KR101191846B1 - Article transport apparatus - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an article carrying apparatus, wherein a traveling trolley (44) capable of traveling along a traveling route (15) set on the front side of a storage shelf (S) in which a storage section (14) for storing an article (C) is provided in a vertical direction and a horizontal direction (S) is provided. And a retracted position (P1) protruding toward the storage shelf side and retracting along the elevating mast 45 provided on the traveling cart 44 and mounted on the traveling cart 44 and protruding toward the storage shelf side ( An article carrying apparatus including an article mounting body 57 which can be pulled out over PO, and the support body 34 mounts and supports the mounting body main body 30 and the article C on which the article mounting body 57 is moved in and out. ), The support body 34 is movable in the withdrawal direction of the mounting body main body 30, and is attached to the mounting body main body 30 in a state of being pressed back to the initial position Pn in the moving direction.

Description

Goods transport device {ARTICLE TRANSPORT APPARATUS}

The present invention relates to an article carrying apparatus for carrying out a drawing process for taking out an article stored in a storing section and a storing process for storing an article in a storing section.

The above-mentioned article conveying apparatus performs the extraction process which draws an article out of the accommodating part of a storage shelf, or the storing process which accommodates an article in a accommodating part using the article mounting body which mounts and supports an article from below. Therefore, the article carrying apparatus travels along the traveling route set on the front side of the storage shelf, and raises and lowers the article mounting body in the up and down direction along the elevating mast installed on the traveling cart, thereby storing the article mounting body. Retracting is carried out over the protruding position protruding toward the lathe side and the retracting position evacuating to the traveling path side.

In the storing process, the article mounting body is projected to the protruding position at the position corresponding to the housing section to store the article on the front side of the storage shelf, and the article mounted on the article mounting body is placed in the storage part space to be stored. In this state, the article mounting body is lowered from the lowering start position to the lowering end position, and then the article mounting body is retracted to the retracted position. While lowering the article mounting body from the lowering start position to the lowering end position, the article is transported from the article mounting body to the support member forming the housing portion.

In the take-out process, the article mounting body is projected to the protruding position at the position corresponding to the housing section in which the article to be taken out is stored on the front side of the storage shelf and placed in the space below the article stored in the housing section. In that state, the article mounting body is raised from the lift start position to the lift end position and then retracted to the retracted position. While raising the article mounting body from the raising start position to the raising end position, the article is conveyed and mounted on the article mounting body from the supporting member forming the housing portion.

The article conveyed by the article carrying apparatus is various, for example, the glass substrate container which accommodates the glass substrate used for a liquid crystal display, a plasma display, etc. in a laminated state is conveyed as an article. When conveying a glass substrate container as an article, the article conveyance apparatus is installed in the clean room comprised so that the accommodating part may be kept in a dust-free environment by the purifying air ventilation means etc. (for example, Japanese Patent Application Laid-open No. 2000-16518) Publication).

By the way, when the weight of the article is heavy, when the article is transported and mounted from the article supporting member in the storage section to the article mount during the takeout process, while the article mount is raised from the lift start position to the lift end position, The load may increase, and the lifting mast and the running trolley which are mounted on the traveling trolley may fall slightly inclined toward the storage shelf side. In that case, the article mounting body in the protruding position may be slightly displaced to the protruding side (inside the housing) in the retracting direction.

The phenomenon in which the article conveying apparatus is tilted and falls occurs in the process of moving the weight of the article stored in the receiving portion from the article supporting member of the storage shelf to the article mounting body. That is, at the moment when the tilting phenomenon occurs, a part of the weight of the article is supported by the article mounting body, and the remaining weight of the article is supported by the article supporting member of the storage shelf. In particular, increasing the weight of the article carried on the article mount by raising the article mount means that the weight of the article carried on the article support member of the storage shelf is reduced.

Therefore, when the article mounting body is displaced to the inside of the housing part due to the phenomenon that the article carrying device tilts and falls, the pushing operation force to push the inside of the housing part against the article stored in the housing part acts. In addition, the weight of the article carried on the article support member of the storage shelf is reduced, so that the frictional holding force against the external force in the horizontal direction by the article support member existing between the article and the article support member is reduced.

As a result, when the phenomenon which the article conveyance apparatus inclines and falls occurs, when the pushing operation force which tries to push inward of the accommodating part which acts on an article exceeds the friction holding force which exists between an article and an article support member, While sliding with the article support member of this storage shelf, it slides and moves toward the inside of a storage unit integrally with the article mounting body.

The occurrence of friction and slippage caused by the movement of the article may cause the wear of the storage shelf or the article and may also generate dust while sliding while rubbing each other. This is not desirable from the side.

Therefore, in the conventional article carrying apparatus, when taking out the article stored in the storage unit by the withdrawal process, even if the load on the article mounting body in the protruding position increases, the article mounting body is raised and lowered as far as possible from the protruding position. Measures are taken to increase the rigidity of the mast, to strengthen the mounting structure of the lifting mast, and to improve the ground stability of the traveling truck.

However, the countermeasure as described above cannot completely eliminate the phenomenon that the article conveying device tilts and falls, with the amount of tilting the lifting mast tilted to zero (zero), thus leaving the article payload in the projecting position. It is not possible to displace at all from the direction to the protruding side, and friction and slippage occur between the article and the storage shelf. In particular, when installed in a clean room, it is necessary to secure the air flow of the purification air from the ceiling side to the bottom surface side, and therefore, the upper end side of the lifting mast cannot be configured to be connected to the ceiling side by a ceiling guide rail or the like. Therefore, the lifting mast is provided in such a manner that its lower end is supported by the traveling bogie and also protrudes upward in a cantilevered state, so that the upper end side of the lifting mast is easily shaken around the lower end, and the above-described tilting falls. It is difficult to suppress the occurrence of friction and slip between the article and the storage shelf because it is difficult to suppress the occurrence of.

Moreover, when conveying the glass substrate container mentioned above as an article, in order to respond to the large screen of a recent liquid crystal display or a plasma display, an article is enlarged and large in weight, and it becomes more difficult to suppress the phenomenon which falls down. have.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described circumstances, and an object thereof is an article carrying apparatus which can prevent the storage shelf and the article from sliding while rubbing when the article stored in the storage portion of the storage shelf is pulled out. In that it provides.

A characteristic configuration of the article carrying apparatus according to the present invention for achieving the above object is a traveling trolley which can run along a traveling route set on the front side of a storage shelf vertically and horizontally provided with a storage section for storing articles, and installed in the traveling trolley. An article carrying apparatus, comprising: an article carrying apparatus including an article mounting body capable of lifting up and down along an elevating mast mounted on the traveling cart, and retracting from a projecting position projecting toward the storage shelf side and a evacuation position evacuating to the traveling route side. The payload includes a payload main body configured to withdraw and operate, and a support for mounting and supporting an article, wherein the support is movable along the exit direction of the payload main body and returned to an initial position in the moving direction. It is provided in the payload body.

That is, when performing the withdrawal process of taking out the article stored in the storage section, the weight of the article stored in the storage section moves from the storage shelf to the article payload, and as the weight supported by the article payload increases, The lifting mast gradually falls to the storage shelf side. Then, the mounting body main body is displaced inward of the housing in response to the amount of the lifting mast tilting and falling down.

According to the above-mentioned characteristic structure, the support body which contact | connects an article can move relatively with respect to the mounting body main body along the exiting direction of the mounting body main body. Therefore, even when the lifting mast is inclined and falls, the support body supporting a part of the weight of the article moves in the retracting direction from the storing portion even when the mounting body main body is displaced inwardly in the housing portion (the protruding side in the retracting direction of the article mounting body). You can do it.

In other words, by offsetting the displacement amount of the mounting body main body with which the lifting mast is tilted by the relative movement between the support and the mounting body main body, it is possible to prevent the position of the article in the retracting direction from changing as much as possible.

Another characteristic configuration of the article carrying apparatus according to the present invention resides in that a plurality of the supports are provided in the mounting body main body in a state in which they are dispersedly arranged in a plan view.

That is, by distributing the plurality of supports in the planar body in a plan view, the weight of the article may be shared and supported by the plurality of supports, so that the weight of the article shared by each support can be reduced. Therefore, each support body can be miniaturized, and the shape when it sees from the plane of the article mounting body which consists of a support body and a mounting body main body can be made the same as the shape when it sees from the plane of the mounting body main body.

For example, unlike the article carrying apparatus by this characteristic structure, the case where the whole lower surface of an article is mounted and supported is considered. In this case, in the article conveying apparatus provided in the downflow type clean room, there exists a problem that the airflow of the purification air from the ceiling side to the bottom surface side is blocked by the article mounting body much.

By the way, in the article conveyance apparatus by this characteristic structure, as mentioned above, the support body can be reduced in size, and the shape at the time of planar view of the goods mounting body which consists of a support body and a mounting body main body and the shape at the time of planar view of the mounting body main body The same can be done. Therefore, by making the shape when viewed from the plane of the payload body main body as the shape when viewed from the plane, which does not block the airflow of the purification air from the ceiling side to the bottom surface side as much as possible, and when viewed in plan view, the plurality of supports are mounted. By distributing to the main body, it is possible to achieve both the reliable support of the article by the article mounting body and the securing of the airflow of the purified air.

Another characteristic structure of the article carrying apparatus which concerns on this invention WHEREIN: The said mounting body main body contains the some rod-shaped member extended along the said retracting direction, The said some support body is the said upper surface of each said some rod-shaped member, They are located side by side along the exit direction.

That is, relative movement along the said retreat direction between a support body and a mounting body main body is stably performed by the some support body arrange | positioned side by side along the said retreat direction.

Another characteristic configuration of the article carrying apparatus according to the present invention is that the support is provided on the upper surface portion of the elastic member which is elastically deformable along the exit direction and has a thickness in the vertical direction, which is provided fixed to the mounting body main body. It is mounted in a fixed state.

That is, since the elastic member interposed between the support body and the mounting body main body can be elastically deformed along the exit direction, relative movement between the support body and the mounting body main body along the exit direction is realized. In addition, when there is no force for elastically deforming the elastic member, the support body returns to the initial position. Therefore, in the case of taking out the article stored in the storage section, even if the article mounting apparatus is inclined to fall down and the article mounting body is displaced to the inside of the storage shelf, the support member supports the article by elastically deforming. The position with respect to the housing can be maintained. In this way, the article can be prevented from being pushed into the housing from the housing.

And since the elastic member is installed in the state where the lower surface part is fixed to the mounting body main body, and the upper surface is installed in the state fixed to the support body, the force of the mounting body main body to displace due to the phenomenon that the article conveying apparatus tilts and falls. By elastic deformation. Therefore, no special driving means for relatively moving the support body relative to the mounting body main body can be achieved, and the configuration can be simplified.

In addition, since relative movement between the support body and the mounting body main body is realized by elastic deformation of the elastic member, friction and sliding of the member do not occur between the mounting body main body side and the support side side during such relative movement, and dust is generated in the article mounting body. There is less concern.

Another characteristic configuration of the article carrying apparatus according to the present invention is that the lifting mast is provided in such a manner that the lower end portion is supported by the traveling cart and protrudes upward in a cantilevered state.

In other words, the upper end side of the elevating mast may not be configured to be connected to the ceiling side from the ceiling guide rail or the like. Therefore, the article conveying apparatus which concerns on this characteristic structure can be installed also in the clean room which needs to ensure the airflow of the purification air from the ceiling side to the floor surface side, ie, the down-flow type clean room which cannot install a structure in a ceiling side. have.

However, since the lower end of the elevating mast is supported by the traveling trolley and protrudes upward in a cantilevered state, the upper end of the elevating mast is easily shaken about the lower end, and the article conveying device tilts and falls. This happens easily.

By the way, according to the characteristic structure of the above-mentioned goods conveying apparatus, when the article stored in the accommodating part of a storage shelf is pulled out, the lifting mast tilts and falls, and even if an article mounting body is displaced inside an accommodating part, The friction between the article and the article can be prevented as much as possible.

Another characteristic configuration of the article carrying apparatus according to the present invention resides in that an anti-slip sheet is attached to an upper surface of the support on which the article is mounted.

That is, the sheet can be reliably mounted on the support by the anti-slip sheet.

EMBODIMENT OF THE INVENTION Hereinafter, the Example of the article conveyance apparatus which concerns on this invention is described with reference to drawings.

1 is a longitudinal front view of an article storage facility in which an article carrying apparatus is installed. 2 is a top view of a stacker crane as the article carrying apparatus. FIG. 3A is a cross-sectional view showing the positional relationship between the article mounting body and the storage shelf when in the retracted position, and FIG. 3B is the position of the article mounting body and the storage shelf when in the protruding position. A cross-sectional view showing the relationship.

As shown in FIG. 1, the stacker crane V as an article carrying apparatus which concerns on this invention is provided in the article storage facility W. As shown in FIG. The article storage facility W is a facility which accommodates and stores the container C as an article which accommodates the glass substrate used for a liquid crystal display, a plasma display, etc. in a laminated state, for example. In this case, the article storage facility W stores the container C in a dust-free environment, such as in the downflow type clean room 1 in which the purified air flows downward from the ceiling side to the bottom side. do.

The description will be made of the downflow type clean room 1, and the circulating ventilation means F for the clean room includes a side wall suction part 2 formed near the floor of the side wall 18 of the clean room 1; And a ceiling ejecting portion 3 formed on the ceiling of the clean room 1. The clean room circulation ventilation means F circulates the purified air to the clean room 1 in the form which blows in the suction air sucked through the side wall suction part 2 from the ceiling jet part 3. The floor of the clean room 1 is made of non-porous concrete.

The side wall suction part 2 comprises a fan filter unit 4 for side walls. The ceiling blower 3 includes a plurality of air filters 5 made of HEPA filters or the like and arranged side by side. In addition, the circulating ventilation means F for the clean room includes an air chamber chamber 6 above the ceiling blower 3, and connects the lower portion of the clean room 1 and the air chamber chamber 6 to the connection flow path 7. Is connected by). Moreover, the circulation ventilation means F for clean rooms is provided with the circulation blower 8 so that the air of the clean room 1 may be sucked in the connection flow path 7, and the circulation blower in the connection flow path 7 ( The prefilter 9 is provided in the air discharge side part of 8).

As a result, by operating the side wall fan filter unit 4 and the circulating blower 8, the air in the clean room 1 is sucked into the connection flow path 7, and the sucked air opens the connection flow path 7. After being flowed and purified through the pre-filter 9, it is introduced into the air chamber chamber 6, and further purified by passing through the air filter 5, and then the clean room 1 from the ceiling blower 3 Ejected downwards towards me.

Therefore, the air in the clean room 1 is circulated through the above-described path while passing through the side wall fan filter unit 4, the pre-filter 9 and the air filter 5. Thereby, the purification air is always supplied to the clean room 1 in the state sprayed downward from the ceiling blowing part 3, and the cleanness in the clean room 1 is kept high.

Moreover, the outside air introduction flow path 10 is connected to the suction side part of the circulation blower 8 in the connection flow path 7. The damper 11 for adjusting the amount of external air introduced is provided in the external air inlet passage 10. The exhaust flow path 12 is connected to the discharge side part (that is, the downstream side part of the prefilter 9) of the circulation blower 8 in the connection flow path 7. The displacement adjusting damper 13 is provided in the exhaust passage 12. By controlling the opening degrees of the damper 11 for adjusting the amount of air introduced and the damper 13 for adjusting the amount of exhaust air, a predetermined amount of purified air in the clean room 1 circulated by the circulation ventilation means F for clean room is fresh. Can be exchanged with air.

Next, the article storage facility W is demonstrated.

The article storage facility W is provided in the clean room 1, and has the article storage shelf S provided with the accommodating part 14, the stacker crane V, the purifying air ventilation means B, and the air flow space ( 20) and an air guide 17. The stacker crane V is a traveling cart 44 which runs on the floor in the traveling path 15 in front of the article storage shelf S, and an article transport mounting apparatus supported by the traveling cart 44 to be lifted and lowered ( 46). The purifying air venting means B causes the purifying air to flow from the rear of the accommodating part 14 toward the traveling path 15 so as to pass through the accommodating part 14, and further, to flow the inside of the traveling path 15 downward. After that, it flows to exhaust from the exhaust part 22. The air flow space 20 is partitioned in a state in which air flow is impossible with the storage portion 14, and communicates with the travel path 15 in a state in which air flow is possible, and the article below the storage portion 14. The storage shelf S is formed over the entire length of the shelf transverse direction or substantially the entire length. The air guide 17 is provided so as not to interfere with the travel cart 44 that travels the travel path 15. Specifically, the air guide 17 protrudes into the travel path 15 from an end portion on the travel path 15 side at the upper end side of the air flow space 20. However, when the air guide body 17 is viewed from the traveling direction of the stacker crane V, the height of the upper part of the end side part in the horizontal width direction (namely, the depth direction of a shelf) of the traveling trolley | bogie 44 Located at or above the same height. In addition, the air guide 17 extends in the state over the whole length of the shelf width direction of the article storage shelf S, or substantially the whole length.

In the present embodiment, the travel path 15 in the state where the two article storage shelves S face each front side and are spaced apart from each other to form the travel path 15. Is installed on both floor portions in the vehicle widthwise direction (same direction as the depth direction of the shelf). Each of these article storage shelves S includes a storage portion 14 that houses a container C as an article and is arranged in plural in the shelf widthwise direction and the shelf vertical direction. The article storage shelf S is provided with the some support column along the height direction of the shelf. In the storage part 14, the support stand 14D for receiving and supporting the left-right side part of the bottom part of the container C is provided in several places of the height direction of the support column of the article storage shelf S. As shown in FIG. The support stand 14D projects from the support column of the article storage shelf S in the inward direction of the storage portion 14 by a predetermined length.

The circumference | surroundings of the pair of article storage shelf S comprised in this way are surrounded by the rectangular cylindrical peripheral wall 16. As shown in FIG. The opening at the lower end side of the peripheral wall 16 is closed by the ridge, and the opening at the upper end side of the peripheral wall 16 is blocked by the plurality of storage shelf fan filter units 21. In addition, a rear side of each article storage shelf S is provided with a flow space 19 for guiding the purge air blown out from the ceiling blowing section 3 of the clean room 1 to the storage section 14.

Next, description is added about the stacker crane V. FIG. As shown in FIGS. 1 to 3, the stacker crane V is a traveling cart 44 that travels along the shelf transverse direction on the travel rail 48 provided on the bottom surface of the travel path 15. A pair of front and rear central support pillars 45 for guiding and supporting each of the end portions in the vehicle travel direction (in the same direction as the shelf transverse direction) of the article transport mounting apparatus 46 for goods transport mounting so as to be capable of lifting up and down separately are erected. It is installed. Each of the front and rear pairs of central support pillars 45 is formed in a curved shape in which both surfaces of the vehicle travel direction are expanded in the vehicle travel direction, and the upper end portions of the front and rear pairs of front and rear pairs of central support pillars 45 are framed with an upper frame. It is connected by 47.

As shown in FIG. 1 and FIG. 2, the article storage shelf S of the auxiliary support pillar 49 as the rectifying plate from the center support pillar 45 of the traveling truck 44 in the vehicle transverse width direction is formed. It is installed in the location separated to the present side. The auxiliary support pillar 49 has a shape along the vehicle running direction, and the length in the vertical direction is the same as or substantially the same as the central support pillar 45. The auxiliary support pillar 49 is formed in a curved shape in which an outer surface directed toward the side opposite to the side where the center support pillar 45 is located is expanded in the vehicle transverse direction in plan view.

If it demonstrates further, the center support pillar 45 is installed in the center part of the vehicle width direction of the support part 44a in the travel trolley | bogie 44, and is installed. The auxiliary support pillar 49 is a portion for support in the traveling trolley 44 so as to be located at a position spaced apart from the central support pillar 45 to the side where the article storage shelf S in the vehicle widthwise direction exists. It is mounted upright at both ends of the vehicle widthwise direction of 44a.

In addition, the auxiliary support pillar 49 has an inner surface that is formed flat along the vehicle travel direction and the vertical direction, and when the outer surface is viewed in a plane, an arc-shaped side toward the side where the article storage shelf S in the vehicle width direction is located. It forms in the shape of the curved surface expanded. That is, the auxiliary support pillar 49 has a shape in which the end that gradually increases as the end side of the vehicle traveling direction becomes thin in plan view, and is formed in a flat shape along the vehicle traveling direction and the vertical direction.

The central support pillar 45 and the left and right auxiliary support pillars 49 are connected by a plurality of rod-shaped connecting bodies 50. The lifting mast of the present invention is constituted by the central support pillar 45, the left and right auxiliary support pillars 49, and the plurality of connecting members 50. As described above, in the present embodiment, the lifting mast is provided in such a manner that the lower end portion is supported by the traveling trolley 44 and protrudes upward in a cantilevered state.

The auxiliary support pillar 49 is formed longer in the vehicle travel direction than the center support pillar 45. That is, the side end part of the auxiliary support pillar 49 in the vehicle running direction is located on the inward side of the vehicle running direction than the side end part of the central support column 45 in the vehicle running direction, and the auxiliary support is supported. The side end portion of the pillar body 49 in the outward direction of the vehicle travel direction is formed so as to be located on the outer side side in the vehicle travel direction than the side end portion of the central support pillar body 45 in the outward direction of the vehicle travel direction.

As shown in FIG. 3, the article transport mounting apparatus 46 can transfer-mount the container C between the housing 14 and itself. Specifically, the article transport mounting apparatus 46 is provided on a lift table 55 guided and supported by a central support column 45, a swing table 56 that can pivot around a vertical axis, and a swing table 56. It is comprised as a fork-type conveyance apparatus containing the mounting body 57 and the link mechanism 58 which supports the mounting body 57 retractably.

The article transport mounting apparatus 46 can pivotally move the payload 57 by turning the swing table 56, and retract the payload 57 on the lift table 55 by the expansion and contraction of the link mechanism 58. It is switched to the state (refer FIG. 3 (a)) and the mounting body 57 which protruded to the position P0 at the protruding position P1 of the accommodating part 14 side (refer FIG. 3 (b)). It is possibly configured.

As shown in FIG. 2, the withdrawal movement direction of the payload 56 is set so that the payload movement direction of the payload 57 follows the travel direction of the travel cart 44 by turning the swing table 56. Compared with the state in the widthwise direction, the width in the vehicle widthwise direction of the article transport mounting apparatus 46 (in particular, the link mechanism 58 and the mounting body 57) can be reduced. Therefore, when making the stacker crane V run, the goods conveyance mounting apparatus 46 is made into the state which made the exit movement direction of the mounting body 57 correspond to the vehicle travel direction.

The link mechanism 58 includes a pair of operation links 53 and a pair of swing links 54. The pair of operation links 53 are attached to the upper surface of the swing table 56 so as to be rotatable around the axis 59 in the vertical direction of the conveying device. Each operation link 53 is mounted side by side with respect to the pivot table 56, and the arrangement direction thereof is parallel to the horizontal width direction of the mounting body 57 (that is, the short axial direction of the mounting body 57). One end of the pair of swing links 54 is connected to the free end side (gauge end side) of the pair of operation links 53, and the other end is separately connected to the lower surface side of the base end of the payload 57.

The pair of operation links 53 and 53 are interlocked by a retracting electric motor (not shown) provided on the lower surface side of the swing table 56 and oscillated around the shaft center 59. Each swing link 54 has an axial core 52 in the up and down direction of the transport apparatus about the proximal end of the mounting body 57 around the shaft center 51 in the up and down direction of the transport apparatus with respect to the clearance end side of the operation link 53. In the periphery, each is connected so that relative rotational movement is possible.

As a result, the link mechanism 58 is oscillated around the respective shaft centers 59 by interlocking the pair of operation links 53 and 53 by the withdrawal and electric motor, and the pair of operation links 53 and 53 that oscillate. By pushing or pull-operating the proximal end of the payload 57 via the pair of swing links 54 and 54, the payload 57 is withdrawn in the longitudinal direction of the payload 57 with respect to the pivot table 56. To operate.

That is, the link mechanism 58 has the mounting body 57 such that the tip end side of the mounting body 57 faces the one article storage shelf S or the other article storage shelf S side by the pivoting operation of the pivot table 56. After the direction adjustment with respect to the lifting platform 55 is performed, as shown in FIG. 3 (b), the front end side of the mounting body 57 reaches the storage unit 14 from the turntable 56 to the article storage shelf S side. Retracted for retracting the protruded state for storing the article or taking out the article, and for retracting the article in which the entire payload 57 is retracted toward the turntable 56 side as shown in FIG. Operation is switched to the mounted state.

In this way, the mounting body 57 is capable of lifting up and down along the central support pillar 45 and the auxiliary support pillar 49 that is mounted on the traveling cart 44a and protrudes toward the article storage shelf S side. It is comprised so that exit | emission is possible over the retraction position P0 which retracts to P1 and the travel path 15 side, and it corresponds to the article mounting body of this invention.

4 is a top view of the payload. As shown in FIG. 4, the mounting body 57 includes the mounting body main body 30 to which the base member 31, the fork body 32 as the rod-shaped member, the intermediate connecting member 33M, and the tip connecting body 33T are connected. Include. The base member 31 is a proximal side portion to which the link mechanism 58 is connected. The left and right pair of forks 32 (left fork 32L and right fork 32R) are connected to both left and right ends of the base member 31. The intermediate connecting body 33M connects the left fork body 32L and the right fork body 32R at two places in the longitudinal direction of the fork body 32. The tip connecting body 33T connects the left fork 32L and the right fork 32R at the tip of the fork 32. That is, the mounting body main body 30 includes the fork body 32 as a plurality of rod-shaped members extending along the exit direction.

The mounting body 57 includes a mounting body main body 30 to be moved in and out and a stainless plate 34 as a support for mounting and supporting an article from below. As will be described below, the stainless plate 34 is movable in the retracting direction of the mounting body main body 30 and is installed in a return-pressed state at the initial position Pn in the moving direction.

The stainless plate 34 is viewed in plan from six left and right positions from the leading end portion to the rear end portion of the upper surface of the left fork body 32L and the right fork body 32R of the mounting body main body 30 and a total of 12 mounting points. When installed in a distributed arrangement. That is, the some stainless plate 34 is arrange | positioned side by side along the said retreat direction on the upper surface of each of the fork bodies 32 as a some rod-shaped member.

Fig. 5A is a partial cutaway view showing the structure of a stainless plate, and Fig. 5B is a longitudinal sectional view of the stainless plate. As shown in FIG. 5, each stainless plate 34 is formed with the flat plate made of stainless, and is mounted in the state which fixed the back surface with the adhesive agent with respect to 35U of upper surfaces of the urethane rubber 35 as an elastic member. It is. The urethane rubber 35 is elastically deformable along the exit direction, and is formed in a square plate shape when viewed in a plane having a thickness T (15 [mm] in this embodiment) in the vertical direction.

The mounting hole 36 recessed in the upper surface of the fork body 32 on either side of the mounting body main body 30 is welded. The recessed fitting hole 36 has a length substantially equal to the width of each side of the fork body 32, and the urethane rubber mounting recess is formed by a square outer peripheral portion 36E in plan view. have. The bottom surface of the urethane rubber 35 is recessed in the outer periphery part 36E of the mounting hole 36 recessed in the recess, and the mounting hole 36 recessed in the state in which the clearance gap was formed in front, back, left, and right locations of the outer peripheral part of the urethane rubber 35. It is surface-bonded by adhesive with respect to). The resin sheet 37 is attached to the upper surface of the stainless steel plate 34 so as to prevent slippage between the bottom portions of the containers C so as to prevent slippage.

And since the urethane rubber 35 is elastically deformed along the exiting direction of the mounting body main body 30, each stainless steel plate 34 can move along the exiting direction of the mounting body main body 30, and also deformed urethane rubber ( It returns to the initial position Pn of a movement direction by the elastic force of 35). That is, since the urethane rubber 35 interposed between the stainless plate 34 and the mounting body main body 30 can elastically deform along the exit direction, between the stainless plate 34 and the mounting body main body 30 along the exit direction. Relative movement is realized.

In this way, in the mounting body main body 30 in which the mounting body 57 as the article mounting body is moved in and out, the stainless plate 34 as the support body for mounting and supporting the container C as the article is moved in and out of the mounting body main body 30. It is movable in this state, and it is comprised and provided in the state returned to the initial position Pn of a moving direction. Moreover, the stainless steel plate 34 as a support body is provided in the mounting body main body 30 in the state arrange | positioned by planar view, and the urethane rubber 35 as an elastic member provided in the fixed state to the mounting body 57 is carried out. It is attached to the upper surface part 35U in a fixed state.

Stacker crane V performs withdrawal and storage of container C as follows.

That is, when the container C is taken out, the swing table 56 is moved horizontally and vertically along the front surface of the article storage shelf S by carrying out the travel of the traveling cart 44 and the lifting and lowering of the platform 55. Move, and the mounting body 57 is conveyed to the accommodating part 14 which takes out an article. Next, the pivot table 56 pivots, so that the mounting body 57 is directed in a predetermined position and mounting direction corresponding to the storage portion 14 from which the article is to be taken out. Next, the mounting body 57 is projected by the link mechanism 58 to the protruding position P1, and the front end side of the mounting body 57 is placed under the container C housed in the storage portion 14. do. Next, the mounting table 57 is brought close to the container C by raising and lowering the lifting table 55 and the pivot table 56 is operated, and the stainless plate 34 of the mounting body 57 (more precisely, the stainless steel plate). Even after the resin sheet 37 attached to the upper surface of the 34 is in contact with the lower portion of the container C, the swing table 56 is slightly raised by the lifting operation of the lift table 55. And the container C is mounted on the stainless steel plate 34 of the mounting body 57 by pushing the container C out of the support stand 14D of the accommodating part 14, and making it float. Next, by retracting the payload 57 to the retracted position P0 by the link mechanism 58, the container C is taken out from the storage portion 14, and the container C is mounted on the payload 57. To keep it. In this state, the container C is conveyed to the article carrying-in / out part by the elevating of the platform 55 and the traveling of the traveling cart 44.

When storing the container C, traveling of the traveling cart 44 and lifting of the platform 55 are performed while the container C is mounted and held on the mounting body 57 of the retracted position P0. Thereby, the swing table 56 is moved horizontally and vertically along the front surface of the article storage shelf S, and the mounting body 57 is conveyed to the accommodating part 14 which accommodates the container C. As shown in FIG. Next, the pivoting table 56 pivots, so that the mounting table 57 is directed to a predetermined position and mounting direction corresponding to the housing portion 14 to accommodate the mounting body 57. Next, the mounting body 57 is projected by the link mechanism 58 to the protruding position P1, and the front end side of the mounting body 57 enters the storage portion 14. Next, by lowering the platform 55 and lowering the swing table 56, the mounting body 57 is brought close to the storage portion 14, and the bottom portion of the container C loaded on the mounting body 57 is accommodated. The support 14D of (14) is contacted. Thereafter, the lift table 55 is lowered and the pivot table 56 is slightly lowered to separate the payload 57 from the container C downward. Thereby, the container C is mounted in the support stand 14D of the accommodating part 14, and the container C is accommodated in the accommodating part 14.

It is a figure which shows the position change with respect to the mounting body main body of the stainless steel plate in a container take-out process. When taking out the container C by the stacker crane V, the container C which supports the mounting body 57 to the support stand 14D of the accommodating part 14, as shown to FIG. 6 (a). In order to be located in the space below, the mounting body 57 is projected to the protruding position P1. When the mounting body 57 is raised in this state, the weight of the container C housed in the housing portion 14 (in this embodiment, about 400 [kg] to about 1000 [kg]] is a protruding position. With the raising of the mounting body 57 located in (P1), it moves gradually to the mounting body 57, and finally, the weight of the container C is completely transferred to the mounting body 57. As shown in FIG. In the process of increasing the load on the payload 57, the central support pillar 45, the auxiliary support pillar 49, and the traveling bogie (supported by the traveling bogie 44 in the form of protruding upward in the cantilevered state) 44, namely, the stacker crane V falls slightly inclined with respect to the article storage shelf S provided with the storage portion 14. At this time, as shown in FIG. 6 (b), the displacement body L is slightly displaced from the protruding position P1 to the inner side (the protruding side in the retracting direction of the mounting body 57) from the protruding position P1. A state that displaces to the protruding position P1 ′ when falling down by tilting by a few mm). In the initial stage in which this tilting phenomenon occurs, the weight of the container C is not completely transferred to the mounting body 57, and a part of the weight of the container C is not supported by the support 14D of the storage portion 14. Since it burdens, it is a state in which friction holding force can generate | occur | produce between the bottom part of the container C, and the support stand 14D of the accommodating part 14.

And as shown in FIG.6 (b), as stacker crane V tilts and falls, it displaces to the protrusion position P1 'when the mounting body main body 30 inclines and falls from protrusion position P1. In addition, each urethane rubber 35 corresponding to the plurality of stainless plates 34 is elastically deformed by an amount corresponding to the displacement L, thereby maintaining the position at which the stainless steel plate 34 mounts and supports the container C. On the other hand, it can be allowed to displace inwardly of the storage portion 14 toward the protruding position P1 ′ when the mounting body main body 30 is tilted over.

Therefore, even if the stacker crane V inclines and falls during the take-out operation of the container C, the urethane rubber 35 elastically deforms, so that the stainless steel plate 34 does not substantially displace, and the payload body main body 30 The stainless steel plate 34 moves relatively. In other words, even if the stacker crane V inclines and falls during the take-out operation of the container C, and the force pushing the inside of the storage portion 14 against the container C acts, the urethane rubber 35 is elastic. The container C is pulled out while absorbing the force for pressing the container C by being deformed so that the container C, which is partially supported by the support 14D, does not move as much as possible in the depth direction of the shelf. It is possible to suppress the sliding of the bottom portion of the container C and the support 14D of the housing portion 14 while rubbing against each other.

As described above, according to the present embodiment, the urethane rubber 35 and the stainless plate 34 supported thereon are attached to the mounting body 57, and the container C is mounted and supported by the stainless plate 34, thereby The change of the protruding position P1 due to the tilting and falling of the stacker crane V during the movement of the weight of (C) is canceled by the elastic deformation of the urethane rubber 35, and the bottom part and the number of the containers C are It is possible to prevent the support 14D of the lead portion 14 from sliding while rubbing against each other, thereby suppressing generation of dust.

Then, as shown in FIG. 6C, the elastic deformation of the urethane rubber 35 is restored until the payload 57 is evacuated to the retracted position P0 and the extraction process of the container C is completed. When the stainless steel plate 34 returns to the initial position Pn, and the container C contacts the container C at an appropriate mounting position (the mounting body 57 of the protruding position P1 is in contact with the container C). Relative position].

[Other Embodiments]

Hereinafter, another Example is described.

(1) In the said Example, although the article conveying apparatus illustrated conveying the container which accommodates the glass substrate used for a liquid crystal display, a plasma display, etc. in a laminated state as an article, you can convey another thing as an article.

(2) In the above embodiment, the elastic member is formed of a urethane rubber having a thickness of 15 [mm] in a rectangular shape in plan view, but the material of the elastic member is not limited to urethane rubber, The article mounting body can be appropriately selected in accordance with the magnitude of the amount of displacement of the article mounting body from the protruding position into the housing portion or the weight of the article. As the shape of the elastic member, various forms such as circular, elliptical, and triangular in plan view can be considered.

(3) In the said Example, although the support body comprised by the stainless plate was illustrated, it is not limited to this, The material and shape of a support body can be variously selected.

(4) In the above embodiment, the article mounting body is configured to include a fork body, but the present invention is not limited thereto, and the specific configuration of the article mounting body can be variously selected. For example, in the said embodiment, although the fork body which the mounting body main body consists of two rod-shaped members was shown, the fork body may be comprised with three or more rod-shaped members.

(5) In the above embodiment, the lifting masts are provided with two front and rear pairs in the traveling direction of the travel truck, but the present invention is not limited thereto, and one lifting mast may be provided.

(6) In the said embodiment, although the structure which provided the elastic member between the support body and the mounting body main body was illustrated, the relative movement between a support body and a mounting body main body may be implement | achieved by a different structure. For example, the slide base includes a slide base provided in a state where the article mounting body is fixed to the mounting body main body, and a slide table as a support that can move along the exit direction of the mounting body main body through a bearing or the like at the top of the slide base. The slide base and the slide table may be connected to each other by a pressure spring for pressing the table back to the initial position.

(7) In the above embodiment, the article carrying apparatus is illustrated in the clean room, but may be installed in the indoor environment instead of the clean room.

(8) In the above embodiment, when the drawing process is performed, the payload 57 is retracted at a specific timing while raising the payload 57 protruding up to the protruding position P1 from the lift start position to the lift end position. It is also possible to retract to the position PO side by a set distance (for example, the distance L _pull corresponding to the displacement L of the payload 57).

If the above-described operation and effect can be obtained.

7 and 8 are views showing the positional change of the stainless plate 34 with respect to the payload main body 30 in the container withdrawal process of another embodiment. In this case, when the mounting body 57 is raised in the state shown in FIG. 7A, the mounting body 57 in which the weight of the container C housed in the housing portion 14 is located at the protruding position P1. In the process of gradually moving to the mounting body 57 with rising of the stacker crane V, the stacker crane V tilts slightly with respect to the article storage shelf S provided with the storage portion 14. As shown in FIG. 7B, the mounting body 57 is displaced to the protruding side. In the initial stage in which the stacker crane V tilts and falls, most of the weight of the container C is placed on the support 14D of the storage portion 14, so that the container C and the storage portion 14 The frictional holding force existing between the supporting members 14D exceeds the operating force pushed into the storage portion 14 acting on the container C via the stainless steel plate 34. Therefore, this pushing operation force is used for elastically deforming the urethane rubber 35, and displaces only the mounting body main body 30 toward the protruding side while maintaining the position where the stainless steel plate 34 mounts and supports the container C.

And when carrying out a drawing process, in the early stage while raising the mounting body 57 which protruded to the protrusion position P1 from the raising start position to the raising end position, the mounting body 57 is moved to the retracted position P0 side. When retracting by the set distance (for example, the distance L _pull corresponding to the displacement L of the payload 57), the urethane rubber 35 is elastically deformed, whereby the stainless plate 34 is initially positioned with respect to the payload main body 3O. Relatively moves from the position on the retreat side to the position on the protruding side than Pn. As a result, as shown in FIG. 7C, the urethane rubber 35 is elastically deformed in a direction opposite to that of FIG. 7B, and the initial position Pn with respect to the mounting body main body 30. The container C can be supported by the stainless steel plate 34 in the state relatively moved from the protruded side.

Thereafter, as the mounting body 57 is raised, the weight of the container C starts to be loaded on the mounting body 57, and the weight of the container C loaded on the support 14D of the receiving portion 14 is increased. Begins to decrease. And when the operation force which pushes inward of the accommodating part 14 which acts on the container C as the mounting body 57 raises exceeds the friction holding force by the support 14D of the accommodating part 14, a stacker The crane V is inclined at once and falls, and the payload 57 is displaced to the protruding side in the retracting direction at an extremely short time. In addition, since the operating force pushed into the inner side of the accommodating portion 14 acting on the container C exceeds the frictional holding force existing between the container C and the support 14D of the accommodating portion 14, elastic deformation By the restoring force of the urethane rubber 35, the stainless plate 34 is moved back to the initial position Pn at a speed corresponding to the displacement speed toward the protruding side of the mounting body 57. As a result, as shown in Fig. 8D, while the payload main body 30 is displaced to the protruding side in the retracting direction, the stainless plate 34 is relatively moved relative to the payload main body 30. ), The position in the retracting direction in the housing portion 14 of the container C is maintained at the position shown in FIG. Therefore, the stacker crane V tilts and falls to prevent the container C from being pushed into the inner side of the accommodating portion 14 to prevent friction and slippage between the supports 14D of the accommodating portion 14. have.

1 is a longitudinal front view of an article storage facility.

2 is a top view of a stacker crane as the article carrying apparatus.

Fig. 3A is a cross sectional view showing the positional relationship between the article payload and the storage shelf when in the retracted position, and (b) is a cross sectional view showing the positional relationship between the article payload and the storage shelf when in the protruding position. .

4 is a top view of the payload.

Fig. 5A is a partial cutaway view showing the structure of a stainless plate, and Fig. 5B is a longitudinal sectional view of the stainless plate.

It is a figure which shows the position change with respect to the mounting body main body of the stainless steel plate in a container take-out process.

It is a figure which shows the position change with respect to the mounting body main body of the stainless steel plate in the container take-out process in another Example.

It is a figure which shows the position change with respect to the mounting body main body of the stainless steel plate in the container take-out process in another Example.

Claims (6)

A traveling cart that can travel along a traveling route set on the front side of the storage shelf vertically and horizontally provided with a storage unit for storing articles; An article mounting body mounted on the traveling cart and capable of lifting up and down along an elevating mast installed and mounted on the traveling cart, and capable of moving back and forth over a protruding position projecting toward the storage shelf side and a retracting position evacuating to the traveling route side. An article carrying apparatus comprising: The article mounting body includes a mounting body main body to be moved in and out and a support for mounting and supporting the article. The support body is mounted in a fixed state on an upper surface of an elastic member that is elastically deformable along the exit direction and is thick in the vertical direction and is fixed to the mounting body main body. An article provided in the mounting body main body in a state in which a force acts in a direction returning to the initial position due to deformation of the elastic member when it is movable along the exit direction and is displaced from the initial position in the movement direction. Conveying device. The method of claim 1, The article conveying apparatus of which the said some support body is provided in the said mounting body main body in the state arrange | positioned by planar view. 3. The method of claim 2, The mounting body main body includes a plurality of rod-shaped members extending along the exit direction, The said plurality of support bodies are arrange | positioned at the upper surface of each of the said plurality of rod-shaped members side by side along the said retreat direction. delete The method of claim 1, An article carrying apparatus, wherein the elevating mast is provided in such a manner that a lower end portion is supported by the traveling cart and protrudes upward in a cantilevered state. The method of claim 1, An article conveying apparatus, wherein an anti-slip sheet is attached to an upper surface of the support to mount and support the article.

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