JPH11129181A - Movement mechanism and conveying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simplify and facilitate structure without needing high precision as that of a parallel four-node link and reduce a manufacturing cost. SOLUTION: This conveying device comprises a base body member 25; an arm member 30 having the rear end side coaxially mounted on a fundamental body member 25 and the tip side revolvably arranged; a fixed circular guide 26 having the rear end side pivotally arranged coaxially with an axis and fixed in a base body member 25; a rotating guide 32 arranged on the tip side of the am member 30 and mounted axially around an axis parallel to the axis on the rear end side; and a wrapping member 40 wrapped around the fixed circular guide 26 and a rotating guide 32.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a motion mechanism and a transport device.

[0002]

2. Description of the Related Art As a background art, a motion mechanism using a parallel four-bar link as shown in FIG. 9 can be considered. In the parallel four-bar link 10, the opposing links are arranged in parallel so as to form a parallelogram by four links, and are axially mounted. A reference link 14 fixed to the base 12,
An operating link 16 arranged parallel to the reference link 14
And the first rotation link 18 and the second rotation link 20 that constitute the links on the other two sides are the first rotation shaft 21, the second rotation shaft 22, the third rotation shaft 23, and the fourth rotation shaft 23. It is axially mounted by a rotating shaft 24. According to the parallel four-bar link 10,
There is an advantage in that the operation link 16 that performs various tasks with respect to the reference link 14 moves while maintaining a parallel state, and can be suitably used for a transport device or the like. In addition, since the parallel four-bar link 10 is formed in a frame shape, it can have high rigidity even if it is lightweight, can support a high load, and has a lower manufacturing cost than a cantilevered general-purpose articulated robot. There is an advantage that can be reduced.

[0003] As a driving device for operating the parallel four-bar link 10, there is a cylinder device 330. This cylinder device 330 has one end (the rear end 331 of the cylinder).
Is pivotally attached to the base 12 and the other end (the tip 332 of the rod) is pivotally attached to the second rotation link 20, and operates as a driving device that swings and drives the parallel four-bar link 10. Also,
Reference numeral 90 denotes a pressure fluid source (for example, a compressor or a hydraulic pump), which is a supply source for supplying a pressure fluid to the cylinder device 330. Reference numeral 91 denotes a first control valve, and when opened, pressurized fluid is supplied to the cylinder rear end side of the cylinder device 330, whereby the cylinder device 330 is extended, and the operating link 16, the first rotating link 1
6 and the swing arm link 15 including the second rotation link 20 can be rotated to the left (on the drawing). 92 is the second
This is a control valve, and when opened, pressurized fluid is supplied to the cylinder tip side of the cylinder device 330, whereby the cylinder device 330 is contracted and the swing arm link 15 can be turned to the right (on the drawing). . Also, the first control valve 9
By suitably controlling the opening and closing of the first and second control valves 92, the operation of the swing arm link 15 can be freely controlled. For example, it is possible to control the valve to be fully opened at the time of start to generate a quick operation from a stationary state, and to control the valve to stop suddenly at the time of stop to avoid sudden stop. In the case of a pneumatic cylinder device, compressed air, which is a pressurized fluid, can be exhausted to the atmosphere, and a tank and piping like a hydraulic device are not required, and the configuration can be simplified.

[0004]

However, the above-mentioned motion mechanism requires four rotating shafts to form a parallel four-bar link, and if not manufactured with high precision, the operating resistance due to friction is large, Conversely, if the play is increased to reduce the operating resistance, there is a problem that the movement accuracy cannot be improved. In addition, a motion mechanism using parallel four-bar links is lighter and more durable than a multi-joint robot, has a simple structure, and can be manufactured at low cost.However, the structure is further simplified to reduce manufacturing costs. There are limits to what you can do.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a motion mechanism which can be simplified in structure without requiring high precision such as a parallel four-bar link, can be easily constructed, and can reduce manufacturing costs.

[0006]

The present invention has the following arrangement to achieve the above object. That is, the present invention
A base member, an arm member having a rear end side pivotally attached to the base member, and a tip end side pivotally provided; and the rear end side of the arm member being coaxially arranged with an axis centered with the axis, and A fixed circular guide fixed to the base member, a rotation guide rotatably mounted on the distal end side of the arm member around an axis parallel to the axis of the rear end side, and the fixed circular guide; A hanging member wound around the rotation guide.

Further, since the fixed circular guide and the rotation guide are formed to have the same diameter, the fixed circular guide and the rotation guide do not rotate relatively to each other, but rotate relative to the fixed circular guide. The guide can be preferably translated.

In addition, by providing a driving device mounted on the arm member for driving the rotation guide to rotate so as to pivot the arm member, power can be transmitted favorably and the device can be symmetrically balanced. Can be configured.

[0009] In addition, the shaft center on the front end side and the shaft center on the rear end side are provided in parallel in the vertical direction, and the arm member turns in a horizontal plane. You can get exercise.

Further, since the fixed circular guide and the rotation guide are sprockets and the hanging member is a chain, a versatile and easily available motion mechanism having excellent functions can be easily provided. Can be configured.

Further, since the rotation guide is provided with a work device for performing a work on the work, the motion mechanism according to the present invention can be suitably applied to a work based on parallel movement.

Further, the present invention also provides a transport device comprising the above-mentioned movement mechanism, wherein the rotation guide is provided with a holding device for holding a work.

Further, by providing an elevating device for moving the base member up and down so that the holding device can be moved up and down via the arm member, it can be suitably used as a transfer device such as a stacking device and a loading / unloading device. .

The elevating device comprises a fixed support having a first rotating guide rotatably mounted on an upper portion thereof, and a second supporting member having a second rotating guide provided on an upper portion thereof.
A rotating guide is rotatably mounted on the shaft, and is rotatably mounted on the fixed supporting portion so as to be vertically movable. The rotating guide is hung around the first rotating guide, and one end is fixed to a lower portion of the moving supporting member. A first lifting / lowering hanging member having a weight fixed to the other end; a second lifting / lowering hanging member fixed at one end to the base member; By providing the second lifting / lowering hanging member fixed to the above, it is possible to preferably obtain a lifting / lowering motion of a predetermined height, and to keep the height of the entire apparatus low.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments according to the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 is a plan view schematically illustrating a movement mechanism according to the present invention. FIG. 2 is a side view showing a main part of the transport mechanism using the movement mechanism according to the present invention (the configuration relating to the turning movement mechanism of the arm member). FIG. 3 is a plan view of the embodiment of FIG. .
Reference numeral 25 denotes a base member, which is provided in the present embodiment so as to be vertically moved by a lifting mechanism described later. Also, 3
Reference numeral 0 denotes an arm member, the rear end of which is pivotally mounted on the base member 25, and the front end of which is pivotably provided. In this embodiment, the shaft 30 extending in the vertical direction is
a is formed. The shaft 30a is supported and supported by two bearings 25a, 25a fixed to the base member 25. (Each bearing 25a includes a bearing 28.) The base member 25 is not limited to this embodiment, and may be mounted on a moving member that moves left and right or a fixed supporting member depending on the application. It is only necessary that the member 30 be pivotably mounted on the shaft and supported. Also, the base member 2
5, a shaft fixed to the arm member 30 around the shaft.
May be pivotally mounted on the shaft.

Reference numeral 26 denotes a fixed circle guide, and the arm member 3
0 is arranged coaxially with the axis centered on the shaft,
It is fixed to the base member 25. That is, the fixed circular guide 26 is fixed coaxially with the axis of the shaft 30a. In this embodiment, a sprocket around which a chain is wound is used as the fixed circular guide 26. Sprockets are readily available and can be suitably used. The fixed circular guide 26 is not limited to this, and may be, for example, a timing pulley around which a timing belt is looped, as long as it has a circular guide portion.

Reference numeral 32 denotes a rotation guide, and the arm member 30
Is pivotally mounted on the front end side so as to be able to rotate around an axis parallel to the axis on the rear end side. That is, a distal end bearing portion 31 is provided on the distal end side of the arm member 30, the axis of the distal end bearing portion 31 is parallel to the axis of the shaft 30 a on the rear end side, and the rotation guide 32 is connected to the distal end bearing portion 31. The shaft is rotatably mounted about its axis. (The tip bearing portion 31 includes the bearing 28.) In this embodiment, a sprocket around which a chain is wound is used as the rotation guide 32. In addition, as the rotation guide 32,
Not limited to this, as long as it has a circular guide portion,
For example, a timing pulley around which a timing belt is wound may be used.

Reference numeral 40 denotes a wrapping member, which is wrapped around the fixed circular guide 26 and the rotation guide 32. In the present embodiment, as the hanging member 40, the fixed circular guide 26 is used.
In addition, since a sprocket is used as the rotation guide 32, a chain is used and the structure can be easily configured. When a timing pulley is used, a timing belt may be used. Reference numeral 41 denotes a length adjustment mechanism,
For example, the length can be adjusted by the screwing amount of the screw, and the length and tension of the hanging member 40 (chain) can be adjusted. Reference numeral 42 denotes a rod portion made of a steel bar. When the chain is used for the entire length of the loop member 40, the chain has the property of being easily stretched. Therefore, it is necessary to frequently adjust the length. However, the length of the chain is relatively shortened by interposing the rod portion 42. Therefore, elongation can be suppressed as a whole. Thereby, the accuracy of the movement of the turning of the arm member 30 can be improved. Reference numeral 43 denotes a position detection unit which detects that the chain does not go too far to one side and functions as a stopper for restricting the movement of the chain within a predetermined range.

As is apparent from the drawing, in this embodiment, the fixed circular guide 26 and the rotation guide 32 are formed to have the same diameter. The fixed circular guide 26 and the rotation guide 3
2 is a sprocket provided with teeth of the same pitch. Therefore, when the arm member 30 turns around the axis of the shaft 30a, the fixed circular guide 26 and the rotation guide 32 do not relatively rotate, and the rotation guide 32 is translated with respect to the fixed circular guide 26. Can be done. That is, the working device 36 attached to the rotation guide 32
It is possible to move while maintaining a posture parallel to the base member 25. Incidentally, by appropriately setting the diameters of the fixed circular guide 26 and the rotation guide 32, it is also possible to relatively rotate both of them by a predetermined angle. Good.

Reference numeral 45 denotes a drive motor, and the arm member 30
And the output shaft of the bevel gear 45a
Is attached and fixed. The bevel gear 45a meshes with a driven bevel gear 32a mounted and fixed to the upper end of the rotation guide 32. A drive device is mounted on the arm member 30 by the drive motor 45 and the power transmission mechanism of the bevel gear, and drives the rotation guide 32 to rotate so that the arm member 30 is turned. According to the configuration in which the drive motor 45 is disposed at the distal end of the arm member 30 and the rotation guide 32 is directly rotated (rotated) in this manner,
The power of the drive motor 45 can be suitably transmitted, and the device can be symmetrically balanced. In addition, the responsiveness of driving is good. Consequently, simplification and weight reduction of the device can be realized. Further, as the drive motor 45, for example, a servomotor having a large reduction ratio may be used, and the turning speed of the arm member 30 can be adjusted by controlling the inverter with an inverter. For example, at the time of a stop, the speed may be reduced so as not to generate a large inertial force.

The principle of operation in which the arm member 30 turns by rotating (turning) the rotation guide 32 by the drive motor 45 will be described with reference to FIG. When the tip of the arm member 30 is turned from the position A to the position B, the rotation guide 32 is turned clockwise in the direction of the arrow X. As a result, a portion where the rotation guide 32 newly meshes with the hanging member 40 is generated, and the meshing of the fixed circular guide 26 with the hanging member 40 is released accordingly. That is, in the drawing of FIG. 1, the right side of the rotation guide 32 newly meshes with the hanging member 40, and the right side of the fixed circular guide 26 releases the meshing with the hanging member 40. By this operation, the tip of the arm member 30 is necessarily rotated from the position A to the position B. At this time, the rotation guide 32 is fixed to the fixed circular guide 26.
Is moving in parallel to. Similarly, the arm member 30
Is rotated from the position A to the position C, the rotation guide 32 is rotated clockwise in the direction of the arrow Z (90 degrees).
Rotate. As a result, the tip of the arm member 30 turns 90 degrees in the counterclockwise rotation direction, and the rotation guide 3
Speaking of the relationship between 2 and the fixed guide 26, the rotation guide 32 has turned 90 degrees in a state of being relatively parallel to the fixed guide 26.

Further, in this embodiment, the axis on the front end side (the rotation axis of the rotation guide 32) and the axis on the rear end side (the shaft 30a) are provided in parallel in the vertical direction, and the arm member 30 is positioned in the horizontal plane. By turning, a simple turning motion can be obtained with a simple configuration. This is because two axes are provided in parallel with the direction of gravity, so that the structure is suitable for receiving a load. In detail, in order to receive the moomet by the reinforcing plate 34 formed in a substantially triangular shape,
The shaft 30a is supported (bearing) at upper and lower two places, and the rigidity of the arm member 30 as a whole, particularly with respect to a load in the vertical direction, is improved. The present invention is not limited to this embodiment, but can be used as a movement mechanism for rotating the arm member in another direction.

In the configuration of this embodiment, the shaft 30a and the rotation guide 32 are each supported by two bearings 28, but the number of shafts is basically two. Therefore, as compared with a parallel four-bar link having four rotation axes, the configuration can be simplified, and the configuration can be preferably and easily performed without requiring high manufacturing accuracy. Further, the sliding loss is small, for example, the driving force is directly transmitted to the rotation guide 32. Therefore, as compared with a motion mechanism using a parallel four-bar link, there is an advantage that it is lighter, can withstand a higher load, has a simple structure, and can be manufactured at low cost.

Next, a holding device 70 is provided on the rotation guide 32 of the exercise mechanism of the above embodiment as a working device 36 for performing work on a work, and more specifically, a bottle for artificial cultivation of mushrooms is stored. The transport device for transporting the container will be described in detail with reference to FIGS. FIG. 4 is a schematic diagram showing the configuration of the lifting device. FIG. 5 is a front view of the transfer device according to the present invention, and FIG. 6 is a side view of FIG.
FIG. 7 is a side view showing a mounting method of the holding device 70. FIG. 8 is a plan view illustrating the overall system configuration of the transport device according to the present invention.

First, the holding device 7 via the arm member 30
The structure of the elevating device 82 that moves the base member 25 up and down so that 0 moves up and down will be described with reference to FIG.
Reference numeral 83 denotes a fixed support, and a first rotating guide 83a
Is rotatably mounted on the shaft. Reference numeral 84 denotes a movable support, on which a second rotation guide 84 a is rotatably mounted on a shaft, and is provided so as to be vertically movable with respect to the fixed support 83. Reference numeral 85 denotes a first lifting / lowering hanging member, which is wound around a first rotation guide 83a, and one end 85a of which is connected to the movable support 84.
Is fixed to the lower part 84b of the
Has been fixed. Reference numeral 87 denotes a second lifting / lowering hanging member, which is wound around the second rotation guide 84a,
7a is fixed to the base member 25 and the other end 87a
b is fixed to the upper part of the fixed support 83. Also, 8
Reference numeral 8 denotes a drive motor, and 89 denotes a speed reducer, which is a drive device that rotationally drives the first rotation guide 83a.

According to this configuration, by the principle of the parallel pulleys, the first rotary guide 83a can be driven to move up and down by a length (height) twice as long as the drive feed length. As a result, it is possible to suitably obtain a vertical movement at a predetermined height, and it is possible to keep the height of the entire apparatus low (small size), and it is suitably used as a transport apparatus such as a stacking apparatus and a loading / unloading apparatus. it can.

Next, a specific configuration of the holding device 70 and an operation when the holding device holds a container (for storing a mushroom artificial cultivation bottle) as a work will be mainly described with reference to FIGS. I do. The same reference numerals are given to the same components as those in the above-described embodiment, and the detailed description is omitted. This embodiment is a specific example in which the above-mentioned movement mechanism is applied to a transport device, and is a transport device for performing an operation of changing a container 50 containing mushroom cultivation bottles from a cart 52 to a conveyor device 54. Reference numeral 82 denotes an elevating device which moves the movement mechanism including the arm member 30 and the base member 25 up and down. Details have already been described with reference to FIG. In addition, as a driving device of the lifting device, for example, a device that drives a chain wrapped around a sprocket by a motor, a device driven by a rack and a pinion, or a device that drives a timing belt wrapped around a timing pulley by a motor, Alternatively, a device that drives a wire wound around a pulley can be used.

A holding device 70 is fixed below the rotation guide 32. The holding device 70 includes the arm member 3
0, a plate-shaped main body 72 fixed to the lower side,
Of the holding portions 73 and 74, which are rotatably provided in the middle portions at both ends 72 a and 72 b, respectively, and the protrusion 75 and the upper portions of the holding pieces 73 and 74 provided on the upper surface side of the main body 72. And cylinder devices 77 and 78 connected therebetween. When these cylinder devices 77 and 78 are extended,
Between the lower ends 73a, 74a where the pipes of the opposing holding pieces 73, 73 are laterally provided, the container 50 having the flange 50a provided on the outer periphery of the upper edge abuts against the flange 50a to support it. Can be pinched and held. In this embodiment,
As shown in FIG. 6, a pipe is extended so that the three containers 50, 50, 50 can be lifted simultaneously, and the lower ends 73a, 74a are formed. And
By contracting the cylinder devices 77, 78, the state of holding the containers 50, 50, 50 can be released.

By providing the lifting device 82 and the holding device 70 in this manner, it is possible to provide a suitable transport device for moving the container 50 from one position to another position. As described above, since the movement mechanism for rotating the arm member 30 is used, the configuration is simple, the weight can be reduced, and a transport device with good movement performance can be obtained.

Next, an embodiment of a method of mounting the holding device 70 on the rotation guide 32 will be described with reference to FIG.
In this embodiment, the holding device 70 is suspended from the rotation guide 32 via a suspension member 80. More specifically, a connecting portion 17 is fixed and formed in an inverted T-shape on the lower surface of the rotation guide 32, and a hanging member 80 is fixed to the lower surface of the rotating guide 32 by a fixing member 17 a so that both ends are hung down. The hanging member 80 of the present embodiment is formed in a loop band shape, and specifically uses a closed-loop cloth belt (flat belt). According to this cloth belt, since the strength, flexibility and flexibility are appropriate, the holding device 7
0 can be suitably suspended.

By suspending the holding device 70 in this manner, even if the holding device 70 interferes with another object such as a work that is not at a predetermined position, the holding device 70 can suitably escape by the action of the suspending member 80. . Therefore, for example, when lifting and transporting the container 50 (see FIG. 5) in which the mushroom cultivation bottles are stored, the cart 52 on which the container 50 is placed is slightly displaced from a predetermined position, or the container 50 is slightly inclined and stacked. Even if it is, it can respond suitably. That is,
According to the suspended holding device 70, even the workpieces with poor positional accuracy, such as stacked containers, can be flexibly held with a high degree of freedom, and the workpieces can be suitably lifted and transported. Work is container 50
In this case, the holding device 70 can swing appropriately so that the holding pieces 73 and 74 are properly fitted to the flange 50a.

On the other hand, when the holding device 70 is fixed to the rotation guide 32, for example, if the container 50 is not at a predetermined position, even if the container 50 is slightly misaligned, it cannot be handled. Since the holding device 70 cannot swing,
The operation by the drive mechanism is directly given to the container 50, and the cart on which the container 50 is placed is moved or the stacked container 50 is pushed down. In addition, the suspension member 80 of the present embodiment
At both ends of the closed loop, it is connected to the upper surface of the holding device 70 while being hung around the rod 71 fixed to the holding device 70.
It is installed. Accordingly, the holding device 70 can be easily mounted on the rotation guide 32 with a simple configuration, and the degree of freedom of escape of the holding device 70 is improved.

Next, the overall system configuration of a transport device using the motion mechanism according to the present invention will be described. FIG. 8 is a plan view showing an embodiment of the entire system. According to the movement mechanism of the above embodiment, the holding device 70 moves in parallel even when the arm member 30 is turned to each position. Therefore, as shown in the figure, the content 50 can be transferred in parallel.
Thereby, the conveyor device and the cart can be suitably arranged in the narrow space, and the transfer operation such as the operation of reloading from the cart 52 onto the conveyor device 54 can be suitably performed. In the present embodiment, the above-described posture control effect can be obtained by attaching the holding device 70 to the rotation guide 32.
An independent turning mechanism for the holding device 70 (working device) may be separately provided at the tip of the device, and the working device may be rotated with respect to the base member 25. Further, if a configuration is provided in which the working device is directly connected to the arm member 30, the working device naturally rotates with the turning of the arm member 30.

In the above embodiments, the servomotor (electric motor) is exemplified as the drive motor. However, the present invention is not limited to this, and for example, a hydraulic motor or another drive device can be applied. It is. Further, in the above embodiment, the arm member 30 is turned by directly rotating the rotation guide 32 by the drive motor 45. However, by directly applying a rotation driving force to the shaft 30a, the arm member 30 is turned. Can of course be turned. With this, the effect of controlling the attitude of the rotation guide 32 with respect to the base member 25 can be obtained. That is, if the fixed circular guide 26 and the rotation guide 32 have the same diameter and the same pitch, the rotation guide 32 moves parallel to the fixed circular guide 26. As described above, the present invention has been described in various ways with reference to preferred embodiments. However, the present invention is not limited to these embodiments.
Of course, many modifications can be made without departing from the spirit of the invention.

[0035]

According to the motion mechanism of the present invention, the rear end side of the arm member is arranged coaxially with the axis on which the shaft is mounted, and the fixed circular guide fixed to the base member; On the front end side, there is provided a rotation guide that is rotatably mounted on a center about an axis parallel to the axis on the rear end side, and a hanging member that is wound around the fixed circular guide and the rotation guide. . For this reason, the distal end side of the arm member can be favorably turned with respect to the base member with a simple two-axis configuration. Further, the attitude control of the rotation guide with respect to the fixed circular guide can be suitably performed. Therefore, a motion mechanism that can be suitably used for a transport device or the like can be easily configured by simplifying the structure without requiring high accuracy such as a parallel four-bar link, and the production cost can be significantly reduced.

[Brief description of the drawings]

FIG. 1 is a plan view schematically illustrating a movement mechanism according to the present invention.

FIG. 2 is a side view showing a turning movement mechanism of the arm member according to the present invention.

FIG. 3 is a plan view of the embodiment of FIG. 2;

FIG. 4 is a side view illustrating a lifting device according to the present invention.

FIG. 5 is a front view showing an embodiment of a transport device using a movement mechanism according to the present invention.

FIG. 6 is a side view of the embodiment of FIG.

FIG. 7 is a side view illustrating a mounting portion of the holding device.

FIG. 8 is a plan view illustrating the overall system configuration of the transport device according to the present invention.

FIG. 9 is a plan view showing a background art.

[Explanation of symbols]

 Reference Signs List 25 base member 26 fixed circular guide 30 arm member 30a shaft 32 rotation guide 32a driven bevel gear 36 working device 40 hanging member 45 drive motor 45a bevel gear 70 holding device 82 elevating device

Claims (9)

[Claims] 1. A base member, an arm member having a rear end side pivotally mounted on the base member and a front end side pivotally provided, and a coaxial arrangement with an axis on which the rear end side of the arm member is pivotally mounted. And a fixed circular guide fixed to the base member; and a rotation guide rotatably mounted on the distal end side of the arm member so as to rotate around an axis parallel to the axis of the rear end side. An exercise mechanism comprising: the fixed circular guide and a looping member looped around the rotation guide. 2. The motion mechanism according to claim 1, wherein the fixed circular guide and the rotation guide are formed to have the same diameter. 3. A driving device mounted on the arm member and driving the rotation guide to rotate so as to pivot the arm member.
Exercise mechanism as described. 4. An axial center on the front end side and an axial center on the rear end side are provided in parallel in a vertical direction, and the arm member pivots in a horizontal plane. Movement mechanism. 5. The motion mechanism according to claim 1, wherein the fixed circular guide and the rotation guide are sprockets, and the hanging member is a chain. 6. The exercise mechanism according to claim 1, wherein the rotation guide is provided with a working device for performing a work on the work. 7. A transport device comprising the movement mechanism according to claim 1, 2, 3, or 5, wherein the rotation guide is provided with a holding device for holding a work. 8. The transfer device according to claim 7, further comprising an elevating device that moves the base member up and down so that the holding device is moved up and down via an arm member. 9. The lifting device, wherein: a fixed support having a first rotary guide rotatably mounted on an upper portion thereof; and a second rotary guide rotatably mounted on an upper portion thereof. A vertically movable movable support; a first lifting and lowering loop that is hung on the first rotation guide, one end of which is fixed to a lower portion of the movable support, and a weight that is fixed to the other end; And a second elevating and lowering member that is hung around the second rotation guide, one end of which is fixed to the base member, and the other end of which is fixed to an upper portion of the fixed support. The transfer device according to claim 8, wherein