 based on the signal from the operation unit operated by the operator, thereby causing suction. The vacuum of the section 42 is broken. By breaking the vacuum of the suction section 42, the holding of the cargo 5 is released.

By these operations of the transport device 10, the luggage 5 is moved to the storage section 6. In addition, when loading the next baggage 5, if the target position to which the baggage 5 is to be moved is outside the range of movement of the holding part 40 by the horizontal movement device 60, the worker can move the baggage 5 by driving the traveling device 30. , the transport device main body 20 is moved to a position where the holding section 40 can be moved to the target position.

Note that when the vertical movement range of the luggage 5 is relatively small, such as when moving the luggage 5 to the first stage of the storage section 6, the first vertical movement device 71 and the second vertical movement device 72 are used. , and the third vertical movement device 73 do not all need to be driven, and only one of them may be driven. In the example described above, only the second vertical movement device 72 was used as an example.

As shown in FIG. 7, when moving the luggage 5 to the sixth stage of the storage section 6, for example, the second vertical movement device 72 and the third vertical movement device 73 are driven. Further, as shown in FIG. 8, when moving the luggage 5 to the 15th stage of the storage section 6, for example, the first vertical movement device 71, the second vertical movement device 72, and the third vertical movement device 71, The direction moving device 73 is driven.

Note that, when moving the baggage 5 from the storage section 6 to the outside of the storage section 6, the conveyance device 10 performs, for example, a reverse operation of the above-described operation of moving the baggage 5 to the storage section 6. Specifically, the conveyance device 10 moves the holding unit 40 to the baggage 5 by driving the horizontal movement device 60 and the vertical movement device 70, and then holds the baggage 5 by the holding unit 40. Next, the transport device 10 moves the holding section 40 and the cargo 5 to the second transport section 54 of the transport section 50 by driving the horizontal movement device 60 and the vertical movement device 70 . Next, the conveyance device 10 drives the conveyance section 50 to convey the luggage 5 to the telescopic conveyance section 125 . Next, the transport device 10 transports the luggage 5 using the telescopic transport section 125.

The transport device main body 20 of the transport device 10 configured as described above includes a transport section 50 that moves the baggage 5 to the storage section 6, a holding section 40 that holds the baggage 5, and a target position of the transport section 50 and the storage section 6. It includes a horizontal movement device 60 and a vertical movement device 70 for moving the luggage 5 therebetween, and a traveling device 30. Therefore, since it becomes possible to install the transport device main body 20 inside the storage section 6 using the traveling device 30, the worker manually moves the cargo 5 from outside the storage section 6 to the target position in the storage section 6. Moreover, the worker does not have to manually move the baggage 5 from the storage section 6 to the outside of the storage section 6. Therefore, the efficiency of transporting the baggage 5 to the target position in the storage section 6 or the efficiency of transporting the baggage 5 from the storage section 6 to the outside of the storage section 6 can be improved.

Furthermore, the transport device main body 20 is configured to include a first vertical movement device 71, a second vertical movement device 72, and a third vertical movement device 73. Therefore, by suitably arranging these first vertical moving device 71, second vertical moving device 72, and third vertical moving device 73, it is possible to make the conveying device main body 20 compact. becomes. Specifically, the first vertical movement device 71 supports the main conveyance section 51 so as to be movable in the vertical direction with respect to the traveling device base 31, and the second vertical movement device 72 supports the main conveyance section 51 so as to be movable in the vertical direction. It is configured to support the transport unit 51 so as to be movable in the vertical direction. Therefore, by lowering the height of the main transport section 51 with respect to the traveling device base 31 and lowering the height of the support section 80 with respect to the main transport section 51, it is possible to make the transport device main body 20 more compact. .

Furthermore, since the horizontal movement device 60 includes the first horizontal movement device 61 and the second horizontal movement device 62, it is possible to expand the range of movement of the holding part 40.

Furthermore, the second horizontal movement device 62 is configured to be able to move the holding section 40 to a position outside the support section 80 in a direction orthogonal to the conveyance direction of the main conveyance section 51 . Therefore, it is possible to stably place the baggage 5 near the second transport section 54, and the baggage 5 placed near the second transport section 54 can be stably placed by the holding section 40. It becomes possible to hold the This effect will be specifically explained.

For example, if the target position of the storage unit 6 to transport the baggage 5 is a position near the second transport unit 54, it is assumed that the second transport unit 54 becomes an obstacle and the baggage 5 cannot be transported to the target position. be done. However, by having a configuration in which the holding section 40 can be moved to the outside of the support section 80 in a direction perpendicular to the conveyance direction of the main conveyance section 51, the conveyance device main body 20 can be moved to the target position by the main conveyance section 51. By moving the holding part 40 to the outside of the support part 80 in the direction perpendicular to the transport direction of the main transport part 51, the cargo 5 is moved to the target position, or It becomes possible to hold the baggage 5 at the target position by the holding section 40.

Furthermore, since the second horizontal movement device 62 is configured to include a plurality of rail devices 65, the total length of the second horizontal movement device 62 can be shortened. Therefore, by shortening the overall length of the second horizontal movement device 62 when the transport device 10 is not in use, the installation space of the transport device main body 20 can be saved. Furthermore, by including the plurality of rail devices 65, the second horizontal movement device 62 can increase the length of the movement range of the holding section 40.

Furthermore, since the main conveyance section 51 includes the first conveyance section 53, the second conveyance section 54, and the third conveyance section 55, the luggage 5 can be conveyed appropriately according to the state of the conveyance device main body 20. It becomes possible. For example, when the holding section 40 is moved downward by the second vertical movement device 72, the transportation of the baggage 5 to the first transportation section 53 can be stopped by stopping the driving of the first transportation section 53. At the same time, the cargo is transported from the sub-transport section 52 to the third transport section 55 by driving the third transport section 55, and then, by stopping the driving of the third transport section 55, the cargo is transferred to the third transport section 55. It becomes possible to have the luggage 5 waiting at the terminal 55. By having the baggage 5 wait in the third transport section 55, the efficiency of the work of transporting the baggage 5 can be improved.

Furthermore, since the transport section 50 includes the sub-transport section 52, even if there is a height difference between the main transport section 51 and the telescopic transport section 125, the cargo 5 can be transported between the main transport section 51 and the telescopic transport section 125. be.

Further, since the conveyance device 10 includes the telescopic conveyance section 125, it becomes possible to convey the luggage 5 between, for example, a luggage collection area outside the storage section 6 and the conveyance section 50. Therefore, the efficiency of transporting the cargo 5 can be improved.

According to the conveyance device 10 of the embodiment described above, since the conveyance device main body 20 can be placed inside the storage section 6 by the traveling device 30, the worker manually moves the cargo 5 from outside the storage section 6 to the destination of the storage section 6. Since the worker does not have to carry out the work of transporting the baggage 5 to the desired location and the worker does not have to manually transport the baggage 5 from the storage section 6 to the outside of the storage section 6, the efficiency of the work of transporting the baggage 5 can be improved. .

In addition, in the above-mentioned example, the structure in which the vertical direction moving device 70 is provided with the first vertical direction moving device 71, the second vertical direction moving device 72, and the third vertical direction moving device 73 is explained as an example. However, it is not limited to this. In another example, the vertical movement device 70 may include at least one of a first vertical movement device 71, a second vertical movement device 72, and a third vertical movement device 73. good.

When the vertical movement device 70 is configured to include only the first vertical movement device 71, for example, the support portion 80 has a gap between the main transportation portions 51 through which the cargo 5 can pass, and 51 , and the holding part 40 is fixed to the first horizontal movement device 61 .

When the vertical movement device 70 is configured to include only the second vertical movement device 72, for example, the main conveyance section 51 is fixed to the traveling device base 31, and the holding section 40 is connected to the first horizontal movement device 72. It is fixed at 61.

When the vertical movement device 70 is configured to include only the third vertical movement device 73, for example, the main transport section 51 is fixed to the traveling device base 31, and the support section 80 is installed between the main transport section 51. It is fixed to the main transport section 51 with a gap that allows the cargo 5 to pass through.

If the vertical movement device 70 is configured to include any two of the first vertical movement device 71, the second vertical movement device 72, and the third vertical movement device 73, the vertical movement device 70 The configuration of the device 70 can be configured by appropriately combining, for example, any one of the above-described first vertical movement device 71, second vertical movement device 72, and third vertical movement device 73. It may also have a different configuration.

Further, in the above example, the configuration in which the horizontal movement device 60 includes the first horizontal movement device 61 and the second horizontal movement device 62 was described as an example, but the present invention is not limited to this. In another example, the horizontal movement device 60 may include one of a first horizontal movement device 61 and a second horizontal movement device 62.

Moreover, in the above-mentioned example, the configuration in which the transport device 10 is operated by the operator operating the operating section has been described as an example, but the present invention is not limited to this. In another example, the transport device 10 may be configured to automatically perform the cargo handling operation based on, for example, the detection results of the detection section 90 and the cargo detection section 100, a pre-stored program, or the like. Furthermore, if the transport device 10 is configured to automatically handle cargo, a guide section may be provided outside the storage section 6 to guide the travel of the transport device 10. The transport device 10 is guided to move from outside the storage section 6 to the storage section 6 by this guide section. For example, a linear display that guides the traveling of the transport device 10 may be provided outside the storage unit 6, and a detection unit that allows the transport device 10 to detect this linear display may be provided.

Furthermore, in the above example, the transport device 10 has a configuration in which the horizontal position of the holding section 40 is adjusted by the horizontal movement device 60 according to the position of the cargo 5 held on the second transport section 54. Although described as an example, the invention is not limited thereto. For example, as shown in FIG. 9, the transport device 10 may include a positioning device 120 that positions the cargo 5 held by the second transport section 54 at a predetermined position.

The positioning device 120 includes, for example, a pressing section 121 that presses the periphery of the baggage 5 held on the second transport section 54, and has a configuration in which the pressing section 121 moves the baggage 5 to a predetermined position on the second transport section 54. It may be.

By positioning the baggage 5 at a predetermined position on the second transport section 54, it becomes possible to efficiently hold the baggage 5 by the holding section 40. Furthermore, when the transport device 10 is configured to automatically handle cargo, by positioning the cargo 5 at a predetermined position on the second transport section 54, the holding section 40 can stably hold the cargo 5, for example. It becomes possible to hold the part.

Further, in the above example, the configuration in which the transport device 10 handles the cargo 5 in the shape of a rectangular parallelepiped was described as an example, but the shape of the cargo 5 handled by the transport device 10 is not limited to the shape of a rectangular parallelepiped. The transport device 10 may be configured to handle, for example, tires, cylindrical loads, cylindrical loads such as rice bags, and irregularly shaped loads such as cement bags. The holding section 40 has a configuration suitable for holding cargo to be handled.

For example, when the transport device 10 is configured to handle tires, the holding unit 40 includes a frame 130, a plurality of arms 131 rotatably supported with respect to the frame 130, and a plurality of arms 131, as shown in FIG. The configuration may also include a drive device 132 that drives the arm 131 of. Note that in FIG. 10, the holding portion 40 is shown upside down.

The frame 130 has a plate shape, for example. One longitudinal end of each of the plurality of arms 131 is supported by the lower surface 133 of the frame 130 so as to be rotatable around a rotation axis parallel to the vertical direction. One ends of the plurality of arms 131 are arranged at equal intervals. The plurality of arms 131 are, for example, three arms.

A claw portion 134 is provided at the other end of each of the plurality of arms 131. The claw portion 134 is configured to be able to engage with the bead portion of the tire in the vertical direction. The claw portion 134 includes, for example, a support portion 135 and a flange portion 136.

The support portion 135 is configured to extend downward from the arm 131. The flange portion 136 is formed at the lower end of the support portion 135.

The drive device 132 includes an actuator 137 and a coupling mechanism 138. The coupling mechanism 138 couples the actuator 137 and each of the plurality of arms 131, and transmits the driving force by the actuator 137 to each of the plurality of arms 131. The coupling mechanism 138 includes, for example, a plurality of gears. The coupling mechanism 138 rotates the plurality of arms 131 simultaneously. The coupling mechanism 138 also allows the plurality of arms 131 to rotate between a position where the respective claws 134 of the plurality of arms 131 are separated from each other as shown in FIG. 10, and a position where the claws 134 are close to each other. configured.

In the holding section 40 configured as described above, each of the plurality of arms 131 is rotated with respect to the frame 130 by the actuator 137. The flange portion 136 engages with the bead portion of the tire in the vertical direction to hold the tire.

Further, in the above example, a configuration in which a camera is used as the detection unit 90 has been described as an example, but the present invention is not limited to this. The detection unit 90 can detect the luggage 5 stacked on the floor of the storage unit 6, the luggage 5 held in the holding unit 40, and the luggage 5 placed in the third transport unit 55 of the transport unit 50. Alternatively, there may be a plurality of sensors that detect each sensor. As a specific example of the sensor, a laser range finder using laser light may be used.

Furthermore, in the above example, the second horizontal movement device 62 has been described as having a configuration including the first rail device 65A and the second rail device 65B as the configuration including the rail device 65; Not limited. In other examples, the second horizontal movement device 62 may include more than two rail devices 65. In a configuration in which three or more rail devices 65 are used, one rail device 65 is fixed to the support portion 80 and the first horizontal movement device 61 is fixed to the slide portion 64 of the other rail device 65. . The other one or more slide parts are connected between the slide part 64 of the rail device 65 fixed to the support part 80 and the rail 63 of the rail device 65 to which the first horizontal displacement device 61 is fixed. Alternatively, the second horizontal movement device 62 may be configured to include one rail device 65.

In this way, the configuration using three or more rail devices 65 allows the range of movement of the holding section 40 to be expanded more safely.

Furthermore, in the above example, the configuration in which the sub-transport section 52 is supported by the sub-transport section support section 33 has been described as an example, but the present invention is not limited to this. In other examples, the sub-transport unit 52 may be supported by the traveling device base 31.

Furthermore, in the above example, the first vertical movement device 71 and the second vertical movement device 72 have been described as having link mechanisms 71a and 72a as a structure that expands and contracts in the vertical direction. but not limited to. In other examples, the first vertical movement device 71 and the second vertical movement device 72 may be configured to include a cylinder so as to extend and contract in the vertical direction.

Further, in the above example, the second horizontal movement device 62 is configured to move the holding section 40 at a position outside the main transport section 51 and the support section 80 in both directions perpendicular to the transport direction of the cargo 5 by the main transport section 51. An example was explained in which it is configured to be movable. In other words, the second horizontal movement device 62 is capable of moving the holding section 40 on both sides of the main transport section 51 and the support section 80 in a direction perpendicular to the direction in which the main transport section 51 transports the cargo 5. Configured.

However, it is not limited to this. The second horizontal movement device 62 may be configured to be able to move the holding section 40 only to one outer position with the main transport section 51 and the support section 80 interposed therebetween. Alternatively, the second horizontal movement device 62 moves the holding section 40 to one or both outsides in a direction perpendicular to the conveyance direction of the main conveyance section 51 with respect to the main conveyance section 51 or the support section 80. It may be configured to be possible.

Moreover, in the above-mentioned example, although the structure in which at least a part of the up-down direction movement device 70 is arrange|positioned in the recessed part 31a of the traveling device base 31 was demonstrated as an example, it is not limited to this. For example, the recess 31a and the first vertical movement device 71 may be configured such that at least a portion of the main transport section 51 can be placed within the recess 31a. As an example of this, for example, when the transport device main body 20 is in an initial state, at least a portion of the main transport section 51 may be arranged within the recess 31a. This configuration allows the transport device main body 20 to be made compact.

Further, in the above example, it is assumed that the transport device main body 20 is used while being placed on a horizontal surface such as the floor of the storage section 6, and therefore, the holding section 40 can be moved in a uniaxial direction. and a device capable of moving the holding portion 40 in a uniaxial direction perpendicular to the uniaxial direction, the direction in which the holding portion 40 is moved by one device is the vertical direction, and the direction in which the holding portion 40 is moved by the other device is horizontal. An example was explained where it was used in a directional posture. That is, one device is the vertical movement device 70 and the other device is the horizontal movement device 60. However, it is not limited to this.

The moving direction of each of the holding parts 40 of the above-mentioned two devices may be set as appropriate depending on the surface on which the transport device main body 20 is placed when it is used. For example, when the transport device main body 20 is used while being placed on a surface that intersects a horizontal plane, the moving direction of each of the holding parts 40 of the two devices is set when the transport device main body 20 is placed on this surface. Alternatively, one device may be configured to be able to move the holding portion 40 in the vertical direction, and the other device may be configured to be able to move the holding portion 40 in the horizontal direction. In addition, in the case of this configuration, the transport unit 50 may be configured to be able to transport the luggage 5 in a direction parallel to the surface on which the transport device main body 20 is placed, for example.

According to the transport device 10 according to at least one modification described above, the transport device main body 20 can be placed inside the storage section 6 by the traveling device 30, so that the worker can manually store the luggage 5 from outside the storage section 6. Since the work of transporting the goods 5 to the target position of the part 6 is not carried out, and the worker does not carry out the work of manually transporting the goods 5 from the storage part 6 to the outside of the storage part 6, the work of transporting the goods 5 is Can improve efficiency.

Although several embodiments of the invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and changes can be made without departing from the gist of the invention. These embodiments and their modifications are included within the scope and gist of the invention, as well as within the scope of the invention described in the claims and its equivalents.
The scope of the claims as filed is appended below.
(1)
a transport unit that transports the target object;
a holding section that holds the object;
a horizontal movement device that moves the holding part in a substantially horizontal direction;
a vertical movement device that moves the holding section substantially vertically;
a self-propelled traveling device that integrally moves the transport section, the holding section, the horizontal movement device, and the vertical movement device;
A conveyance device comprising:
(2)
The conveying device according to supplementary note 1, wherein the vertical moving device includes a conveying section vertical moving device that supports the conveying section on the traveling device and moves the conveying section in the vertical direction with respect to the traveling device. .
(3)
a support part disposed above the transport part and supporting the horizontal movement device;
The conveyance device according to supplementary note 1 or 2.
(4)
The conveyance device according to appendix 3, wherein the vertical movement device includes a holding portion vertical movement device that supports the holding portion so as to be movable in the vertical direction with respect to the support portion.
(5)
The conveyance device according to appendix 3, wherein the vertical movement device includes a support portion vertical movement device that supports the support portion so as to be movable in the vertical direction with respect to the conveyance portion.
(6)
The conveyance unit conveys the object in a linear direction,
The horizontal movement device includes a first horizontal movement device that supports the holding section and moves the holding section along a direction in which the object is carried by the conveyance section; The conveyance device according to Supplementary note 1 or 3, comprising a second horizontal movement device that movably supports the first horizontal movement device along the horizontal direction.
(7)
Supplementary note 3, wherein the second horizontal movement device includes a rail device and is configured to be able to move the holding section to the outside of the transport section or the support section in a direction intersecting the transport direction of the transport section. The conveyance device according to appendix 6, which is subordinate to.
(8)
The transport section is tiltable following the movement of the main transport section to which the support section is fixed, and the main transport section that is connected to the main transport section and is moved in the vertical direction by the transport section vertical movement device. 3.
(9)
The conveyance device according to appendix 8, further comprising an extendable conveyance section that is adjacent to the sub-conveyance section and is expandable and retractable in the conveyance direction.
(10)
The conveyance device according to supplementary note 1, wherein the conveyance unit includes a positioning device that positions the object to be conveyed at a predetermined position when the holding unit holds the object.

5... Luggage, 6... Accommodating section, 10... Conveying device, 15... External conveyor, 20... Conveying device main body, 30... Traveling device, 31... Base for traveling device, 32... Traveling section, 33... Support part for sub-conveying section , 34... Connection part, 35... Slide part, 36... Rotating shaft, 40... Holding part, 41... Base for holding part, 42... Adsorption part, 50... Transport part, 51... Main transport part, 52... Sub-transport part, 53...First conveyance unit, 54...Second conveyance unit, 55...Third conveyance unit, 60...Horizontal direction movement device, 61...First horizontal direction movement device, 62...Second horizontal direction movement device , 63... Rail, 64... Slide portion, 65... Rail device, 65A... First rail device, 65B... Second rail device, 70... Vertical direction moving device, 71... First vertical direction moving device, 71a... Link mechanism, 72... Second vertical movement device, 72a... Link mechanism, 73... Third vertical movement device, 80... Support section, 81... Side wall section, 82... Top wall section, 90... Detection section, 100 ...Luggage detection section, 101...First detection section, 102...Second detection section, 103...Third detection section, 110...Control section, 120...Positioning device, 121...Press section.

Claims (8)

A conveying device,
a transport unit that transports the target object;
a holding section that holds the object;
a horizontal movement device that moves the holding part in a substantially horizontal direction;
a vertical movement device that moves the holding section substantially vertically;
a self-propelled traveling device that integrally moves the transport section, the holding section, the horizontal movement device, and the vertical movement device;
Equipped with
The vertical moving device includes a conveying section vertical moving device that supports the conveying section on the traveling device and moves the conveying section in the vertical direction with respect to the traveling device,
A conveyance device that adjusts the height of the conveyance device by moving the holding section in a substantially vertical direction and moving the conveyance section in a vertical direction. a support part disposed above the transport part and supporting the horizontal movement device;
The conveying device according to claim 1 . The vertical movement device is
a holding part vertical movement device that supports the holding part so as to be movable in the vertical direction with respect to the supporting part;
The conveyance device according to claim 2 , further comprising: a support part vertical movement device that supports the support part so as to be movable in the vertical direction with respect to the conveyance part. The conveyance unit conveys the object in a linear direction,
The horizontal movement device includes a first horizontal movement device that supports the holding section and moves the holding section along a direction in which the object is carried by the conveyance section; The conveyance device according to any one of claims 1 to 3 , further comprising a second horizontal movement device that movably supports the first horizontal movement device along the second horizontal movement device. The second horizontal movement device includes a rail device, and is configured to be able to move the holding part to the outside of the transporting part or the supporting part in a direction intersecting the transporting direction of the transporting part. 5. Conveying device according to claim 4 , dependent on claim 2 . The transport section is tiltable following the movement of the main transport section to which the support section is fixed, and the main transport section that is connected to the main transport section and is moved in the vertical direction by the transport section vertical movement device. The conveying device according to claim 2 , comprising a sub-transporting section. The conveyance device according to claim 6 , further comprising an extendable conveyance section that is adjacent to the sub-conveyance section and is expandable and retractable in the conveyance direction. The conveyance device according to claim 1, wherein the conveyance section includes a positioning device that positions the object to be conveyed at a predetermined position when the holding section holds the object.