JP2016060623A

JP2016060623A - Article transfer equipment

Info

Publication number: JP2016060623A
Application number: JP2014191712A
Authority: JP
Inventors: 昌重岩田; Masashige Iwata; 旭江本; Akira Emoto
Original assignee: Daifuku Co Ltd
Current assignee: Daifuku Co Ltd
Priority date: 2014-09-19
Filing date: 2014-09-19
Publication date: 2016-04-25
Anticipated expiration: 2034-09-19
Also published as: JP6319011B2

Abstract

PROBLEM TO BE SOLVED: To provide article transfer equipment capable of regulating a rattle of a slide device by a simple configuration.SOLUTION: A slide device 15 includes: a tip member 20; a relay member 19 that slidably supports the tip member 20 along a transfer direction; a base member 18 that slidably supports the relay member 19 along the transfer direction; and a guide member 31 that guides the relay member 19 and the tip member 20 along the transfer direction. The guide member 31 is fixed to the relay member 19, and both the base member 18 and the tip member 20 are engaged with the guide member 31 in such a manner as to be freely slidable in the transfer direction.SELECTED DRAWING: Figure 4

Description

本発明は、物品を移載方向に沿って移動させるスライド装置を備えた物品移載装置に関する。 The present invention relates to an article transfer device including a slide device that moves an article along a transfer direction.

かかる物品移載装置の従来例が、特開２０１１−２０７６１６号公報（特許文献１）に記載されている。特許文献１の物品移載装置は、駆動装置により中継部材及び先端部材をスライド移動させてスライド装置を移載方向に引退させた引退状態とスライド装置を移載方向に突出させた突出状態とに切り換えることで、物品を移載方向に沿って移動させるように構成されている。
特許文献１のスライド装置は、基部部材にガイドローラを備え、先端部材にガイドローラを備え、中継部材に、基部部材に備えられたガイドローラが嵌合するガイドレールと先端部材に備えられたガイドローラが嵌合するガイドレールとを備えている。このように、スライド装置にガイドローラとガイドレールとで構成した案内支持機構を２組備えることで、基部部材にて、中継部材を移載方向に沿ってスライド移動自在に支持し、中継部材にて、先端部材を移載方向に沿ってスライド移動自在に支持している。 A conventional example of such an article transfer device is described in Japanese Patent Application Laid-Open No. 2011-207616 (Patent Document 1). The article transfer device of Patent Document 1 is in a retracted state in which the relay member and the tip member are slid by the driving device to retract the slide device in the transfer direction, and a protruding state in which the slide device is protruded in the transfer direction. By switching, the article is configured to move along the transfer direction.
The slide device disclosed in Patent Document 1 includes a guide roller provided on the base member, a guide roller provided on the tip member, a guide roller provided on the relay member, and a guide rail provided on the tip member. And a guide rail with which the roller is fitted. Thus, by providing two sets of guide support mechanisms composed of guide rollers and guide rails in the slide device, the base member supports the relay member so as to be slidable along the transfer direction. The tip member is slidably supported along the transfer direction.

特開２０１１−２０７６１６号公報JP 2011-207616 A

そして、特許文献１の物品移載装置では、ガイドローラとガイドレールとで構成した案内支持機構の組をスライド装置の上部と下部との双方に備えている。つまり、ガイドレールとガイドローラとの間には、ガイドローラの回転を許容するために隙間が形成されているためスライド装置にガタつきが生じる。特に、特許文献１の物品移載装置のようにスライド装置を縦姿勢で設けた場合において、スライド装置の下部にのみに案内支持機構を備えると、ガイドレールとガイドローラとの間に隙間が形成されているために案内支持機構を中心に中継部材や先端部材が傾く。特許文献１では、このようなスライド装置のガタつきを抑えるために案内支持機構を複数組備えている。
しかし、スライド装置に案内支持機構を複数組備えることでスライド装置の構成が複雑になっている。また、案内支持機構を複数組備えてはいるものの、レールとローラの間に隙間が形成されているため、スライド装置のガタつきを抑え難い。 And in the article transfer device of patent document 1, the set of the guide support mechanism comprised with the guide roller and the guide rail is provided in both the upper part and the lower part of a slide apparatus. In other words, since a gap is formed between the guide rail and the guide roller to allow the guide roller to rotate, the slide device is rattled. In particular, when the slide device is provided in a vertical posture as in the article transfer device of Patent Document 1, if a guide support mechanism is provided only at the lower portion of the slide device, a gap is formed between the guide rail and the guide roller. Therefore, the relay member and the tip member are inclined around the guide support mechanism. In Patent Document 1, a plurality of guide support mechanisms are provided in order to suppress such rattling of the slide device.
However, the configuration of the slide device is complicated by providing the slide device with a plurality of guide support mechanisms. Further, although a plurality of guide support mechanisms are provided, a gap is formed between the rail and the roller, so that it is difficult to suppress the play of the slide device.

そこで、簡素な構成でスライド装置のガタつきを抑制し易い物品移載装置が求められる。 Therefore, an article transfer device that can easily prevent the slide device from rattling is required with a simple configuration.

本発明に係る物品移載装置の特徴構成は、物品を移載方向に沿って移動させるスライド装置を備えた物品移載装置において、
前記スライド装置は、先端部材と、前記先端部材を前記移載方向に沿ってスライド移動自在に支持する中継部材と、前記中継部材を前記移載方向に沿ってスライド移動自在に支持する基部部材と、前記中継部材及び前記先端部材をスライド移動させて前記スライド装置を前記移載方向に引退させた引退状態と前記スライド装置を前記移載方向に突出させた突出状態とに切り換える駆動装置と、前記中継部材に固定され且つ前記移載方向に延びる基部部材用係合部及び先端部材用係合部が形成された案内部材と、を備え、前記基部部材は、前記基部部材用係合部に係合し、前記中継部材は、前記案内部材が前記基部部材用係合部により前記移載方向に摺動自在に案内されることで前記移載方向に案内され、前記先端部材は、前記先端部材用係合部に係合して前記案内部材により前記移載方向に摺動自在に案内される点にある。 The characteristic configuration of the article transfer device according to the present invention is an article transfer device including a slide device that moves an article along a transfer direction.
The slide device includes a tip member, a relay member that supports the tip member in a slidable manner along the transfer direction, and a base member that supports the relay member in a slidable manner along the transfer direction. A drive device that switches between a retracted state in which the relay member and the tip member are slid to retract the slide device in the transfer direction and a protruded state in which the slide device protrudes in the transfer direction; and A base member engaging portion that is fixed to the relay member and that extends in the transfer direction, and a guide member on which a tip member engaging portion is formed, the base member being engaged with the base member engaging portion. The relay member is guided in the transfer direction by the guide member being slidably guided in the transfer direction by the base member engaging portion, and the tip member is the tip member. For engagement In that it is slidably guided in the transfer direction by the guide member engaging in.

この特徴構成によれば、基部部材に対する中継部材のスライド移動は、基部部材に対する案内部材の摺動により案内され、中継部材に対する先端部材のスライド移動は、案内部材に対する先端部材の摺動により案内される。このように、案内部材により中継部材や先端部材の案内は摺動により行われるため、従来のローラ式に比べて案内部材の基部部材用係合部と基部部材との間や案内部材の先端部材用係合部と先端部材との間に形成される隙間小さくできるため、スライド装置のガタつきを抑制し易くなる。また、単一の案内部材にて中継部材の案内と先端部材の案内とを行えるので、中継部材や案内部材を案内する構成の簡素化を図ることができる。 According to this characteristic configuration, the sliding movement of the relay member relative to the base member is guided by the sliding of the guide member relative to the base member, and the sliding movement of the distal end member relative to the relay member is guided by the sliding of the distal end member relative to the guide member. The In this way, the guide member guides the relay member and the tip member by sliding, and therefore, compared with the conventional roller type, between the base member engaging portion of the guide member and the base member, or the tip member of the guide member. Since the gap formed between the engaging portion and the tip member can be reduced, it is easy to suppress the play of the slide device. Further, since the relay member and the tip member can be guided by a single guide member, the configuration for guiding the relay member and the guide member can be simplified.

具体的には、例えば、基部部材と中継部材と先端部材とを横幅方向に並べてスライド装置を縦姿勢で設置した場合に、中継部材を移載方向に沿ってスライド移動自在に支持し、中継部材にて、先端部材を移載方向に沿ってスライド移動自在に支持する構成として、スライド装置の下部にのみに案内支持機構を備え、スライド装置の上部において案内部材にて中継部材や先端部材を案内する構成が考えられる。このようにスライド装置を構成することで、従来では２組の案内支持機構を備えていたところ、１組の案内支持機構と案内部材とを設けるだけでよくなる。案内部材は、一対の案内支持機構に比べて簡素な構成で且つ摺動により案内する構成であるため、スライド装置の構成の簡素化を図ることができながらスライド装置のガタつきを抑えることができる。 Specifically, for example, when the base member, the relay member, and the tip member are arranged in the horizontal width direction and the slide device is installed in the vertical position, the relay member is supported so as to be slidable along the transfer direction, and the relay member The guide member is provided only in the lower part of the slide device, and the relay member and the tip member are guided by the guide member in the upper part of the slide device. The structure which performs is considered. By constructing the slide device in this way, conventionally two sets of guide support mechanisms are provided, but only one set of guide support mechanisms and guide members need be provided. Since the guide member has a simple configuration compared to the pair of guide support mechanisms and is configured to guide by sliding, it is possible to simplify the configuration of the slide device and to suppress the play of the slide device. .

ちなみに、案内支持機構としては、ガイドレールとこれに案内されるガイドローラとで構成したものに限られるものではなく、例えば、Ｃ字状に屈曲形成された内レールと外レールとの間に保持部材にて保持された複数個のボールを装入したスライドレール等を案内支持機構として用いてもよい。 Incidentally, the guide support mechanism is not limited to the one constituted by the guide rail and the guide roller guided by the guide rail. For example, the guide support mechanism is held between the inner rail and the outer rail bent in a C shape. A slide rail or the like loaded with a plurality of balls held by members may be used as the guide support mechanism.

ここで、前記基部部材に、前記基部部材用係合部に係合する基部被係合部が備えられ、前記先端部材に、前記先端部材用係合部に係合する先端被係合部が備えられ、前記突出状態が、前記先端被係合部の引退側の端部が前記基部被係合部の突出側の端部より突出側に位置し、前記案内部材の長さが、前記中継部材の前記移載方向での長さより短く、前記案内部材における前記先端部材用係合部の突出側の端部から前記基部部材用係合部の引退側の端部までの長さが、前記スライド装置が前記突出状態であるときの前記移載方向での前記基部被係合部の突出側の端部と前記先端被係合部の引退側の端部との離間距離より長く、前記案内部材が、前記中継部材の前記移載方向の幅内に収まる状態で前記中継部材に固定されていると好適である。 Here, the base member includes a base engaged portion that engages with the base member engaging portion, and the tip member includes a tip engaged portion that engages with the tip member engaging portion. And the protruding state is such that the end of the retracted side of the tip engaged portion is positioned on the protruding side from the protruding end of the base engaged portion, and the length of the guide member is the relay The length of the member is shorter than the length in the transfer direction, and the length from the projecting side end of the tip member engaging portion to the retraction side end of the base member engaging portion of the guide member is The guide is longer than the separation distance between the protruding end of the base engaged portion and the retracted end of the tip engaged portion in the transfer direction when the sliding device is in the protruding state, It is preferable that the member is fixed to the relay member so as to be within a width of the relay member in the transfer direction.

この構成によれば、案内部材の長さは、スライド装置が突出状態であるときの移載方向での基部被係合部の突出側の端部と先端被係合部の引退側の端部との離間距離より長い。そのため、スライド装置が突出状態であるときも、基部部材の基部被係合部及び先端部材の先端被係合部の案内部材に対する係合を維持させることができるため、スライド装置が移載方向に出退するときは案内部材にて常時案内することができる。
また、案内部材は、中継部材の移載方向での長さより短く、中継部材の移載方向の幅内に収まる状態で中継部材に固定されているため、中継部材から案内部材が移載方向に突出せず、案内部材が邪魔になり難い。 According to this configuration, the length of the guide member is such that the protruding end of the base engaged portion and the retracting end of the distal engaged portion in the transfer direction when the slide device is in the protruding state Longer than the separation distance. Therefore, even when the slide device is in the protruding state, the engagement of the base member engaged portion of the base member and the tip engaged portion of the tip member with the guide member can be maintained, so that the slide device is moved in the transfer direction. When leaving or leaving, it is possible to always guide with the guide member.
Further, since the guide member is shorter than the length of the relay member in the transfer direction and is fixed to the relay member so as to be within the width of the relay member in the transfer direction, the guide member is moved from the relay member in the transfer direction. It does not protrude and the guide member is unlikely to get in the way.

また、前記スライド装置が、前記移載方向に対して平面視で直交する横幅方向に間隔を開けた状態で一対並設され、前記一対のスライド装置の夫々が、前記基部部材と前記中継部材と前記先端部材とを前記横幅方向に並ぶ状態で備えていると好適である。 In addition, a pair of the slide devices are arranged in parallel in a state of being spaced apart in a lateral direction perpendicular to the transfer direction in a plan view, and each of the pair of slide devices includes the base member and the relay member. It is preferable that the tip member is provided in a state aligned in the lateral width direction.

この構成によれば、基部部材と中継部材と先端部材とを横幅方向に並ぶ状態で備えることで、一対のスライド装置の夫々は縦姿勢で備えられている。そして、このように縦姿勢で備えられた一対のスライド装置の間に物品を位置させて、一対のスライド装置の先端部材に物品を係合させる又は一対のスライド装置の先端部材にて物品を挟持させた状態でスライド装置を出退させることで、物品を移載方向に移動させることができる。 According to this configuration, the base member, the relay member, and the tip member are provided in a state of being aligned in the lateral width direction, whereby each of the pair of slide devices is provided in a vertical posture. Then, the article is positioned between the pair of slide devices provided in the vertical posture as described above, and the article is engaged with the tip members of the pair of slide devices, or the article is sandwiched between the tip members of the pair of slide devices. The article can be moved in the transfer direction by withdrawing / withdrawing the slide device in the state of being moved.

一対のスライド装置を縦姿勢で備えた場合、中継部材や先端部材を移載方向に沿ってスライド移動自在に支持する構成にガタつきがあると中継部材や先端部材が傾く。中継部材や先端部材が傾くと、一対のスライド装置の横幅方向での間隔が変化するため、物品を適切に移載できない虞がある。
しかし、案内部材にて中継部材の案内と先端部材の案内とを行い、スライド装置のガタつきを抑えることで、中継部材や先端部材の傾きを抑制できる。 When the pair of slide devices are provided in a vertical posture, the relay member and the tip member are inclined if there is a backlash in the configuration in which the relay member and the tip member are slidably supported along the transfer direction. If the relay member or the tip member is tilted, the distance between the pair of slide devices in the width direction changes, so there is a possibility that the article cannot be transferred appropriately.
However, the guide member can guide the relay member and the tip member, and suppress the backlash of the slide device, thereby suppressing the inclination of the relay member and the tip member.

また、前記基部部材用係合部が、前記案内部材の上部に位置して前記基部部材の上端部が上方から係合する形状に形成され、前記先端部材用係合部が、前記案内部材の上部に位置して前記先端部材の上端部が上方から係合する形状に形成されていると好適である。 In addition, the base member engaging portion is formed in a shape where the upper end portion of the base member is engaged with the guide member from above, and the tip member engaging portion is formed on the guide member. It is preferable that the upper end portion of the tip member is formed in a shape that is located at the upper portion and engages from above.

この構成によれば、中継部材に固定された案内部材の基部部材用係合部に、基部部材の上端部が上方から係合しており、この係合により中継部材の上端部が案内部材に対して横幅方向に移動することを規制できる。また、中継部材に固定された案内部材の先端部材用係合部に、先端部材の上端部が上方から係合しており、この係合により先端部材の上端部が案内部材に対して横幅方向に移動することを規制できる。このように、中継部材の上端部及び先端部材の上端部が横幅方向に移動することを案内部材にて規制できるので、中継部材や先端部材の傾きを抑制できる。 According to this configuration, the upper end portion of the base member is engaged from above with the base member engaging portion of the guide member fixed to the relay member, and the upper end portion of the relay member becomes the guide member due to this engagement. On the other hand, movement in the width direction can be restricted. Further, the upper end portion of the tip member is engaged with the engaging portion for the tip member of the guide member fixed to the relay member from above, and by this engagement, the upper end portion of the tip member is transverse to the guide member. Can be restricted to move to. As described above, since the guide member can regulate the movement of the upper end portion of the relay member and the upper end portion of the tip member in the lateral width direction, the inclination of the relay member and the tip member can be suppressed.

また、前記案内部材は、前記中継部材の上端部が連結され、前記基部部材の上端部が、前記案内部材に対する前記横幅方向への移動が規制された状態で前記基部部材用係合部に係合し、前記先端部材の上端部が、前記案内部材に対する前記横幅方向への移動が規制された状態で前記先端部材用係合部に係合し、前記中継部材の下部に連結されて前記中継部材を前記移載方向に沿って案内する第１スライドレールが、前記基部部材の下部に備えられ、前記先端部材の下部に連結されて前記先端部材を前記移載方向に沿って案内する第２スライドレールが、前記中継部材の下部に備えられていると好適である。 Further, the guide member is engaged with the base member engaging portion in a state where the upper end portion of the relay member is coupled and the upper end portion of the base member is restricted from moving in the lateral width direction with respect to the guide member. The upper end portion of the tip member engages with the tip member engaging portion in a state in which movement in the lateral width direction with respect to the guide member is restricted, and is connected to a lower portion of the relay member to be connected to the relay member. A first slide rail that guides a member along the transfer direction is provided at a lower portion of the base member, and is connected to a lower portion of the tip member to guide the tip member along the transfer direction. It is preferable that a slide rail is provided at a lower portion of the relay member.

スライドレールとして、一般的に、Ｃ字状に屈曲形成された内レールと外レールとの間にリテーナにて保持された複数個のボールを装入したスライドレールが用いられている。このようなスライドレールを、中継部材や先端部材を移載方向に沿ってスライド移動自在に支持する構成として用いた場合、スライド装置のガタつきが大きくなるが、そのガタつきを、基部部材に対する中継部材の案内と中継部材に対する先端部材の案内とを中継部材に固定した案内部材にて行うという簡素な構成で抑制できる。 As the slide rail, a slide rail is generally used in which a plurality of balls held by a retainer are inserted between an inner rail and an outer rail bent in a C shape. When such a slide rail is used as a configuration in which the relay member and the tip member are slidably supported along the transfer direction, the slide device has a large backlash. The backlash is relayed to the base member. It can be suppressed with a simple configuration in which the guide of the member and the guide of the tip member with respect to the relay member are performed by a guide member fixed to the relay member.

自動倉庫設備の斜視図Perspective view of automatic warehouse equipment カバーを取り外した搬送台車の斜視図Perspective view of transport cart with cover removed スライド装置を突出状態とした搬送台車の斜視図Perspective view of the transport carriage with the slide device in the protruding state スライド装置の要部斜視図Perspective view of main part of slide device スライド装置の正面図Front view of slide device

以下、本発明にかかる物品移載装置を自動倉庫設備に適用した実施形態を図面に基づいて説明する。
図１に示すように、自動倉庫設備には、物品収納棚１と物品搬送台車２と中継コンベヤ３とリフト装置４と入出庫コンベヤ５とが備えられている。
尚、図１において、矢印Ｘで示す方向が第１方向であり、平面視で第１方向と直交する矢印Ｙで示す方向が第２方向である。また、第１方向の一方側（第１方向において物品収納棚１に対して中継コンベヤ３が位置する側）をＨＰ側と称し、その反対側をＯＰ側と称する場合がある。 Hereinafter, an embodiment in which an article transfer device according to the present invention is applied to an automatic warehouse facility will be described with reference to the drawings.
As shown in FIG. 1, the automatic warehouse facility includes an article storage shelf 1, an article transport cart 2, a relay conveyor 3, a lift device 4, and a loading / unloading conveyor 5.
In FIG. 1, the direction indicated by the arrow X is the first direction, and the direction indicated by the arrow Y perpendicular to the first direction in plan view is the second direction. In addition, one side in the first direction (the side where the relay conveyor 3 is located with respect to the article storage shelf 1 in the first direction) may be referred to as the HP side, and the opposite side may be referred to as the OP side.

図１に示すように、物品収納棚１は、第２方向に間隔を開けた状態で一対設置されており、各物品収納棚１には、上下方向に並ぶ状態で棚板７が複数（本実施形態では６段）備えられている。
一対の物品収納棚１の間には、走行レール８上を物品搬送台車２が第１方向に沿って走行する走行経路が形成されており、この走行経路は、物品収納棚１における棚板７の段数に応じて上下方向に複数（本実施形態では６経路）形成されている。尚、走行レール８は、一対の物品収納棚１の夫々に支持されており、１つの走行経路に対して一対の走行レール８が備えられている。 As shown in FIG. 1, a pair of article storage shelves 1 are installed with an interval in the second direction, and each article storage shelf 1 includes a plurality of shelf boards 7 in a state of being arranged in the vertical direction. In the embodiment, 6 stages) are provided.
Between the pair of article storage shelves 1, a travel route on which the article transport carriage 2 travels along the first direction on the travel rail 8 is formed. Depending on the number of stages, a plurality (6 paths in this embodiment) are formed in the vertical direction. The traveling rails 8 are supported by each of the pair of article storage shelves 1, and the pair of traveling rails 8 are provided for one traveling route.

中継コンベヤ３には、物品収納棚１に物品Ｗを入庫するときに用いる入庫用の中継コンベヤ３ａと物品収納棚１から物品Ｗを出庫するときに用いる出庫用の中継コンベヤ３ｂとがある。入庫用の中継コンベヤ３ａと出庫用の中継コンベヤ３ｂとの一対の中継コンベヤ３は、第２方向に間隔を開けた状態で備えられており、物品収納棚１における棚板７の段数に応じて上下方向に並ぶ状態で複数組（本実施形態では６組）備えられている。
リフト装置４として、入庫用のリフト装置４ａと出庫用のリフト装置４ｂとの一対のリフト装置４が備えられている。また、入出庫コンベヤ５として、入庫用のコンベヤ５ａと出庫用のコンベヤ５ｂとの一対の入出庫コンベヤ５が備えられている。 The relay conveyor 3 includes a warehousing relay conveyor 3 a that is used when the articles W are received into the article storage shelf 1 and a delivery relay conveyor 3 b that is used when the articles W are delivered from the article storage shelf 1. A pair of relay conveyors 3 including a relay conveyor 3a for warehousing and a relay conveyor 3b for warehousing are provided in a state of being spaced apart in the second direction, and according to the number of shelves 7 in the article storage shelf 1 A plurality of sets (six sets in this embodiment) are provided in a state of being arranged in the vertical direction.
As the lift device 4, a pair of lift devices 4 including a warehousing lift device 4 a and a warehousing lift device 4 b are provided. In addition, as the loading / unloading conveyor 5, a pair of loading / unloading conveyors 5 including a loading conveyor 5a and a loading conveyor 5b are provided.

このように構成された自動倉庫設備は、入庫用のコンベヤ５ａから入庫された物品Ｗは、入庫用のリフト装置４ａにて複数の入庫用の中継コンベヤ３ａに振り分けて搬送される。そして、入庫用の中継コンベヤ３ａの物品Ｗは、同じ段に備えられている物品搬送台車２にて同じ段に備えられている棚板７上に搬送される。
また、棚板７上の物品Ｗは、その棚板７と同じ段に備えられている物品搬送台車２にて同じ段に備えられている出庫用の中継コンベヤ３ｂに搬送される。そして、複数の出庫用の中継コンベヤ３ｂの物品Ｗは、出庫用のリフト装置４ｂにて出庫用のコンベヤ５ｂに搬送される。 In the automatic warehouse equipment configured as described above, the articles W received from the warehousing conveyor 5a are distributed and conveyed to the plurality of warehousing relay conveyors 3a by the warehousing lift device 4a. And the goods W of the relay conveyor 3a for warehousing are conveyed on the shelf board 7 provided in the same step by the article conveyance cart 2 provided in the same step.
In addition, the article W on the shelf board 7 is transported to the delivery relay conveyor 3b provided at the same stage by the article transport carriage 2 provided at the same stage as the shelf board 7. The articles W on the plurality of outgoing relay conveyors 3b are conveyed to the outgoing conveyor 5b by the outgoing lift device 4b.

次に、物品搬送台車２について説明する。尚、図１及び図３では、カバー９を取り付けている物品搬送台車２を図示し、図２では、カバー９を取り外した物品搬送台車２を図示している。
図２及び図３に示すように、物品搬送台車２は、走行方向（第１方向）に沿って走行する台車本体２Ａと、第２方向に沿って物品Ｗを移動させて物品Ｗを移載する物品移載装置２Ｂと、を備えている。 Next, the article transport cart 2 will be described. 1 and 3 illustrate the article transport carriage 2 to which the cover 9 is attached, and FIG. 2 illustrates the article transport carriage 2 from which the cover 9 has been removed.
As shown in FIG. 2 and FIG. 3, the article transporting carriage 2 transfers the article W by moving the article W along the traveling direction (first direction) and the carriage main body 2 </ b> A along the second direction. An article transfer device 2B.

台車本体２Ａには、一対の走行レール８（図１参照）上を転動する一対の駆動車輪１０と、一対の駆動車輪１０を回転駆動させる走行用モータ１１と、走行レール８上を転動する回転自在な一対の従動車輪１２と、が備えられている。
一対の駆動車輪１０は走行用駆動軸（図示せず）にて連動連結されている。そして、走行用モータ１１の駆動により走行用駆動軸及び一対の駆動車輪１０が回転駆動することで、台車本体２Ａが走行経路を第１方向に沿って往復走行するようになっている。 In the cart body 2A, a pair of driving wheels 10 that roll on a pair of traveling rails 8 (see FIG. 1), a traveling motor 11 that rotates the pair of driving wheels 10 and a rolling rail 8 are rolled. And a pair of freely driven wheels 12 that rotate.
The pair of drive wheels 10 are interlocked and connected by a drive shaft for travel (not shown). Then, the travel drive shaft and the pair of drive wheels 10 are driven to rotate by driving the travel motor 11, so that the cart body 2 </ b> A reciprocates along the travel direction in the first direction.

物品移載装置２Ｂは台車本体２Ａに支持されており、物品移載装置２Ｂには、物品Ｗを下方から支持する物品支持台１４と、物品Ｗを移載方向に沿って移動させるスライド装置１５と、が備えられている。
スライド装置１５は、第２方向に間隔を開けた状態で一対備えられている。一対のスライド装置１５のうちのＨＰ側に位置するスライド装置１５（以下、移動スライド装置１５ａと称する場合がある）は、台車本体２Ａの案内体１６にて第１方向に移動自在に支持されている。一対のスライド装置１５のうちのＯＰ側に位置するスライド装置１５（以下、固定スライド装置１５ｂと称する場合がある）は、台車本体２Ａに第１方向に移動不能に固定されている。 The article transfer device 2B is supported by the carriage main body 2A. The article transfer device 2B includes an article support table 14 that supports the article W from below, and a slide device 15 that moves the article W along the transfer direction. And are provided.
A pair of slide devices 15 are provided in a state where a gap is provided in the second direction. The slide device 15 located on the HP side of the pair of slide devices 15 (hereinafter sometimes referred to as a movable slide device 15a) is supported by the guide body 16 of the carriage main body 2A so as to be movable in the first direction. Yes. The slide device 15 located on the OP side of the pair of slide devices 15 (hereinafter sometimes referred to as a fixed slide device 15b) is fixed to the carriage main body 2A so as not to move in the first direction.

また、物品支持台１４は、一対のスライド装置１５の間に位置するように第２方向に並ぶ状態で一対備えられている。一対の物品支持台１４のうちのＨＰ側に位置する物品支持台１４（以下、移動物品支持台１４ａと称する場合がある）は、台車本体２Ａの案内体１６にて第１方向に移動可能に支持されており、移動スライド装置１５ａと一体的に第１方向に移動するように移動スライド装置１５ａに固定されている。一対の物品支持台１４のうちのＯＰ側に位置する物品支持台１４（以下、固定物品支持台１４ｂと称する場合がある）は、台車本体２Ａの案内体１６に支持されているが、固定スライド装置１５ｂに固定されているため第１方向には移動しないようになっている。 Further, a pair of article support bases 14 are provided in a state of being aligned in the second direction so as to be positioned between the pair of slide devices 15. Of the pair of article support tables 14, the article support table 14 (hereinafter sometimes referred to as a moving article support table 14a) positioned on the HP side is movable in the first direction by the guide body 16 of the carriage main body 2A. It is supported and fixed to the moving slide device 15a so as to move integrally with the moving slide device 15a in the first direction. The article support base 14 (hereinafter sometimes referred to as a fixed article support base 14b) located on the OP side of the pair of article support bases 14 is supported by the guide body 16 of the carriage main body 2A, but is fixed slide. Since it is fixed to the device 15b, it does not move in the first direction.

図３に示すように、一対のスライド装置１５の夫々は、先端部材２０と、先端部材２０を第２方向に沿ってスライド移動自在に支持する中継部材１９と、中継部材１９を第２方向に沿ってスライド移動自在に支持する基部部材１８と、中継部材１９と先端部材２０とを連動させる連動部材２１と、を備えている。 As shown in FIG. 3, each of the pair of slide devices 15 includes a tip member 20, a relay member 19 that supports the tip member 20 slidably along the second direction, and the relay member 19 in the second direction. A base member 18 that is slidably supported along with the relay member 19 and a distal end member 20 are provided.

第１方向でスライド装置１５に対して物品支持台１４が位置する側を内側として、一対のスライド装置１５の夫々は、中継部材１９は第１方向で基部部材１８より内側に位置し、先端部材２０は第１方向で中継部材１９より内側に位置するように、基部部材１８と中継部材１９と先端部材２０とを第１方向に並ぶ状態で備えている。 With the side on which the article support base 14 is positioned with respect to the slide device 15 in the first direction as the inner side, each of the pair of slide devices 15 has the relay member 19 positioned inward of the base member 18 in the first direction, and the tip member The base member 18, the relay member 19, and the tip member 20 are arranged in the first direction so that 20 is positioned inside the relay member 19 in the first direction.

連動部材２１は、第１連動ベルト２１ａと第２連動ベルト２１ｂとを備えて構成されている。第１連動ベルト２１ａと第２連動ベルト２１ｂとは、上下方向視で重なる状態でスライド装置１５に備えられている。
第１連動ベルト２１ａは、第１連動ベルト２１ａの端部が基部部材１８と先端部材２０とに連結され且つ第１連動ベルト２１ａの中間部分が中継部材１９に対して第２方向の一方側に位置するように巻回されており、基部部材１８に対して中継部材１９が第２方向の一方側に移動したときに、中継部材１９に対して先端部材２０を第２方向の一方側に移動させるように備えられている。
第２連動ベルト２１ｂは、第２連動ベルト２１ｂの端部が基部部材１８と先端部材２０とに連結され且つ第２連動ベルト２１ｂの中間部分が中継部材１９に対して第２方向の他方側に位置するように巻回されており、基部部材１８に対して中継部材１９が第２方向の他方側に移動したときに、中継部材１９に対して先端部材２０を第２方向の他方側に移動させるように備えられている。 The interlocking member 21 includes a first interlocking belt 21a and a second interlocking belt 21b. The first interlocking belt 21a and the second interlocking belt 21b are provided in the slide device 15 so as to overlap each other when viewed in the vertical direction.
In the first interlocking belt 21a, the end of the first interlocking belt 21a is connected to the base member 18 and the tip member 20, and the intermediate part of the first interlocking belt 21a is on one side in the second direction with respect to the relay member 19. When the relay member 19 is moved to one side in the second direction with respect to the base member 18, the tip member 20 is moved to one side in the second direction with respect to the relay member 19. It is equipped to let you.
In the second interlocking belt 21b, the end of the second interlocking belt 21b is connected to the base member 18 and the tip member 20, and the intermediate part of the second interlocking belt 21b is on the other side in the second direction with respect to the relay member 19. When the relay member 19 moves to the other side in the second direction with respect to the base member 18, the tip member 20 moves to the other side in the second direction with respect to the relay member 19. It is equipped to let you.

図２に示すように、物品移載装置２Ｂには、一対のスライド装置１５を第２方向に沿って出退させる出退用モータ２２と一対のスライド装置１５の間隔を変更させる間隔用モータ２３とが備えられている。
出退用モータ２２は、中継部材１９及び先端部材２０をスライド移動させて一対のスライド装置１５の夫々を第２方向に引退させた引退状態（図２参照）と一対のスライド装置１５の夫々を第２方向に突出させた突出状態（図３参照）とに切り換える。この突出状態では、先端部材２０の引退側の端部が基部部材１８の突出側の端部より突出側に位置している。ちなみに、スライド装置１５を第２方向の一方側に突出させた場合では、その第２方向の一方側が突出側であり、その反対側が引退側となる。
尚、突出状態として、図２に示す引退状態から図３に示すように第２方向の一方側に突出させた突出状態と、引退状態から第２方向の他方側に突出させた突出状態とがあり、一対のスライド装置１５の夫々は、引退状態から第２方向の両側に突出させることができる。 As shown in FIG. 2, the article transfer device 2 </ b> B includes an exit / retreat motor 22 that moves the pair of slide devices 15 in and out along the second direction and an interval motor 23 that changes the distance between the pair of slide devices 15. And are provided.
The retracting motor 22 slides the relay member 19 and the tip member 20 to retreat each of the pair of slide devices 15 in the second direction (see FIG. 2) and each of the pair of slide devices 15. It switches to the protrusion state (refer FIG. 3) protruded in the 2nd direction. In this protruding state, the end of the distal end member 20 on the retracting side is located on the protruding side from the protruding end of the base member 18. Incidentally, when the slide device 15 is projected to one side in the second direction, one side in the second direction is the projecting side, and the opposite side is the retraction side.
As the protruding state, there are a protruding state that protrudes from the retracted state shown in FIG. 2 to one side in the second direction as shown in FIG. 3, and a protruding state that protrudes from the retracted state to the other side in the second direction. Yes, each of the pair of slide devices 15 can protrude from the retracted state to both sides in the second direction.

図３に示すように、一対のスライド装置１５の夫々には、歯付きベルト２６を備えた出退用ユニット２４が備えられている。出退用ユニット２４は、出退用駆動軸２５の回転に伴って歯付きベルト２６がその長手方向に沿って回転駆動するように構成されている。歯付きベルト２６は、中継部材１９の下端に形成されたラック２７が噛合している。また、出退用駆動軸２５はスプライン軸にて構成されており、移動スライド装置１５ａの出退用ユニット２４は第１方向に移動自在に出退用駆動軸２５に連動連結されている。 As shown in FIG. 3, each of the pair of slide devices 15 is provided with an exit / retreat unit 24 including a toothed belt 26. The exit / retreat unit 24 is configured such that the toothed belt 26 is rotationally driven along the longitudinal direction thereof as the exit / retreat drive shaft 25 rotates. The toothed belt 26 meshes with a rack 27 formed at the lower end of the relay member 19. Further, the exit / retreat drive shaft 25 is constituted by a spline shaft, and the exit / retreat unit 24 of the movable slide device 15a is linked to the exit / retreat drive shaft 25 so as to be movable in the first direction.

そして、出退用モータ２２にて出退用駆動軸２５を回転駆動させることで、一対の出退用ユニット２４の歯付きベルト２６がその長手方向に沿って回転駆動し、この歯付きベルト２６の回転によって中継部材１９が基部部材１８に対して第２方向に移動し、連動部材２１の存在により先端部材２０が中継部材１９に対して第２方向に移動することで、スライド装置１５が第２方向に沿って出退するように構成されている。 Then, by rotating the exit / retreat drive shaft 25 by the exit / retreat motor 22, the toothed belt 26 of the pair of exit / retreat units 24 is rotationally driven along the longitudinal direction thereof. , The relay member 19 moves in the second direction with respect to the base member 18, and the tip member 20 moves in the second direction with respect to the relay member 19 due to the presence of the interlocking member 21. It is configured to exit and exit along two directions.

移動スライド装置１５ａには回転ベルト２８が連結されており、間隔用モータ２３の駆動により、回転ベルト２８をその長手方向に回動させて、移動スライド装置１５ａを第１方向に移動させることで、一対のスライド装置１５の間隔を変更させるように構成されている。 A rotating belt 28 is connected to the moving slide device 15a, and by driving the distance motor 23, the rotating belt 28 is rotated in the longitudinal direction thereof, and the moving slide device 15a is moved in the first direction. It is comprised so that the space | interval of a pair of slide apparatus 15 may be changed.

図３に示すように、先端部材２０の第２方向の両端部夫々には、フックユニット２９が設けられている。図５に示すように、フックユニット２９には、第２方向に沿う軸心周りに揺動するフック２９ａと、このフック２９ａを転倒させた係合姿勢（図３及び図５参照）と起立させた退避姿勢（図２参照）とに姿勢変更させるフック用モータ２９ｂと、退避姿勢のフック２９ａを検出する検出センサ２９ｃと、フック用モータ２９ｂと検出センサ２９ｃとの間に介在する樹脂材にて構成されたスペーサ２９ｄと、が備えられている。
フック用モータ２９ｂは減速機付きのモータであり、フック用モータ２９ｂの出力軸にフック２９ａが固定されている。そして、検出センサ２９ｃは、電磁誘導により金属製のフック２９ａを検出する近接センサにて構成されている。この検出センサ２９ｃは、間にスペーサ２９ｄを介在させた状態でフック用モータ２９ｂ上に載置されている。 As shown in FIG. 3, hook units 29 are provided at both ends of the tip member 20 in the second direction. As shown in FIG. 5, the hook unit 29 is erected with a hook 29 a that swings around the axis along the second direction, and an engagement posture (see FIGS. 3 and 5) in which the hook 29 a is overturned. A hook motor 29b whose posture is changed to the retracted posture (see FIG. 2), a detection sensor 29c for detecting the hook 29a in the retracted posture, and a resin material interposed between the hook motor 29b and the detection sensor 29c. And a configured spacer 29d.
The hook motor 29b is a motor with a reduction gear, and the hook 29a is fixed to the output shaft of the hook motor 29b. The detection sensor 29c is a proximity sensor that detects the metal hook 29a by electromagnetic induction. The detection sensor 29c is placed on the hook motor 29b with a spacer 29d interposed therebetween.

そして、間隔用モータ２３の駆動による一対のスライド装置１５を物品Ｗの横幅に応じた間隔への変更、出退用モータ２２の駆動による一対のスライド装置１５の引退状態と突出状態との切り換え、及び、フック用モータ２９ｂの駆動によるフック２９ａの係合姿勢と退避姿勢との姿勢変更により、物品支持台１４から棚板７や中継コンベヤ３への物品Ｗの移載や、棚板７や中継コンベヤ３から物品支持台１４への物品Ｗの移載を行うように構成されている。尚、第２方向が、物品Ｗの移載方向となっている。 Then, the pair of slide devices 15 driven by the distance motor 23 is changed to a distance corresponding to the width of the article W, and the pair of slide devices 15 driven by the exit / retreat motor 22 is switched between the retracted state and the protruded state. And by changing the posture between the engagement posture and the retracting posture of the hook 29a by driving the hook motor 29b, the transfer of the article W from the article support base 14 to the shelf board 7 and the relay conveyor 3, the shelf board 7 and the relay An article W is transferred from the conveyor 3 to the article support 14. The second direction is the transfer direction of the article W.

次に、スライド装置１５における中継部材１９及び先端部材２０を第２方向に沿って案内する構成について説明する。尚、一対のスライド装置１５は、第１方向に移動自在に台車本体２Ａに支持されているか否かの違い以外は同様に構成されているため、図４及び図５に基づいて、移動スライド装置１５ａにおける中継部材１９及び先端部材２０を第２方向に沿って案内する構成についてのみ説明する。
ちなみに、本明細書では、対象部材の上下中央より上方の部分を上部と称し、対象部材の上下中央より下方の部分を下部と称している。また、対象部材の上下中央を中心とした対象部材の３分の１の幅内の部分を上下中央部と称している。 Next, the structure which guides the relay member 19 and the front-end | tip member 20 in the slide apparatus 15 along a 2nd direction is demonstrated. The pair of slide devices 15 are configured in the same manner except for whether or not they are supported by the carriage main body 2A so as to be movable in the first direction. Therefore, based on FIG. 4 and FIG. Only the structure which guides the relay member 19 and the front-end | tip member 20 in 15a along a 2nd direction is demonstrated.
By the way, in this specification, a portion above the center of the target member is referred to as an upper portion, and a portion below the center of the target member is referred to as a lower portion. Moreover, the part within the width of 1/3 of the object member centering on the upper and lower center of the object member is referred to as the upper and lower center part.

スライド装置１５には、中継部材１９の上部及び先端部材２０の上部を第２方向に沿って案内する案内部材３１と、中継部材１９の下部及び先端部材２０の下部を第２方向に沿って案内する案内支持機構３２と、が備えられている。案内支持機構３２は、第１スライドレール３２ａと第２スライドレール３２ｂとで構成されており、これら第１スライドレール３２ａと第２スライドレール３２ｂとは同じ高さに設けられている。 The slide device 15 includes a guide member 31 that guides the upper part of the relay member 19 and the upper part of the tip member 20 along the second direction, and guides the lower part of the relay member 19 and the lower part of the tip member 20 along the second direction. And a guide support mechanism 32. The guide support mechanism 32 includes a first slide rail 32a and a second slide rail 32b, and the first slide rail 32a and the second slide rail 32b are provided at the same height.

第１スライドレール３２ａは基部部材１８の下部に備えられており、当該第１スライドレール３２ａは、中継部材１９の下部に連結されて中継部材１９を第２方向に沿って案内する。このように基部部材１８に第１スライドレール３２ａを備えることで、基部部材１８が、中継部材１９を第２方向に沿ってスライド移動自在に支持している。
第２スライドレール３２ｂは中継部材１９の下部に備えられており、当該第２スライドレール３２ｂは、先端部材２０の下部に連結されて先端部材２０を第２方向に沿って案内する。このように中継部材１９に第２スライドレール３２ｂを備えることで、中継部材１９が、先端部材２０を第２方向に沿ってスライド移動自在に支持している。 The first slide rail 32a is provided at the lower part of the base member 18, and the first slide rail 32a is connected to the lower part of the relay member 19 to guide the relay member 19 along the second direction. Thus, by providing the base member 18 with the first slide rail 32a, the base member 18 supports the relay member 19 so as to be slidable along the second direction.
The second slide rail 32b is provided at the lower part of the relay member 19, and the second slide rail 32b is connected to the lower part of the tip member 20 to guide the tip member 20 along the second direction. Thus, by providing the relay member 19 with the second slide rail 32b, the relay member 19 supports the tip member 20 so as to be slidable along the second direction.

第１スライドレール３２ａ及び第２スライドレール３２ｂの夫々は、内レール３４、外レール３５、及び、これら内レール３４と外レール３５との間に保持部材（図示せず）で保持された数個のボール３６、を備えて構成されている。内レール３４及び外レール３５の夫々は、板状の部材を断面形状がＣ字状となるように屈曲形成されている。 Each of the first slide rail 32a and the second slide rail 32b includes an inner rail 34, an outer rail 35, and several pieces held by a holding member (not shown) between the inner rail 34 and the outer rail 35. Ball 36. Each of the inner rail 34 and the outer rail 35 is formed by bending a plate-like member so that the cross-sectional shape is C-shaped.

基部部材１８には、案内部材３１に係合する基部被係合部１８ａが備えられている。基部部材１８の上部は、第１方向で内方側に向けて屈曲されて上端部が下方に向くＣ字状に形成されている。基部被係合部１８ａは、基部部材１８の上端部にて形成されている。
中継部材１９には、案内部材３１に係合する中継被係合部１９ａが備えられている。中継部材１９の上部は第１方向の両側に膨出する形状に形成されており、中継被係合部１９ａは、中継部材１９の上端部にて形成されている。
先端部材２０には、案内部材３１に係合する先端被係合部２０ａが備えられている。先端部材２０の上部は、第１方向で外方側に向けて屈曲されて上端部が下方に向くＣ字状に形成されている。先端被係合部２０ａは、先端部材２０の上端部にてが形成されている。 The base member 18 includes a base engaged portion 18 a that engages with the guide member 31. The upper portion of the base member 18 is formed in a C-shape that is bent inward in the first direction and the upper end portion is directed downward. The base engaged portion 18 a is formed at the upper end of the base member 18.
The relay member 19 includes a relay engaged portion 19 a that engages with the guide member 31. The upper portion of the relay member 19 is formed in a shape that bulges on both sides in the first direction, and the relay engaged portion 19 a is formed at the upper end portion of the relay member 19.
The tip member 20 is provided with a tip engaged portion 20 a that engages with the guide member 31. The upper portion of the tip member 20 is formed in a C shape that is bent outward in the first direction and the upper end portion is directed downward. The tip engaged portion 20 a is formed at the upper end portion of the tip member 20.

基部被係合部１８ａは、第２方向で基部部材１８の全長に亘って形成されており、基部被係合部１８ａの突出側の端部は基部部材１８の突出側の端部と第２方向で同じ位置に位置する。また、先端被係合部２０ａは、第２方向で先端部材２０の全長に亘って形成されており、先端被係合部２０ａの引退側の端部は先端部材２０の引退側の端部と第２方向で同じ位置に位置する。
そのため、突出状態では、先端被係合部２０ａの引退側の端部が基部被係合部１８ａの突出側の端部より突出側に位置している。 The base engaged portion 18a is formed over the entire length of the base member 18 in the second direction, and the protruding end of the base engaged portion 18a is connected to the protruding end of the base member 18 and the second end. Located in the same position in the direction. Further, the tip engaged portion 20a is formed over the entire length of the tip member 20 in the second direction, and the end of the tip engaged portion 20a on the retracting side is the end of the tip member 20 on the retracting side. Located at the same position in the second direction.
Therefore, in the projecting state, the end portion on the retraction side of the tip engaged portion 20a is located on the projecting side from the projecting end portion of the base engaged portion 18a.

案内部材３１は、第２方向視での形状が上下方向の幅より第２方向の幅が広い矩形状に形成されており、樹脂材にて構成されている。具体的には、案内部材３１としては、耐摩耗性を考慮して超高分子ポリエチレン等が用いられる。
案内部材３１は、案内部材３１の下部に位置して中継部材１９の中継被係合部１９ａが下方から係合する中継部材用係合部３９と、案内部材３１の上部に位置して基部部材１８の基部被係合部１８ａが上方から係合する基部部材用係合部３８と、案内部材３１の上部に位置して先端部材２０の先端被係合部２０ａが上方から係合する先端部材用係合部４０と、を第２方向に延びる状態で備えている。これら基部被係合部１８ａ及び先端被係合部２０ａの夫々は、案内部材３１に下方に凹入する溝状に形成されており、中継被係合部１９ａは、案内部材３１に上方に凹入する溝状に形成されている。 The guide member 31 is formed in a rectangular shape whose shape in the second direction is wider in the second direction than in the vertical direction, and is made of a resin material. Specifically, as the guide member 31, ultrahigh molecular weight polyethylene or the like is used in consideration of wear resistance.
The guide member 31 is located at the lower part of the guide member 31 and the relay member engaging part 39a to which the relay engaged part 19a of the relay member 19 is engaged from below. The guide member 31 is located at the upper part of the guide member 31 and is a base member. The base member engaging portion 38 with which the 18 base engaged portions 18a are engaged from above, and the tip member with which the tip engaged portion 20a of the tip member 20 is engaged with the guide member 31 from above. Engaging portion 40 in a state extending in the second direction. Each of the base engaged portion 18a and the tip engaged portion 20a is formed in a groove shape that is recessed downward in the guide member 31, and the relay engaged portion 19a is recessed upward in the guide member 31. It is formed in a groove shape.

基部被係合部１８ａが、案内部材３１の基部部材用係合部３８に第２方向に摺動自在に係合している。
案内部材３１は、中継被係合部１９ａが中継部材用係合部３９に係合させた状態で複数のネジにより中継部材１９に固定されている。そして、案内部材３１が基部部材用係合部３８により移載方向に摺動自在に案内されることで、中継部材１９が移載方向に案内される。
先端被係合部２０ａが、案内部材３１の先端部材用係合部４０に第２方向に摺動自在に係合することで、先端部材２０が、第２方向に摺動自在に案内部材３１に係合している。 The base engaged portion 18a engages with the base member engaging portion 38 of the guide member 31 so as to be slidable in the second direction.
The guide member 31 is fixed to the relay member 19 with a plurality of screws in a state where the relay engaged portion 19a is engaged with the relay member engaging portion 39. The relay member 19 is guided in the transfer direction by the guide member 31 being slidably guided in the transfer direction by the base member engaging portion 38.
The tip engaged portion 20a engages with the tip member engaging portion 40 of the guide member 31 so as to be slidable in the second direction, so that the tip member 20 is slidable in the second direction. Is engaged.

図４に示すように、案内部材３１の長さが、中継部材１９の第２方向での長さより短い。また、案内部材３１の長さ（先端部材用係合部４０の突出側の端部から基部部材用係合部３８の引退側の端部までの長さ）は、スライド装置１５が突出状態であるときの移載方向での基部部材１８の突出側の端部（基部被係合部１８ａの突出側の端部）と先端部材２０の引退側の端部（先端被係合部２０ａの引退側端部）との離間距離より長い。
そして、案内部材３１は、中継部材１９の第２方向の幅内に収まる状態で中継部材１９に固定されており、スライド装置１５が引退状態であるときはもとより、スライド装置１５が突出状態であるときも、案内部材３１は基部部材１８及び先端部材２０に係合しており、スライド装置１５が出退したとしても係合が維持されている。 As shown in FIG. 4, the length of the guide member 31 is shorter than the length of the relay member 19 in the second direction. Further, the length of the guide member 31 (the length from the protruding end portion of the distal end member engaging portion 40 to the retracting end portion of the base member engaging portion 38) is such that the slide device 15 is in the protruding state. The protruding end of the base member 18 (the protruding end of the base engaged portion 18a) and the retracting end of the distal end member 20 (retraction of the distal engaged portion 20a) in a certain transfer direction. Longer than the distance from the side edge).
The guide member 31 is fixed to the relay member 19 so as to be within the width of the relay member 19 in the second direction, and the slide device 15 is in a protruding state as well as when the slide device 15 is in the retracted state. Even at this time, the guide member 31 is engaged with the base member 18 and the tip member 20, and the engagement is maintained even if the slide device 15 is withdrawn.

このように、スライド装置１５の上部においては、案内部材３１による摺動によって中継部材１９及び先端部材２０を第２方向に案内する構成とすることで、スライド装置１５の上部における中継部材１９や先端部材２０を案内する構成の簡素化が図られている。
また、スライド装置１５の下部においては、第１スライドレール３２ａ及び第２スライドレール３２ｂによって中継部材１９及び先端部材２０を第２方向に移動自在に案内支持することで、スライド装置１５の下部における中継部材１９や先端部材２０を案内及び支持する構成の簡素化が図られている。 Thus, in the upper part of the slide device 15, the relay member 19 and the tip member 20 are guided in the second direction by sliding with the guide member 31, so that the relay member 19 and the tip in the upper part of the slide device 15 are configured. The structure for guiding the member 20 is simplified.
In the lower part of the slide device 15, the relay member 19 and the tip member 20 are guided and supported by the first slide rail 32 a and the second slide rail 32 b so as to be movable in the second direction, so that the relay in the lower part of the slide device 15 is performed. The structure for guiding and supporting the member 19 and the tip member 20 is simplified.

〔別実施形態〕 [Another embodiment]

（１）上記実施形態では、案内部材３１をスライド装置１５の上部に備えたが、案内部材３１をスライド装置１５の下部に備えてもよく、案内部材３１をスライド装置１５の上部と下部との双方に備えてもよい。尚、案内部材３１をスライド装置１５の下部に備える場合の具体例としては、例えば、案内部材３１を中継部材１９の下端部に固定し、基部部材１８の下端部及び先端部材２０の下端部を案内部材３１に係合させる。
また、上記実施形態では、案内支持機構３２（第１スライドレール３２ａ及び第２スライドレール３２ｂ）をスライド装置１５の下部に備えたが、案内支持機構３２をスライド装置１５の下部や上下中央部に備えてもよい。 (1) In the above embodiment, the guide member 31 is provided on the upper portion of the slide device 15. However, the guide member 31 may be provided on the lower portion of the slide device 15. You may prepare for both. As a specific example when the guide member 31 is provided in the lower part of the slide device 15, for example, the guide member 31 is fixed to the lower end portion of the relay member 19, and the lower end portion of the base member 18 and the lower end portion of the tip member 20 are provided. The guide member 31 is engaged.
In the above-described embodiment, the guide support mechanism 32 (the first slide rail 32a and the second slide rail 32b) is provided at the lower part of the slide device 15. However, the guide support mechanism 32 is provided at the lower part of the slide device 15 and at the upper and lower central part. You may prepare.

（２）上記実施形態では、基部部材１８と中継部材１９と先端部材２０とを第１方向に並ぶ状態で備えて、物品移載装置２Ｂにスライド装置１５を縦姿勢で備えたが、基部部材１８と中継部材１９と先端部材２０とを上下方向に並ぶ状態で備えて、物品移載装置２Ｂにスライド装置１５を横姿勢で備えてもよい。
また、上記実施形態では、物品移載装置２Ｂにスライド装置１５を第１方向に並ぶ状態で一対備えたが、物品移載装置２Ｂに単一のスライド装置１５のみ備えてもよい。 (2) In the above embodiment, the base member 18, the relay member 19, and the tip member 20 are provided in a state aligned in the first direction, and the slide device 15 is provided in the article transfer device 2B in a vertical posture. 18, the relay member 19, and the tip member 20 may be provided in a state in which they are arranged in the vertical direction, and the slide device 15 may be provided in a lateral position on the article transfer device 2 </ b> B.
In the above embodiment, the article transfer device 2B is provided with a pair of slide devices 15 arranged in the first direction. However, the article transfer device 2B may be provided with only a single slide device 15.

（３）上記実施形態では、基部部材１８の基部被係合部１８ａを案内部材３１の上部に上方から係合し、中継部材１９の中継被係合部１９ａを案内部材３１の下部に下方から係合し、先端部材２０の先端被係合部２０ａを案内部材３１の上部に上方から係合したが、案内部材３１における基部被係合部１８ａ、中継被係合部１９ａ及び先端被係合部２０ａが係合する位置、及び、案内部材３１に対して基部被係合部１８ａ、中継被係合部１９ａ及び先端被係合部２０ａが係合する方向については適宜変更してもよい。
具体的には、例えば、基部部材１８の基部被係合部１８ａを案内部材３１の上下中央部に第１方向の内方側から係合し、先端部材２０の先端被係合部２０ａを案内部材３１の上下中央部に第１方向の外方側から係合してもよい。また、中継部材１９を案内部材３１に係合させることなく中継部材１９を案内部材３１に固定させてもよい。
そして、基部被係合部１８ａや先端被係合部２０ａの案内部材３１に対する係合が外れない又は外れ難くするために、基部被係合部１８ａや先端被係合部２０ａの形状を、中継部材１９の中継被係合部１９ａの形状と同様に上下方向に膨出する形状に形成してもよい。尚、このように基部被係合部１８ａや先端被係合部２０ａを形成した場合でも、基部被係合部１８ａや先端被係合部２０ａは案内部材３１に対して摺動自在に構成する。 (3) In the above embodiment, the base engaged portion 18 a of the base member 18 is engaged with the upper portion of the guide member 31 from above, and the relay engaged portion 19 a of the relay member 19 is engaged with the lower portion of the guide member 31 from below. The tip engaged portion 20a of the tip member 20 is engaged with the upper portion of the guide member 31 from above, but the base engaged portion 18a, the relay engaged portion 19a, and the tip engaged portion in the guide member 31 are engaged. The position where the portion 20a engages and the direction in which the base engaged portion 18a, the relay engaged portion 19a, and the tip engaged portion 20a engage with the guide member 31 may be changed as appropriate.
Specifically, for example, the base engaged portion 18a of the base member 18 is engaged with the upper and lower central portions of the guide member 31 from the inner side in the first direction, and the distal engaged portion 20a of the distal end member 20 is guided. You may engage the upper-lower center part of the member 31 from the outer side of a 1st direction. Further, the relay member 19 may be fixed to the guide member 31 without engaging the relay member 19 with the guide member 31.
Then, in order to prevent the base engaged portion 18a and the tip engaged portion 20a from engaging with the guide member 31, or to make it difficult to release, the shapes of the base engaged portion 18a and the tip engaged portion 20a are relayed. Similarly to the shape of the relay engaged portion 19a of the member 19, it may be formed in a shape that swells in the vertical direction. Even when the base engaged portion 18a and the tip engaged portion 20a are formed in this way, the base engaged portion 18a and the tip engaged portion 20a are configured to be slidable with respect to the guide member 31. .

（４）上記実施形態では、基部部材用係合部３８の形状について、案内部材３１に凹入して形成された溝状に形成したが、基部部材用係合部３８を、案内部材３１から突出して形成された突起状に形成してもよい。また、同様に、中継部材用係合部３９を案内部材３１から突出して形成された突起状に形成してもよく、先端部材用係合部４０を案内部材３１から突出して形成された突起状に形成してもよい。 (4) In the above embodiment, the shape of the base member engaging portion 38 is formed in a groove shape recessed into the guide member 31, but the base member engaging portion 38 is formed from the guide member 31. You may form in the shape of the protrusion formed. Similarly, the relay member engaging portion 39 may be formed in a protruding shape protruding from the guide member 31, and the tip member engaging portion 40 is protruded from the guiding member 31. You may form in.

（５）上記実施形態では、案内支持機構３２を、スライドレールにて構成したが、案内支持機構３２の構成は、支持及び案内する構成であればよく、案内支持機構３２を、ガイドレールとガイドローラにて構成する等、案内支持機構３２の構成は適宜変更してもよい。 (5) In the above-described embodiment, the guide support mechanism 32 is configured by a slide rail. However, the guide support mechanism 32 may be configured to support and guide, and the guide support mechanism 32 may be configured as a guide rail and a guide. The configuration of the guide support mechanism 32, such as a roller, may be changed as appropriate.

（６）上記実施形態では、スライド装置１５を、基部部材１８と中継部材１９と先端部材２０とで３段式に構成したが、スライド装置１５は４段式以上でもよい。
具体的には、例えば、基部部材１８と中継部材１９と先端部材２０とに加えて、先端部材２０にて移載方向にスライド移動自在に支持された第２先端部材を備えて、４段式のスライド装置１５を構成してもよい。この場合、案内部材３１に加えて、先端部材２０に固定されて第２先端部材が移載方向に摺動自在に係合する第２案内部材を備えてもよい。
また、例えば、基部部材１８と中継部材１９と先端部材２０とに加えて、基部部材１８を移載方向にスライド移動自在に支持する第２基部部材を備えて、４段式のスライド装置１５を構成してもよい。この場合、案内部材３１に加えて、第２基部部材に固定されて基部部材１８が移載方向に摺動自在に係合する第３案内部材を備えてもよい。 (6) In the above embodiment, the slide device 15 is configured in a three-stage manner with the base member 18, the relay member 19, and the tip member 20, but the slide device 15 may be a four-stage or more.
Specifically, for example, in addition to the base member 18, the relay member 19, and the tip member 20, a second tip member supported by the tip member 20 so as to be slidable in the transfer direction is provided. The slide device 15 may be configured. In this case, in addition to the guide member 31, a second guide member fixed to the tip member 20 and slidably engaged with the second tip member in the transfer direction may be provided.
Further, for example, in addition to the base member 18, the relay member 19, and the tip member 20, a second base member that slidably supports the base member 18 in the transfer direction is provided, and the four-stage slide device 15 is provided. It may be configured. In this case, in addition to the guide member 31, a third guide member fixed to the second base member and engaged with the base member 18 slidably in the transfer direction may be provided.

（７）上記実施形態では、案内部材を樹脂材にて構成したが、案内部材の材質は適宜変更してもよく、例えば、中継部材で直接に基部部材や先端部材を摺動案内した場合よりも円滑に摺動するように中継部材より摩擦係数が低い材質で案内部材を構成する等、案内部材の材質は、基部部材や先端部材との摺動が円滑に行える材質であればよい。 (7) In the above embodiment, the guide member is made of a resin material. However, the material of the guide member may be changed as appropriate, for example, when the base member and the tip member are directly slid and guided by the relay member. Alternatively, the guide member may be made of a material that can slide smoothly with the base member or the tip member, such as a guide member made of a material having a lower friction coefficient than the relay member so as to slide smoothly.

２Ｂ物品移載装置
１５スライド装置
１８基部部材
１８ａ基部被係合部
１９中継部材
２０先端部材
２０ａ先端被係合部
２２出退用モータ（駆動装置）
３１案内部材
３２ａ第１スライドレール
３２ｂ第２スライドレール
３８基部部材用係合部
３９中継部材用係合部
４０先端部材用係合部
Ｗ物品 2B article transfer device 15 slide device 18 base member 18a base engaged portion 19 relay member 20 tip member 20a tip engaged portion 22 exit / retreat motor (drive device)
31 Guide member 32a First slide rail 32b Second slide rail 38 Engagement part for base member 39 Engagement part for relay member 40 Engagement part for tip member W Article

Claims

An article transfer device provided with a slide device for moving an article along a transfer direction,
The slide device includes a tip member, a relay member that supports the tip member in a slidable manner along the transfer direction, and a base member that supports the relay member in a slidable manner along the transfer direction. A drive device that switches between a retracted state in which the relay member and the tip member are slid to retract the slide device in the transfer direction and a protruded state in which the slide device protrudes in the transfer direction; and A base member engaging portion fixed to the relay member and extending in the transfer direction and a tip member engaging portion are formed, and
The base member is engaged with the base member engaging portion,
The relay member is guided in the transfer direction by the guide member being slidably guided in the transfer direction by the base member engaging portion,
The article transfer device, wherein the tip member engages with the tip member engaging portion and is guided by the guide member to be slidable in the transfer direction.

The base member includes a base engaged portion that engages with the base member engaging portion,
The tip member is provided with a tip engaged portion that engages with the tip member engaging portion,
The protruding state is such that the end portion on the retraction side of the tip engaged portion is located on the protruding side from the protruding side end portion of the base engaged portion,
The length of the guide member is shorter than the length in the transfer direction of the relay member,
The length of the guide member from the projecting end of the distal end member engaging portion to the retracting end of the base member engaging portion is the shift when the slide device is in the projecting state. It is longer than the separation distance between the protruding end of the base engaged portion and the retracting end of the tip engaged portion in the mounting direction,
The article transfer device according to claim 1, wherein the guide member is fixed to the relay member so as to be within a width of the relay member in the transfer direction.

A pair of the slide devices are juxtaposed in a state in which the slide devices are spaced apart in a lateral direction perpendicular to the transfer direction in plan view,
3. The article transfer device according to claim 1, wherein each of the pair of slide devices includes the base member, the relay member, and the tip member aligned in the lateral width direction.

The base member engaging portion is formed in a shape in which the upper end portion of the base member is engaged from above and located on the upper portion of the guide member,
The article transfer device according to claim 3, wherein the tip member engaging portion is formed in a shape such that the tip member is positioned above the guide member and an upper end portion of the tip member is engaged from above.

The guide member is connected to the upper end of the relay member,
The upper end of the base member is engaged with the base member engaging portion in a state in which movement in the lateral width direction with respect to the guide member is restricted,
The upper end portion of the tip member is engaged with the tip member engaging portion in a state where movement in the lateral width direction with respect to the guide member is restricted,
A first slide rail connected to a lower portion of the relay member and guiding the relay member along the transfer direction is provided at a lower portion of the base member;
The article transfer device according to claim 3 or 4, wherein a second slide rail connected to a lower portion of the tip member and guiding the tip member along the transfer direction is provided at a lower portion of the relay member.