TW201825378A - Learning support device capable of effectively making use of the installation space thereof when not in use - Google Patents

Abstract

The invention provides a learning support device capable of effectively making use of the installation space thereof flexibly when not in use. The learning support device comprises an installation unit arranged on a vertical surface of a fixed structure in a building in which an article conveying device is arranged; a reference support unit which can support the article as well as the article support part and becomes a reference for measuring the amount of adjustment for the transfer operation performed by the transfer device; and a connecting unit connected with the reference support unit and the installation unit. The connecting unit is configured to enable the posture of the reference supporting unit to be changed into an unfolding posture and a folding posture. The unfolding posture refers to a posture that the reference supporting unit becomes a posture along the horizontal direction and is unfolded to be able of support the article; and the folding posture is a posture that the reference supporting unit is folded along a vertical plane.

Description

Support device for learning

FIELD OF THE INVENTION The present invention relates to a learning support device used in an article transport facility.

BACKGROUND OF THE INVENTION For example, Patent Document 1 described below discloses a ceiling traveling vehicle system including a reference workstation (36). In this ceiling traveling vehicle system, a container accommodating a semiconductor substrate is set as a transfer target. In addition, the ceiling trolley transports the container to a station, which is disposed adjacent to a processing device that processes a semiconductor substrate, and processes the semiconductor substrate inside the container by the processing device. In order to properly process the semiconductor substrate, the container that contains the semiconductor substrate must be transferred to a target transfer position, which is an appropriate position in the workstation. Therefore, the ceiling traveling vehicle system of Patent Document 1 is configured to use a reference workstation (36) to adjust the movement amount of the overhead traveling vehicle's transfer device during the transfer, thereby transferring the container to the target transfer position.

The reference workstation (36) is provided with a kinematic pin (72). The kinematic pin becomes a reference for measuring an adjustment amount, which is an adjustment amount for a transfer operation performed by a transfer device. The movement pins (72) are arranged under the same conditions as those of the workstations of the processing device. Therefore, the operation of transferring the container with respect to the reference workstation (36) is the same as the operation of transferring the container with respect to the article support portion. With this, learning of the transfer device using the reference workstation (36) becomes feasible. Prior Art Literature Patent Literature

Patent Document 1: Japanese Patent Laid-Open No. 2006-290599

SUMMARY OF THE INVENTION Problems to be Solved by the Invention Since the reference station (36) of Patent Document 1 is only used for maintenance of a ceiling traveling vehicle (transfer device), the frequency of use is not high. However, in the conventional technology, the same installation space as that of a workstation of a general processing device is required. In particular, in manufacturing equipment and the like having a small floor area, it has been required to reduce the installation space of such equipment that is not frequently used as much as possible.

Therefore, it is desirable to realize a learning support device that can effectively utilize its installation space when not in use. Means to solve the problem

In view of the above, the characteristic feature of the learning support device is that the learning support device is used in an article transfer device, and the article transfer device includes: a plurality of article support sections, which are articles for supporting a transfer target; The ceiling transport vehicle includes a transfer device that performs a transfer operation that receives or transfers an article from the article support unit to the article support unit. The ceiling transport vehicle moves along a track, and the The rails are arranged along the ceiling. The learning support device includes: a mounting section, which is a vertical surface of a fixed structure installed in a building, and the building is provided with the aforementioned article transport equipment; a reference support section, which is connected with The article support unit can also support an article and serves as a reference for measuring an adjustment amount, which is an adjustment amount for the transfer operation performed by the transfer device; and a connection unit is a connection between the reference support unit and the reference support unit. The attachment portion and the connection portion are configured to change the posture of the reference support portion into an expanded posture and a folded posture. The deployed position is the reference support portion and expanded to become a posture along a posture of the article can be supported in the horizontal direction, the posture of the folding portion is folded into the supporting reference posture along the vertical plane.

According to this configuration, it is possible to change the reference support portion into an extended posture and a folded posture. In addition, during use, the reference support portion will be in a state capable of supporting the article in a horizontally-expanded posture, thereby measuring the adjustment amount, which is used for the transfer operation performed by the transfer device. Adjustment amount. On the other hand, when not in use, the reference support portion will be in a folded posture along the vertical plane, thereby reducing the space occupied by the reference support portion. Therefore, according to this configuration, it is possible to realize a learning support device that can effectively utilize its installation space when not in use.

Further features and advantages of the technology of this disclosure should be made clearer by the following description of exemplary and non-limiting embodiments described with reference to the drawings.

Forms for Implementing the Invention 1. First Embodiment 1-1. Learning using a transfer operation using a learning support device A first embodiment of the learning support device will be described with reference to the drawings. As shown in FIG. 1, the learning support device 1 is used in an article transporting device F, which includes: a plurality of article support sections RP, which support the articles W to be transported, and a ceiling transport vehicle V (see also FIG. 2) includes a transfer device T that performs a transfer operation that receives or transfers the article W from the article support section RP or transfers the article W to the article support section RP. The ceiling transport vehicle V follows the track R The rail R is moved along the ceiling C.

In this specification, the article W to be transported is described using a container (FOUP: Front Opening Unified Pod) that houses a semiconductor substrate as an example. The article transfer facility F is provided with a plurality of processing devices P (only one of which is shown in the example of the drawing), and these processing devices P process semiconductor substrates. The article support unit RP is disposed adjacent to each of the plurality of processing devices P.

The track R is divided into a main area and a sub-area. The main area is a semiconductor substrate processed by the processing device P or a storage of an article performed by a stocker (not shown). The area is where maintenance of the ceiling transport vehicle V is performed. In this embodiment, a main track MR (R) is arranged in the main area, and a sub track SR (R) is arranged in the sub area. The main track MR (R) is configured to pass through each of the article support sections RP of the plurality of article support sections RP, and more specifically, is configured to communicate with each of the plurality of article support sections RP in a vertical Z perspective. One item support RP overlaps. The ceiling transport vehicle V is stopped at a position overlapping with the article support portion RP at a vertical Z angle of view, and performs the transfer operation of the article W between the article support portion RP and the article support portion RP disposed below. When the land is called "transfer" (see also Figure 2).

In the example shown in FIG. 2, an opening A is provided on the surface of the processing device P on the side on which the main rail MR (R) is disposed, and the opening A is connected to the inside of the processing device P. The position where the opening part A is provided and the position where the article support part RP are arranged correspond to each other, and the article W supported by the article support part RP is guided from the opening part A to the processing device through a walking table (not shown). The interior of P. Inside the processing device P, processing of a semiconductor substrate stored in an article W (container) is performed. After the processing is completed, the article W is guided from the opening A to the article support section RP outside the processing device P through the walking table, and is positioned on the article support section RP by the ceiling transport vehicle V and Transferred. FIG. 2 shows two article support portions RP having different heights, and these article support portions RP correspond to each of the two opening portions A provided at different heights.

The ceiling transfer vehicle V transfers the article W between the ceiling transfer vehicle V and the article support portion RP. As shown in FIG. 2, in this embodiment, the transfer device T includes: a holding portion T1 that is a holding object W; a walking portion T2 that is walking on a track R and moves the holding portion T1 along the track R; The portion T3 moves the holding portion T1 in a direction (hereinafter referred to as a lateral direction Y) that is orthogonal to the walking direction X of the walking portion T2 along the horizontal direction; the winding portion T4 is used to rotate the holding portion T1; The raising and lowering portion T5 raises and lowers the holding portion T1. In the example of this specification, the movement of the walking direction X of the holding portion T1 by the walking portion T2, the movement of the holding portion T1 in the lateral direction Y by the traverse portion T3, and the holding portion by the winding portion T4. The winding of T1 and the lifting of the holding portion T1 by the lifting portion T5 are included in the transfer operation performed by the transfer device T.

In the example shown in FIG. 2, the holding portion T1 includes a holding claw T11 that is switched to a holding position and a releasing position by a holding motor (not shown). In the present embodiment, the gripping portion T1 is a gripped portion WH that grips the article W by the gripping claw T11. In addition, the holding part T1 is not limited to such a structure, For example, the holding | maintenance part T1 may be a fork type etc. which supports the article W from a downward direction.

The traveling portion T2 includes a traveling wheel T21, and the traveling wheel T21 is driven by a traveling motor T20. In this embodiment, the driving wheel T21 is rotationally driven on the track R, so that the grip portion T1 can be moved in the running direction X along the track R. In addition, the walking part T2 is not limited to such a structure, For example, it may be comprised so that it may walk on the track R by a linear motor.

The traverse portion T3 includes a traverse rail T31 which is moved in the lateral direction Y by a traverse motor (not shown). In this embodiment, the grip portion T1 can be moved in the lateral direction Y by the movement of the traverse rail T31. For example, by using the transverse portion T3, the article W can be transferred between the temporary storage area (temporary rack), which is located away from the track R in the lateral direction Y in the vertical direction Z viewing angle. position.

The winding portion T4 has a winding shaft (not shown) which is rotated by a winding motor (not shown). In this embodiment, the winding axis is arranged along the vertical direction Z. By rotating the winding axis, the holding portion T1 can be rotated to an arbitrary angle around the winding axis.

The lifting portion T5 includes a pulley T51 and a lifting belt T52. The pulley T51 is rotationally driven by a lifting motor T50. The lifting belt T52 is wound on the pulley T51. Winding or feeding of the lifting belt T52 is performed by driving the pulley T51. In this embodiment, the holding portion T1 can be raised and lowered by winding or sending out the lifting belt T52. Furthermore, instead of the lifting belt T52, for example, a rope or the like may be used instead.

In the article transfer facility F, the learning support device 1 is used to learn the transfer operation performed by the transfer device T. For example, learning of the transfer operation is performed by storing the transfer operation of the article W. The transfer operation of the article W is a transfer operation in which the appropriate transfer positions of the respective article support sections RP are reciprocated. The transfer device T performs a transfer operation based on the learning result, whereby the transfer of the article W can be appropriately performed with each article support portion RP.

For example, the learning of the transfer operation using the learning support device 1 is performed in the following manner. First, a specific reference transport vehicle performs a transfer operation on a plurality of article support units RP. The reference transfer vehicle measures the transfer operation amount, and sets the measured value as the reference operation amount and stores it in a storage unit (not shown). The transfer operation amount is corresponding to a plurality of article support sections RP. The amount of transfer operation when an appropriate transfer operation is performed for each of the article support sections RP. Thereby, the reference transport vehicle can learn and store a transfer operation amount (reference operation amount), which is a setting error corresponding to each of the plurality of article support portions RP.

In addition, the reference transport vehicle also performs a transfer operation to the learning support device 1. More specifically, the reference transport vehicle performs a transfer operation with reference support sections 20 and 40 described later, and these reference support sections 20 and 40 are configured to support the article W.

In the example shown in FIG. 3, the reference transport vehicle performs a transfer operation to the reference support unit 40 in a state where the inspection device I is held by the transfer device T. For example, the inspection device 1 is configured to have the same weight and size as the article W. The inspection device I includes a camera IA with the shooting direction facing downward, an image processing device IB capable of image processing of information captured by the camera IA and outputting the image; and a laser ranging sensor IC, It measures the distance from the reference support 20,40.

For example, a reference mark is specified in the center of the shooting range of the camera IA. In addition, the movable inspection marks defined on the upper surface of the inspection plate have the same shape and size as the aforementioned reference marks. When the inspection plate measures the movement of the reference support portions 20 and 40, The inspection board is placed on the reference support portions 20 and 40. The camera IA photographs the inspection board from above the inspection boards placed on the reference support sections 20 and 40. The amount of transfer operation is adjusted based on the positional relationship between the reference mark and the inspection mark appearing in the captured image.

The lift section T5 of the transfer device T in the reference transport vehicle uses the laser ranging sensor IC to measure the distance from the reference support sections 20 and 40 while lowering the holding section T1 (inspection device I) to a suitable level. The position where the inspection board is photographed on the camera IA. Then, the inspection mark is moved to adjust the position so that the reference mark appearing in the image captured by the camera IA coincides with the inspection mark.

After the transfer operation to the reference support units 20 and 40 by the reference transfer vehicle and the shooting by the camera IA are completed, the general transfer vehicle, which is a general ceiling transfer vehicle provided in the article transfer facility F, is used to perform Transfer operation to the reference support sections 20 and 40. For a general transport vehicle, the same transfer operation as the reference transport vehicle and the shooting by the camera IA are performed. At this time, the positions of the inspection boards placed on the reference support sections 20 and 40 are adjusted so that the inspection marks coincide with the reference marks, which are the images captured during the transfer operation performed by the reference transport vehicle. Visible fiducial mark. Therefore, if the fiducial mark and the inspection mark appear in the image captured during the transfer operation by the general transport vehicle, it can be determined that there is no error in the amount of the transfer operation between the general transport vehicle and the reference transport vehicle. On the other hand, when the reference mark and the inspection mark deviate, it can be determined that there is an error in the amount of the transfer operation between the general transport vehicle and the reference transport vehicle.

When it is determined that there is no error in the transfer operation amount between the general transfer vehicle and the reference transfer vehicle, the general transfer vehicle stores the aforementioned reference movement amount, which is the reference transfer vehicle transferring a plurality of article support parts RP The reference amount of motion during motion. In this way, the general transfer vehicle can learn the amount of transfer movement. When it is determined that there is an error in the transfer operation amount between the general transfer vehicle and the reference transfer vehicle, the general transfer vehicle stores the value of the reference movement amount plus / minus the error amount as an adjustment amount, and the adjustment amount is used for The amount of adjustment for an appropriate transfer operation is performed for each of the plurality of article support sections RP. With this, the general transfer vehicle can learn the transfer operation. In this way, learning of the transfer operation using the learning support device 1 can be performed.

In the above, the example of learning the transfer operation by the inspection apparatus I provided with the camera IA was demonstrated. In addition, the present invention is not limited to such an example. For example, various sensors capable of detecting the amount of transfer operation of the ceiling transport vehicle V may be provided, and the reference transport vehicle and the general transport vehicle may be used to actually move the articles. Load, and calculate the adjustment amount from the transfer operation amount of the reference transfer vehicle and the transfer operation amount of the general transfer vehicle, so that the general transfer vehicle can learn the transfer operation based on the adjustment amount, which is used for the general transfer vehicle Adjust the amount of proper transfer operation. In addition, the camera IA may be mounted on the ceiling transport vehicle V itself, and as described above, the general transport vehicle may learn the transfer operation from the captured image.

1-2. Configuration of Learning Support Device Next, the configuration of the learning support device 1 according to this embodiment will be described with reference to the drawings. As shown in FIGS. 1, 3 to 5, the learning support device 1 includes a mounting portion 10, which is a vertical surface of a fixed structure S installed in a building, and an article transport facility F is installed in the building. The first reference support section 20 is capable of supporting the article W in the same manner as the article support section RP, and serves as a reference for measuring an adjustment amount that is an adjustment amount for the transfer operation performed by the transfer device T; and The first connection portion 30 connects the first reference support portion 20 and the mounting portion 10. In this embodiment, the first reference support portion 20 corresponds to a reference support portion, and the first connection portion 30 corresponds to a connection portion.

The fixed structure S is a structure that is fixed to a wall or a column in a building in which the article transport facility F is installed, and is not moved. The fixed structure S as described above includes a portion fixed in a non-movable manner in the article transfer facility F and a portion fixed in a non-movable manner in equipment other than the article transfer facility F. In this embodiment, the fixed structure S is an inner wall of a building in which the article transport facility F is installed, and the vertical surface of the fixed structure S is a wall surface of the inner wall.

The mounting portion 10 is mounted in a state of being fixed to a vertical surface of the fixed structure S. The attachment portion 10 may be formed integrally with the fixed structure S, or may be attached to be removable from the fixed structure S. In the present embodiment, the mounting portion 10 is mounted on the fixed structure S through a plurality of brackets B. In this embodiment, the mounting portion 10 is formed in a frame shape constituting a rectangular parallelepiped. In addition, the mounting portion 10 includes a fixed leg portion 11 on a portion opposite to the side of the vertical surface mounted on the fixed structure S. The fixed leg portion 11 is in contact with the floor surface FL and supports most of the mounting portion 10 from below.

The first reference support unit 20 is configured to support the article W. The first reference support unit 20 may support the inspection device 1. In this embodiment, the first reference support portion 20 is formed in a plate shape, and is configured to be able to support the article W in a state where the article W is placed. The first reference support unit 20 is arranged at a height corresponding to any one of the plurality of article support units RP. In the illustrated example, a plurality of positioning pins 21 are formed on the mounting surface of the first reference support portion 20. In addition, in the aforementioned inspection plate, a groove in which the positioning pin 21 can be inserted is formed, and the inspection plate is provided with respect to the first reference support portion 20 so that the positioning pin 21 can be inserted in this groove, thereby performing inspection Use the positioning of the board.

The first linking portion 30 is configured to change the posture of the first reference support portion 20 into an unfolded posture and a folded posture. The unfolded posture is such that the first reference support portion 20 is in a horizontal posture and is unfolded to support the article W. The folded posture is a posture in which the first reference support portion 20 is folded along a vertical plane. In the present embodiment, the first connection portion 30 supports the first reference support portion 20 so that the first reference support portion 20 is rotatable about the first fulcrum axis AX1 relative to the mounting portion 10. Thereby, the first reference support portion 20 can be changed into an extended posture and a folded posture. Further, in the present embodiment, the first connecting portions 30 are arranged as a pair in the traveling direction X of the traveling portion T2 in the ceiling transport vehicle V, separately. The first reference support portion 20 is supported by a pair of first connection portions 30 from both sides in the walking direction X.

The learning support device 1 includes a second reference support portion 40 different from the first reference support portion 20, and further includes a second connection portion 50. The second reference support portion 40 can support articles in the same manner as the article support unit RP. W is a reference for measuring an adjustment amount, which is an adjustment amount for a transfer operation performed by the transfer device T, and the second connection portion 50 is a connection between the second reference support portion 40 and the mounting portion 10 .

In the present embodiment, the positions of the second reference support portion 40 and the first reference support portion 20 in the vertical direction Z viewing angle are the same, and they are arranged at positions having different heights. For example, the second reference support section 40 is disposed at a height corresponding to the article support section RP which is other than the article support section RP corresponding to the first reference support section 20 among the plurality of article support sections RP. Item Support Department RP. In the present embodiment, the second reference support portion 40 is disposed below the first reference support portion 20. In addition, since the second reference support unit 40 has the same configuration as the first reference support unit 20, detailed description is omitted.

The second connection portion 50 is configured to be able to change the posture of the second reference support portion 40 to an expanded posture and a folded posture independently of the first reference support portion 20, and the expanded posture is such that the second reference support portion 40 is along the horizontal direction. And the posture in which the article W can be supported can be expanded, and the folded posture is a posture in which the second reference supporting portion 40 is folded along a vertical plane. In the present embodiment, the second connection portion 50 supports the second reference support portion 40 such that the second reference support portion 40 is rotatable around the second fulcrum axis AX2 with respect to the mounting portion 10. Thereby, the second reference support portion 40 can be changed into an extended posture and a folded posture.

Since the second reference support portion 40 is changed to an expanded posture and a folded posture independently of the first reference support portion 20, for example, when the first reference support portion 20 is in a folded posture, the second reference support portion 40 may become an expanded position. posture. In this state, it is possible to perform a transfer operation performed by the transfer device T on the second reference support portion 40 disposed below the first reference support portion 20. In addition, since the 2nd connection part 50 has the same structure as the 1st connection part 30, detailed description is abbreviate | omitted.

As shown in FIG. 5, in the present embodiment, the learning support device 1 further includes a restriction member 60 that restricts the first reference support portion 20 so that the first reference support portion 20 in the extended posture does not move. Go to the side opposite to the side that changed to the folded position. The restriction member 60 supports the first reference support portion 20 from below, thereby restricting the first reference support portion 20 so that the first reference support portion 20 in the extended posture does not move downward. In the examples shown in FIGS. 3 to 5, the restricting member 60 restricts the first reference support portion 20 so that the first reference support portion 20 in the extended posture does not move to the side opposite to the side that is changed to the folded posture. More specifically, the restriction member 60 supports the first reference support portion 20 from below, thereby restricting the first reference support portion 20 so that the first reference support portion 20 in the extended posture does not move downward. Thereby, even when the inspection device I is placed on the first reference support portion 20 and the load of the inspection device I acts, the deployed posture of the first reference support portion 20 can be maintained. As a result, it is possible to compare The adjustment amount is measured with good accuracy, and the adjustment amount is an adjustment amount for the transfer operation performed by the transfer device T.

As shown in FIGS. 3 to 5, in the present embodiment, the restriction member 60 is configured to change to the expanded posture and the folded posture in conjunction with the posture change of the first reference support portion 20. More specifically, the restricting member 60 is configured to change the restricting member 60 to a state where the first reference supporting portion 20 and the restricting member 60 are in the folded posture, and the first reference supporting portion 20 is held in the folded posture. Expand posture. In a state where the restricting member 60 has reached the extended posture, the first reference support portion 20 may be changed to the extended posture. In addition, the restriction member 60 is configured to change the first reference support portion 20 to the folded posture when the restriction member 60 is held in the extended position from the state where the first reference support portion 20 and the restriction member 60 are in the extended position. In a state where the first reference support portion 20 has been in the folded posture, the restriction member 60 may be changed to the folded posture.

The restriction member 60 and the first reference support portion 20 are configured by the above-mentioned correlation. Since the relationship between the restricting member 60 and the second reference support portion 40 is also configured by the same relationship, detailed description is omitted.

The restriction member 60 is formed in a frame shape. As shown in FIGS. 3 to 5, in this embodiment, the restricting member 60 includes a first link member 61 and a second link member 62 having the same length as the first link member 61 and the same length as the first link member 61. The link member 61 is arranged parallel to and separated from the first link member 61 in the vertical direction; and the pillar member 63. In the present embodiment, the first link member 61 is configured by having a pair of members, and the pair of members are separated from each other in the traveling direction X at the same height. Similarly, the second link member 62 is configured to include a pair of members. Moreover, the pillar member 63 has a pair of members which are arrange | positioned in the attitude | position along the vertical direction Z, and are arrange | positioned apart in the walking direction X.

In this embodiment, as shown in FIGS. 3 to 5, one end portions of the first link member 61 and the second link member 62 are rotatably connected to the mounting portion 10, and the first link member 61 and the second The other end portion of the link member 62 is rotatably connected to the pillar member 63. Specifically, one end portion of the first link member 61 in the lateral direction Y disposed on the fixed structure S side is rotatably connected to the mounting portion 10 about the first link fulcrum axis 61AX. In addition, one end portion of the second link member 62 in the lateral direction Y that is disposed on the fixed structure S side is rotatably connected to the mounting portion 10 about the second link fulcrum axis 62AX. In addition, the other end portions of the first link member 61 and the second link member 62 are rotatably connected to the pillar member 63, and the other end portions are disposed on the side separated from the fixed structure S in the lateral direction Y. Ends.

The first reference support portion 20 is supported by a target link member, which is any one of the first link member 61 and the second link member 62. As shown in FIGS. 3 to 5, in this embodiment, the target link member is the first link member 61. As shown in FIGS. 3 and 4, the second reference support portion 40 is supported by the second link member 62.

As shown in FIGS. 1, 3, and 5, in the present embodiment, a first auxiliary support portion 61A is attached to each of the pair of first link members 61. The pair of first auxiliary support portions 61A are separated from each other in the walking direction X and are disposed to face each other. The separation distance of the pair of first auxiliary support portions 61A in the walking direction X is set to be shorter than the length of the first reference support portion 20 in the walking direction X. Further, as shown in FIG. 5, the first auxiliary support portion 61A is arranged to protrude upward from the first link member 61 in a state where the restriction member 60 is in the extended posture. As a result, the pair of first auxiliary support portions 61A will abut the lower surface of the first reference support portion 20 and support the first reference from below when the first reference support portion 20 and the restricting member 60 are in the deployed posture. Support department 20.

The separation distance of the pair of first auxiliary support portions 61A in the walking direction X is set to be longer than the length of the inspection device 1 in the walking direction X. Thereby, as shown in FIG. 3, in a state where the first reference support portion 20 is in a folded posture and the restriction member 60 and the second reference support portion 40 are in an extended posture, the second reference support portion 40 can be transferred. In the inspection device 1, the second reference support portion 40 is disposed below the first reference support portion 20.

In the present embodiment, a second auxiliary support portion 62A is attached to each of the pair of second link members 62. Since the second auxiliary support portion 62A has the same configuration as the aforementioned first auxiliary support portion 61A, detailed description is omitted.

As shown in FIGS. 3 and 4, in the present embodiment, the restriction member 60 further includes a lower link member 64 different from the first link member 61. In the example shown in FIG. 3, the lower link member 64 is disposed below the first link member 61 and the second link member 62 in a state where the restriction member 60 is in the extended posture. Further, one end portion of the lower link member 64 in the lateral direction Y, which is disposed on the fixed structure S side, is rotatably connected to the mounting portion 10 about the lower link fulcrum axis 64AX. In addition, the other end portion of the lower link member 64 is rotatably connected to the pillar member 63, and the other end portion is an end portion disposed on a side separated from the fixed structure S in the lateral direction Y.

As shown in FIG. 3 and FIG. 4, the pillar member 63 becomes a pillar deployment posture in a state where the restriction member 60 is in a deployed posture. This pillar deployment posture is a posture in which the lower end portion of the pillar member 63 contacts the floor surface FL. The pillar member 63 When the restriction member 60 is in the folded posture, it is a pillar folded posture in which the lower end portion of the pillar member 63 is separated from the floor surface FL and is closer to the mounting portion 10 side than the pillar extended posture. Thereby, the entirety of the learning support device 1 including the restriction member 60 can be appropriately folded. In the present embodiment, the pillar member 63 is configured to always assume a posture along the vertical direction Z regardless of whether it is a pillar extended posture or a pillar folded posture. In the example shown in FIG. 1, a beam member 65 is bridged between a pair of pillar members 63, and the beam member 65 is arranged along the traveling direction X. Thereby, the pair of pillar members 63 are connected to each other.

In this embodiment, the pillar member 63 has a movable leg portion 63A at a lower end portion. The movable leg portion 63A comes into contact with the floor surface FL in a pillar-expanded posture (see FIG. 3). Thereby, the extended position of the restriction member 60 can be maintained stably. As a result, the first reference support section 20 and the second reference support section 40 can be supported from below through the first auxiliary support section 61A and the second auxiliary support section 62A. In addition, the movable leg portion 63A is separated upward from the floor surface FL in the pillar-folded posture and moved to a position closer to the fixed structure S than the arrangement position in the pillar-expanded posture (see FIG. 4).

According to the learning support device 1 of the present embodiment, the reference support sections 20 and 40 can be used in a state where the article W can be supported in a horizontally-expanded posture during use, whereby the adjustment amount can be measured. The adjustment amount is The amount of adjustment for the transfer operation performed by the transfer device T. On the other hand, when not in use, the reference support portions 20 and 40 have a folded posture along the vertical plane of the fixed structure S, thereby reducing the space occupied by the reference support portions 20 and 40. Therefore, according to the learning support device 1 according to this embodiment, the installation space can be effectively utilized when not in use.

2. Other Embodiments Next, another embodiment of the learning support device will be described.

(1) In the embodiment described above, an example was described in which the first reference support portion 20 and the second reference support portion 40 configured to support the extended posture in a state where the restricting member 60 is in the extended posture are described. . However, the present invention is not limited to such an example. The learning support device 1 may be configured to individually include a restriction member 60 corresponding to each of the first reference support section 20 and the second reference support section 40, and each restriction member 60 supports the first reference support section 20 or the first reference support section 20. Two benchmark support section 40. In this case, each of the restricting members 60 may be configured as described above. Alternatively, the restricting member 60 may be configured to support the first reference support portion 20 in a cantilever state. In this case, as shown in FIGS. 6 and 7, the restricting member 60 may be configured by a latch member fixed to the mounting portion 10. In this case, the restricting member 60 is disposed on a side separated from the fixed structure S more than the first fulcrum axis AX1, and abuts against the state in which the first reference support portion 20 is in the extended posture in the horizontal direction. The lower surface of the first reference support portion 20 supports the first reference support portion 20 from below. As shown in FIG. 8, the restricting member 60 may be configured to be fixed to the first reference support portion 20. The restriction member 60 in this case is configured to have a portion that abuts on the mounting portion 10. In the example shown in FIG. 8, the restricting member 60 abuts against the locking portion 13, and thereby supports the first reference support portion from below while the first reference support portion 20 is in the extended posture in the horizontal direction. 20. The locking portion 13 is arranged around the first fulcrum axis AX1 in the mounting portion 10.

(2) In the embodiment described above, an example has been described in which the learning support device 1 includes both the first reference support section 20 and the second reference support section 40 as the reference support section. However, the present invention is not limited to such an example. The learning support device 1 may be configured to include only the first reference support section 20 as the reference support section, or may be configured to include three or more reference support sections.

(3) In the embodiment described above, an example was described in which the restricting member 60 includes the first link member 61 and the second link member 62, and a pillar member connected to the link members. 63, also known as the parallel link structure. However, the present invention is not limited to such an example. For example, the restriction member 60 may be configured to be capable of being changed into an expanded posture and a folded posture by a so-called pantograph structure including a pillar member 63 provided with wheels at a lower end portion, and a diamond shape. The arm portion connects the pillar member 63 and the mounting portion 10 and is foldable. In this case, by pushing and pulling the pillar member 63 toward the mounting portion 10, the restricting member 60 can be changed into an expanded posture and a folded posture.

(4) Furthermore, the structures disclosed in each of the foregoing embodiments may be applied in combination with the structures disclosed in other embodiments as long as no contradiction occurs. Regarding other structures, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various changes can be appropriately made without departing from the gist of the present disclosure.

3. Outline of the above embodiment The outline of the learning support device described above will be described below.

The learning support device is used in an article transporting device including: a plurality of article support sections for supporting objects to be transported; and a ceiling transport vehicle including a transfer device for performing a transfer operation. The ceiling transport vehicle moves along the rail, and the rail is arranged along the ceiling. The learning support device includes a mounting section, which is The vertical surface of a fixed structure installed in a building is provided with the aforementioned article transporting equipment; the reference support section can support articles in the same manner as the aforementioned article support section, and serves as a reference for measuring the adjustment amount. The adjustment amount is an adjustment amount for the transfer operation performed by the transfer device; and the connection portion is a connection between the reference support portion and the mounting portion, and the connection portion is configured to change the posture of the reference support portion. Into an unfolded posture and a folded posture in which the reference support portion becomes a posture along a horizontal direction Article so as to be supported posture, the posture of the folding portion is folded into the supporting reference posture along the vertical plane.

According to this configuration, it is possible to change the reference support portion into an extended posture and a folded posture. In addition, during use, the reference support portion will be in a state capable of supporting the article in a horizontally-expanded posture, thereby measuring the adjustment amount, which is used for the transfer operation performed by the transfer device. Adjustment amount. On the other hand, when not in use, the reference support portion will be in a folded posture along the vertical plane, thereby reducing the space occupied by the reference support portion. Therefore, according to this configuration, it is possible to realize a learning support device that can effectively utilize its installation space when not in use.

In addition, it is preferable to include a second reference support section which is different from the reference support section, and further include a second connection section which can support articles in the same manner as the article support section, and becomes A reference for measuring an adjustment amount, the adjustment amount being an adjustment amount for the transfer operation performed by the transfer device, and the second connection portion is a connection between the second reference support portion and the mounting portion, and the second connection portion The reference support portion and the reference support portion are at the same position in the vertical viewing angle, and are arranged at positions with different heights. The second connection portion is configured to enable the second reference support portion to be independent of the reference support portion. The posture is changed into an unfolded posture and a folded posture in which the second reference support portion becomes a posture in a horizontal direction and is unfolded to support an article, and the folded posture is a folded posture in which the second reference support portion is folded along the aforementioned Vertical face pose.

According to this configuration, in addition to the reference support section, a second reference support section having an arrangement height different from that of the reference support section is provided, and the reference support section and the second connection section can be independently changed in posture to measure. The adjustment amount is an adjustment amount for a transfer operation for each of the two reference positions having different heights. In addition, when not in use, the reference support portion and the second connection portion are set in a folded posture, thereby reducing the space occupied by the support portions.

Further, it is preferable to further include a restricting member that restricts the reference supporting portion so that the reference supporting portion in the unfolded posture does not move to a side opposite to a side that changes to the folded posture.

According to this configuration, in a state where the reference support portion is in the unfolded posture, the reference support portion can be restricted from moving even when a certain load is applied on the side opposite to the side where the folded posture is changed. Thereby, the deployment posture of the reference support portion can be maintained. As a result, it is possible to measure the adjustment amount with better accuracy, which is the adjustment amount for the transfer operation performed by the transfer device.

Further, it is preferable that the restricting member is configured to change to an expanded posture and a folded posture in conjunction with a posture change of the reference support portion.

According to this configuration, the restricting member can restrict the movement of the reference supporting portion in the unfolding posture of the reference supporting portion, and can be changed into the folding posture with the reference supporting portion in the folding posture of the reference supporting portion to reduce its occupied space. Therefore, according to this structure, even if it is a structure provided with a restriction member, it is possible to realize a learning support device which can effectively utilize its installation space when not in use.

In addition, it is preferable that the restricting member includes a first link member and a second link member having the same length as the first link member and parallel to the first link member and opposite to the first link member. A link member is disposed to be separated in the vertical direction; and a pillar member, one end portions of the first link member and the second link member are rotatably connected to the mounting portion, and the first link member And the other end portion of the second link member is rotatably connected to the pillar member, the reference support portion is supported by the target link member, the target link member is the first link member and the second In any one of the link members, the pillar member becomes a pillar deployment posture when the restriction member is in a deployed posture, and the pillar deployment posture is a posture in which a lower end portion of the pillar member is in contact with a floor surface. When the restriction member is in the folded posture, it will be a pillar folded posture in which the lower end portion of the pillar member is separated from the floor surface and Said strut extended position closer to the posture of the mounting portion side.

According to this configuration, in the folded posture, the entire learning support device including the restriction member can be appropriately folded, and in the unfolded posture, the lower end portion of the pillar member contacts the floor surface, so that it can be appropriately lowered Support for benchmark support. Industrial availability

The technology of the present disclosure can be used in a learning support device used in an article transfer facility.

1‧‧‧ learning support device

10‧‧‧Mounting Department

11‧‧‧ fixed feet

13‧‧‧Detent

20‧‧‧First benchmark support department (benchmark support department)

21‧‧‧ positioning pin

30‧‧‧The first connection section (connection section)

40‧‧‧Second Benchmark Support Department

50‧‧‧Second Connection Department

60‧‧‧Restricted components

61‧‧‧first link member

61A‧‧‧First auxiliary support department

61AX‧‧‧First link pivot axis

62‧‧‧Second link member

62A‧‧‧Second Auxiliary Support Department

62AX‧‧‧Second link fulcrum

63‧‧‧ pillar members

63A‧‧‧movable feet

64‧‧‧ Lower link member

64AX‧‧‧ Lower link pivot axis

65‧‧‧ beam member

A‧‧‧ opening

AX1‧‧‧First pivot axis

AX2‧‧‧Second pivot axis

B‧‧‧ Bracket

C‧‧‧ ceiling

F‧‧‧ Goods handling equipment

FL‧‧‧ Floor

I‧‧‧ Inspection device

IA‧‧‧ Camera

IB‧‧‧Image processing device

IC‧‧‧Laser ranging sensor

MR‧‧‧ Main Track

P‧‧‧Processing device

R‧‧‧ track

RP‧‧‧Item Support Department

S‧‧‧ fixed structure

SR‧‧‧Subtrack

T‧‧‧ transfer device

T1‧‧‧ holding section

T11‧‧‧Grip

T2‧‧‧ Walking Department

T20‧‧‧ Walking motor

T21‧‧‧walking wheel

T3‧‧‧Running Department

T31‧‧‧cross track

T4‧‧‧Turning section

T5‧‧‧Lifting Department

T50‧‧‧Lifting motor

T51‧‧‧pulley

T52‧‧‧Lifting belt

V‧‧‧ Ceiling Transporter

W‧‧‧ Items

WH‧‧‧ Being held

X‧‧‧ walking direction

Y‧‧‧Horizontal direction

Z‧‧‧ vertical

FIG. 1 is a plan view of a main part of an article transfer facility provided with a learning support device. FIG. 2 is a diagram showing a transfer operation of a ceiling transport vehicle. FIG. 3 is a side view of a learning support device showing an extended posture. FIG. 4 is a side view of a learning support device showing a folded posture. Fig. 5 is a side view showing the structures of a reference support portion and a restriction member. 6 is a side view showing a learning support device according to another embodiment. FIG. 7 is a diagram showing a structure of a reference support unit and a restriction member of a learning support device according to another embodiment. FIG. 8 is a diagram showing a structure of a reference support portion and a restriction member of a learning support device according to another embodiment.

Claims (5)

A support device for learning is used in an article transporting device, the article transporting device includes: a plurality of article support sections for supporting objects to be transported; and a ceiling transport vehicle including a transfer device for performing a transfer operation. The loading operation is to receive an item from the article support unit or transfer the article to the article support unit. The ceiling transport vehicle moves along a track, and the track is arranged along the ceiling. The learning support device includes the following components: The mounting portion is a vertical surface of a fixed structure installed in a building, and the building is provided with the aforementioned article transport equipment. The reference supporting portion is capable of supporting articles in the same manner as the article supporting portion, and is a measurement adjustment amount The adjustment amount is an adjustment amount for the aforementioned transfer operation performed by the aforementioned transfer device; and the connection section is a connection between the aforementioned reference support section and the aforementioned installation section, and the learning support device has the following characteristics: The connecting portion is configured to change the posture of the reference support portion into an extended posture and a folded posture. The reference position is the open support section and be expanded into a posture along a posture of the article can be supported in the horizontal direction, the posture of the folding portion is folded into the supporting reference posture along the vertical plane. For example, the learning support device of claim 1 is provided with a second reference support section different from the aforementioned reference support section, and further includes a second connection section which can support the same as the article support section. The article serves as a reference for measuring an adjustment amount, which is an adjustment amount for the transfer operation performed by the transfer device, and the second connection portion connects the second reference support portion and the mounting portion. The position of the second reference support portion and the reference support portion in the vertical viewing angle are the same and are arranged at positions with different heights, and the second connection portion is configured to make the second reference portion independent of the reference support portion. The posture of the reference support section is changed into an expanded posture and a folded posture. The expanded posture is a posture in which the second reference support section becomes a horizontal posture and is expanded to support an article. The folded posture is a folding of the second reference support section. Into a posture along the aforementioned vertical plane. For example, if the learning support device of claim 1 or 2 further includes a restricting member, the restricting member restricts the reference support section so that the reference support section of the unfolded posture does not move to the opposite side that changes to the folded posture. side. According to the learning support device of claim 3, the restricting member is configured to change to an expanded posture and a folded posture in conjunction with a posture change of the reference support portion. The learning support device according to claim 4, wherein the restricting member includes: a first link member; and a second link member having the same length as the first link member and parallel to the first link member And is arranged separately from the first link member in the vertical direction; and a pillar member, one end portions of the first link member and the second link member are rotatably connected to the mounting portion, and The other end portions of the first link member and the second link member are rotatably connected to the pillar member, the reference support portion is supported by a target link member, and the target link member is the first link. In any one of the member and the second link member, the pillar member becomes a pillar deployment posture in a state where the restriction member is in a deployed posture, and the pillar deployment posture is a posture in which a lower end portion of the pillar member contacts a floor surface, The pillar member becomes a pillar folded posture when the restriction member is in a folded posture, and the pillar folded posture is a lower end of the pillar member. The portion is separated from the floor surface and is closer to the posture of the mounting portion side than the post-developed posture.