阅读说明：本技术 搬运装置、以及搬运系统 (Conveying device and conveying system ) 是由 角口谦治 于 2019-01-30 设计创作，主要内容包括：搬运装置(101)具备：台车(111),其沿着规定的行驶路径行驶；移载机构(112),其设置于台车(111),在设定于行驶路径中的移载空间(110)移载物品；第一可动件(113),其是以沿行驶方向延伸的状态安装于台车(111)的棒状的部件,且通过磁作用来动作而驱动移载机构(112)；以及第一固定件(114),其是相对于行驶路径固定配置的且一部分被切缺的环状的部件,在台车(111)的一部分位于移载空间(110)外的状况下,通过磁作用使第一可动件(113)动作。(A conveying device (101) is provided with: a carriage (111) that travels along a predetermined travel path; a transfer mechanism (112) which is provided on the trolley (111) and transfers articles in a transfer space (110) set in the travel path; a first movable element (113) which is a rod-shaped member attached to the carriage (111) in a state of extending in the traveling direction and which is operated by a magnetic action to drive the transfer mechanism (112); and a first fixed member (114) which is an annular member that is fixedly disposed with respect to the travel path and has a portion thereof cut out, and which operates the first movable member (113) by magnetic action in a state where a portion of the carriage (111) is positioned outside the transfer space (110).)

1. A conveying device is characterized by comprising:

a carriage that travels along a predetermined travel path;

a transfer mechanism provided on the carriage for transferring an article in a transfer space set in the travel path;

a first movable element that is a rod-shaped member attached to the carriage in a state of extending in a traveling direction of the carriage, and that is operated by a magnetic action to drive the transfer mechanism; and

and a first fixed member which is an annular member that is fixedly disposed on the travel path and partially cut out, and which operates the first movable member by a magnetic action in a state where a part of the carriage is positioned outside the transfer space.

2. Handling device according to claim 1,

the first fixed member moves the first movable member by a magnetic action in a state where the carriage is entirely located in the transfer space.

3. Handling device according to claim 1 or 2,

the first fixing member is disposed at least one of one end portion and the other end portion in the transfer space in the traveling direction.

4. Handling device according to claim 1 or 2,

the transfer space further includes an additional first fixed member which is an annular member that is fixedly disposed on the travel path and partially cut away, and which is magnetically actuated to actuate the first movable member,

the first fixing member is disposed in at least one of a vicinity of an outer side of one end portion and a vicinity of an outer side of the other end portion of the transfer space in the traveling direction.

5. The conveyance device according to any one of claims 1 to 4, comprising:

a second fixed member disposed continuously or discretely along the travel path; and

and a second movable element that is attached to the carriage and moves by a magnetic action from the second fixed element to cause the carriage to travel along the travel path.

6. The carrying device according to any one of claims 1 to 5,

before the transfer mechanism receives an article in the transfer space, the absolute value of the acceleration of the transfer mechanism by the first movable member operated by receiving the magnetic action from the first fixed member is larger than the absolute value of the deceleration of the transfer mechanism decelerated after receiving the article.

7. A conveying system is characterized by comprising:

a conveying device according to any one of claims 1 to 6; and

and a carrying-in device for carrying the article into the transfer space in a direction intersecting the travel path.

8. Handling system according to claim 7,

the loading device is configured in a loading direction orthogonal to the traveling path,

the transfer mechanism is a conveyor that moves the article in a direction orthogonal to a traveling direction of the carriage.

Technical Field

The present invention relates to a conveying device and a conveying system in which a carriage having a transfer mechanism travels along a conveying path.

Background

Conventionally, a conveying apparatus has been disclosed which uses a primary linear motor to circulate a plurality of carriages, such as slats and pallets, along a travel path independently and to convey an article transferred on the carriage (see, for example, patent document 1).

Patent document 1 Japanese patent application laid-open No. 5-328535

In patent document 1, it is unclear how to transfer the article to the carriage. In general, it is conceivable to move the transfer device to carry the article into the carriage after the carriage is stopped in the transfer space.

Disclosure of Invention

The present invention has been made in view of the conventional art, and an object thereof is to provide a conveying device and a conveying system capable of efficiently transferring an article from a loading device to a carriage.

In order to achieve the above object, a conveying apparatus according to one aspect of the present invention includes: a carriage that travels along a predetermined travel path; a transfer mechanism provided on the carriage for transferring an article in a transfer space set in the travel path; a first movable element that is a rod-shaped member attached to the carriage in a state of extending in a traveling direction of the carriage, and that is operated by a magnetic action to drive the transfer mechanism; and a first fixed member which is an annular member that is fixedly disposed on the travel path and partially cut out, and which operates the first movable member by a magnetic action in a state where a part of the carriage is located outside the transfer space.

The above-described situation is a first situation before the carriage is accommodated in the transfer space before the article is transferred to the carriage, or a second situation before the carriage is separated from the transfer space after the article is transferred to the carriage. The first fixed member can be operated with respect to the first movable member in the first state and/or the second state, and the speed of the transfer mechanism is controlled. This realizes at least either an operation of accelerating the carriage mechanism in the first condition or decelerating the carriage mechanism in the second condition. According to the former operation, the transfer mechanism can be brought into the state of receiving the article at an early stage when the carriage arrives at the transfer space or after the arrival, and the article can be transferred at an early stage. According to the latter operation, the transfer mechanism can be decelerated while the carriage on which the article is transferred is retracted from the transfer space. That is, the carriage can be retracted from the transfer space at an early stage after the transfer of the article. Therefore, the conveying efficiency of the conveying device can be improved.

In addition, the first fixed member may be configured to operate the first movable member by a magnetic action in a state where all of the carriages are positioned in the transfer space.

Thus, the first fixed member can be operated to drive the transfer mechanism to receive the article not only in the preparation stage of the transfer mechanism but also in the stage of transferring the article.

Further, the first fixing member may be disposed at least one of one end portion and the other end portion in the transfer space in the traveling direction.

In the above-described configuration, when the first fixture is disposed at the end portion of the side where the carriage first passes in the transfer space, the first fixture can operate the first movable member from the initial stage when the carriage enters the transfer space, and the preparation of the transfer mechanism can be started early. On the other hand, in the case where the first fixture is disposed at the end portion of the side through which the carriage passes last in the transfer space, the first fixture can operate the first movable member until the carriage is completely separated from the transfer space. Thus, the carriage can be withdrawn from the transfer space at an early stage after the transfer of the article is completed.

The transfer space may further include an additional first fixture that is an annular member that is disposed in a fixed manner with respect to the travel path and that is partially cut out, and the first movable member may be operated by a magnetic action, wherein the first fixture is disposed in at least one of a vicinity of an outer side of one end portion and a vicinity of an outer side of the other end portion of the transfer space in the travel direction.

This enables the transfer mechanism to start preparation for operation when the entire carriage is located outside the transfer space, thereby further improving the conveyance efficiency.

Further, the present invention may further include: a second fixed member disposed continuously or discretely along the travel path; and a second movable element that is attached to the carriage and moves by a magnetic action from the second stationary element to cause the carriage to travel along the travel path.

This allows the carriage to smoothly travel, and thus can suppress vibration of the article transferred to the carriage.

Further, before the transfer means receives the article in the transfer space, an absolute value of an acceleration of the transfer means by the first movable member operated by receiving a magnetic action from the first fixed member may be larger than an absolute value of a deceleration decelerated after the transfer means receives the article.

This makes it possible to complete the preparation for operation of the transfer means at an early stage and to transfer the article received by the transfer means to the holding position in a stable state.

In order to achieve the above object, a conveyance system according to another aspect of the present invention includes: the above-mentioned handling device; and a carrying-in device for carrying the article into the transfer space in a direction intersecting the traveling path.

This enables the transfer mechanism to start preparation for operation before the carriage reaches the transfer space. The transfer mechanism can be brought into a state of receiving the article when the carriage reaches the transfer space, and the article can be carried in by the carry-in device and transferred to the carriage at an early stage. Therefore, the conveying efficiency of the conveying system can be improved. Further, since the transfer mechanism can be decelerated at the stage when the carriage is separated from the transfer space, the conveyance efficiency may be further improved.

The loading device may be disposed such that a loading direction is orthogonal to the travel path, and the transfer means may be a conveyor that moves the article in a direction orthogonal to the travel direction of the carriage.

This makes it possible to reduce the installation area of the entire conveyance system.

According to the conveying device and the conveying system of the present invention, the conveying efficiency of the article can be improved.

Drawings

Fig. 1 is a perspective view showing a conveyance system according to an embodiment.

Fig. 2 is a diagram showing a carriage of the conveying device according to the embodiment from a traveling direction.

Fig. 3 is a perspective view of the first movable element and the first fixed element, which omits a transfer mechanism, a base, and the like and shows a state in which the carriage is entering the transfer space.

Fig. 4 is a perspective view of the first movable element and the first fixed element, in which the transfer mechanism, the base, and the like are omitted, showing a state in which the carriage is stopped in the transfer space.

Fig. 5 is a timing chart showing operations of the carriage and the transfer mechanism.

Fig. 6 is a perspective view showing the first movable element and the first fixed element according to another embodiment, with the transfer mechanism, the base, and the like omitted.

Fig. 7 is a perspective view showing the first movable element and the first fixed element according to another embodiment, with the transfer mechanism, the base, and the like omitted.

Detailed Description

Next, an embodiment of a conveying device and a conveying system according to the present invention will be described with reference to the drawings. The embodiments described below are all illustrative examples in general or specific. The numerical values, shapes, materials, constituent elements, arrangement positions and connection forms of the constituent elements, steps, order of the steps, and the like shown in the following embodiments are examples, and do not limit the gist of the present invention. Among the components of the following embodiments, those described in independent claims not representing the highest concept will be described as arbitrary components.

The drawings are schematic drawings in which appropriate emphasis, omission, and adjustment of the proportion are performed in order to show the present invention, and may be different from the actual shape, positional relationship, and proportion.

Fig. 1 is a perspective view showing a conveyance system. Fig. 2 is a view showing a carriage of the conveying device from the traveling direction.

As shown in these figures, the transport system 100 transports the held article 200 along a transport path (for example, a part of a racetrack-shaped transport path shown in fig. 1) and is a system for transferring the article 200 in a predetermined transfer space 110, and is a system including a transport device 101 and a loading device 102, wherein the transport device 101 includes a cart 111, and the loading device 102 loads the article 200 into the predetermined transfer space 110. The transfer space 110 is a virtual space indicating a position where the carriage 111 stops to receive the article 200 from the loading device 102, and is a virtual area of a cube having a minimum volume including the carriage 111 and all components that move along with the travel of the carriage 111.

The loading device 102 is a device that loads the article 200 into the carriage 111 disposed in the transfer space 110 in a direction intersecting the travel path. The type of the loading device 102 is not particularly limited, and in the case of the present embodiment, a conveyor belt is used. The loading device 102 can wait for the article 200 at a position upstream of the article 200 in the flow direction, accelerate the article 200 to a predetermined speed based on information that the carriage 111 has reached the transfer space 110, and load the article 200 into the carriage 111 in the transfer space 110.

In the case of the present embodiment, the loading device 102 is disposed so that the loading direction is orthogonal to the travel path of the conveying device 101, and the installation space of the entire conveying system 100 is reduced in size.

In the case of the present embodiment, the conveying apparatus 101 is an apparatus for causing the plurality of carriages 111 to travel along the travel rail 117 forming the conveying path by the linear motor, and includes the carriages 111, the transfer mechanism 112 attached to the carriages 111, the second movable element 115, and the first fixed element 114 and the second fixed element 116 disposed in the conveying path.

The travel rail 117 is a member for forming a conveyance path along which the carriage 111 travels. The shape and the like of the travel rail 117 are not particularly limited, and in the case of the present embodiment, the two elongated members are made of, for example, metal such as aluminum or aluminum alloy. The travel rail 117 may be made of other metal or resin. In the present embodiment, although a part of the travel rail 117 is omitted in fig. 1, the travel rail is formed of two parallel members each having an elongated circular shape and a rectangular cross section.

The carriage 111 travels along a travel path formed by the travel rail 117. The driving source for running the carriage 111 is not particularly limited, and in the present embodiment, a linear motor that does not include a battery or an electric motor and obtains a driving force in the running direction by an external magnetic action is used as the carriage 111. Specifically, the carriage 111 includes a second mover 115 having a permanent magnet, and the second mover 115 generates a force in the traveling direction by a magnetic action from a second stator 116 disposed continuously or discretely along the traveling path of the carriage 111, thereby causing the carriage 111 to travel along the traveling path.

The second fixing tool 116 is disposed entirely along a predetermined conveyance path. Specifically, the second fixing member 116 is a plurality of coils arranged in a row on an elongated plate member provided along a predetermined conveying path. That is, substantially, the plurality of coils function as the second fixing member 116. The plurality of coils constituting the second stator 116 are independently controlled by a controller, not shown, to generate magnetic fields independently. In this way, the second fixed units 116 are independently controlled by the controller, and the plurality of carriages 111 can be caused to travel on the travel rail 117.

The second movable element 115 is formed of, for example, a plurality of permanent magnets. The plurality of permanent magnets constituting the second mover 115 are arranged in the traveling direction with respect to the carriage 111. The plurality of permanent magnets of the second mover 115 are disposed with the second stator 116 interposed therebetween (see fig. 2). That is, the permanent magnets of the second mover 115 are arranged in the traveling direction on both sides of the second stator 116. The plurality of permanent magnets arranged on one side of the second stator 116 are arranged such that N poles and S poles alternately face the side facing the second stator 116, and the permanent magnets arranged on the other side are arranged such that the arrangement of N poles and S poles is different from that on one side. The second mover 115 is not limited to two rows of permanent magnets, and may be formed of one row of permanent magnets. The carriage 111 includes a base 119 serving as a structural base. The base 119 is attached with a transfer mechanism 112 and a first movable element 113 in addition to the second movable element 115. Further, wheels 118 that are placed on and rolled on the running rails 117 are mounted on the lower portion of the base 119 of the carriage 111.

The transfer mechanism 112 is provided on the carriage 111, receives the article 200 from the loading device 102 in the transfer space 110 set in the travel path, and moves the article to a predetermined place in the carriage 111, and is a mechanism that moves the article 200 conveyed by the carriage 111 to a carrying-out device (not shown). The type of the transfer mechanism 112 is not particularly limited, and in the present embodiment, the transfer mechanism 112 is a so-called conveyor capable of moving an article in a direction orthogonal to the traveling direction of the carriage 111. The transfer mechanism 112 includes an endless ring member 121 that moves the article 200 in a state in which the article is placed, a pair of rollers 122 that circulate the endless ring member 121 along a predetermined track, and a transmission member 123 that transmits a driving force from the first movable element 113 to one of the rollers 122.

The endless annular member 121 may be exemplified by an annular rubber belt, a member formed by annularly connecting plate-like members, and the like. The endless ring member 121 is a member tensioned by a pair of rollers 122, and can be circulated in the forward and reverse directions on a predetermined trajectory by rotating the rollers 122.

The roller 122 is a cylindrical or columnar member that is attached to the base 119 and is rotatable around its axis, and holds the endless annular member 121 in a circulating manner.

The transmission member 123 is a member that transmits the driving force generated by the first movable element 113 as the rotation of the roller 122. The type of the transmission member 123 is not particularly limited, and a gear, a transmission shaft, a combination of these, and the like can be exemplified.

The transfer mechanism 112 is not limited to the above, and may be a roller conveyor or the like that does not include the endless annular member 121, for example.

Fig. 3 and 4 are perspective views showing the first movable element and the first fixed element, with the transfer mechanism, the base, and the like omitted.

As shown in these figures, the first movable element 113 is a round bar-shaped member attached to the base 119 of the carriage 111 in a state of extending in the traveling direction of the carriage 111, and is a member that drives the transfer mechanism 112 by magnetic action. The first movable element 113 is a member that receives magnetic force generated by magnetic action from the first fixed element 114 and performs a rotational operation, and a plurality of permanent magnets are installed in the circumferential direction such that N poles and S poles are alternately arranged in the circumferential direction. Specifically, for example, the first movable member 113 has the same structure and function as the rotor of the brushless motor.

The length of the first movable element 113 in the traveling direction of the carriage 111 is longer than the length required to obtain power from the first fixed element 114 of a magnitude that can drive the transfer mechanism 112 that holds the article 200. In the present embodiment, the first movable element 113 has a length substantially equal to the length of the base 119 in the traveling direction of the carriage 111. Here, the length of substantially the same degree is a length obtained by subtracting a length of the base 119 from a length of a bearing or the like for rotatably holding the first movable element 113 with respect to the base 119. Note that the length of the carriage 111 in the traveling direction is the length of the entire member that moves together with the base 119, and when the first movable element 113 protrudes from the base 119, the length of the first movable element 113 may be the length of the carriage 111. The permanent magnet provided on the outer periphery of the first mover 113 is a member in which a plurality of permanent magnets are arranged and fixed over the entire length in the axial direction of the first mover 113, and the first mover 113 is a member in which the permanent magnet magnetically acting on any part in the axial direction is rotatable. That is, even when a part of the carriage 111 is positioned outside the transfer space 110 and a part of the first movable element 113 is positioned in the transfer space 110 as shown in fig. 3, the first movable element 113 can rotate by the magnetic action from the first fixed element 114 and the transfer mechanism 112 can be operated as long as the first movable element 113 overlaps the first fixed element 114 by a predetermined length. In the drawings, a plurality of magnets arranged in the axial direction are described as one body.

The first fixing member 114 is a member fixedly disposed on the travel path, and is a ring-shaped member partially cut out. Even in a state where a part of the carriage 111 is located outside the transfer space 110, the first fixed member 114 can magnetically operate the first movable member 113 if the first movable member 113 having a predetermined length is inserted.

The first stator 114 is an annular member (C-shaped in cross section) having a cross section partially cut away so that the first movable element 113 attached to the carriage 111 can pass therethrough when the carriage 111 travels. The first stator 114 includes a plurality of coils arranged in a circumferential direction such that end surfaces thereof face the circumferential surface of the inserted first movable element 113, and the magnetic field generated by each coil of the first stator 114 is controlled to cause the first movable element 113 to rotate in an arbitrary direction while magnetically acting on the inserted first movable element 113.

The first fixture 114 is disposed at least one of one end and the other end of the transfer space 110 in the traveling direction of the carriage 111, and the inserted first fixture 114 can be rotated even when the carriage 111 enters the transfer space 110 and a part of the carriage 111 is located outside the transfer space 110. In the case of the present embodiment, since the carriage 111 can travel in either of the reciprocating motions (forward and reverse travel), the first anchors 114 are disposed at both ends in the travel direction. The first fixed member 114 can brake the first movable element 113 that is being operated by magnetic action, and can also brake the first movable element 113 of the carriage 111 that is being retracted from the transfer space 110 by magnetic action.

Further, a magnetic force capable of driving the transfer mechanism 112 on which the article 200 is placed can be generated by one first fixing tool 114. That is, as shown in fig. 4, in a state where the entire carriage 111 is located in the transfer space 110, one first movable element 113 is inserted into each of the two first fixed elements 114, but the first movable element 113 can be operated by the magnetic action of the first fixed element 114 to the transfer mechanism 112 that has received the article 200 from the loading device 102, thereby driving the transfer mechanism 112.

Next, the operation of the conveyance system 100 will be described. Fig. 5 is a timing chart showing operations of the carriage and the transfer mechanism.

When the carriage 111 not holding the article 200 is to receive the article 200 in the transfer space 110, the carriage 111 travels toward the transfer space 110 at a predetermined speed (301). Next, in order to stop the carriage 111 in the transfer space 110, the magnetic force generated by the second fixing tool 116 is controlled to decelerate the carriage 111 at a predetermined deceleration (302).

Next, as shown in fig. 3, when the first movable element 113 provided in the carriage 111 is inserted into the first fixed element 114 located on the front side with respect to the carriage 111, the first fixed element 114 is caused to generate a magnetic force to rotate the first movable element 113, thereby accelerating the transfer mechanism 112 (303). The acceleration of the transfer mechanism 112 is adjusted to a speed at which the carriage 111 can receive the article 200 from the loading device 102 when it stops in the transfer space 110. The loading device 102 is set to a speed at which the article 200 can be delivered and received when the carriage 111 stops in the transfer space 110. When the carriage 111 stops in the transfer space 110, the speed of the transfer mechanism 112 and the speed of the loading device 102 match. As a result of the above operation, as shown in fig. 4, when the carriage 111 stops in the transfer space 110, the transfer mechanism 112 reaches a predetermined speed, the preparation for receiving the article 200 is completed, and the loading device 102 moves the article to a position where the article can be immediately delivered to the transfer mechanism 112 of the carriage 111 stopped in the transfer space 110, and delivers the article 200 at the predetermined speed.

Next, when the front end portion of the article 200 is placed, the first fixing tool 114 brakes the rotation of the first movable tool 113 by the magnetic action, and the transfer mechanism 112 is decelerated (304). At this time, one first movable element 113 is inserted into each of the two first fixed elements 114, but the first movable element 113 is rotated by the magnetic action of at least one of the two first fixed elements 114.

Next, when the rear end portion of the article 200 in the carry-in direction is separated from the carry-in device 102 and the article 200 is placed on the transfer mechanism 112, the carriage 111 starts traveling (305). On the other hand, the article 200 is moved to a predetermined position in the transfer mechanism 112 while the deceleration of the transfer mechanism 112 is continued. In the case of the present embodiment, the conveying device 101 is set to: before the transfer mechanism 112 receives the article 200 from the loading device 102 in the transfer space 110, the absolute value of the acceleration of the transfer mechanism 112 due to the first movable element 113 operated by receiving the magnetic action from the first fixed element 114 is larger than the absolute value of the deceleration decelerated after the transfer mechanism 112 receives the article 200. This enables the transfer mechanism 112 to be ready to receive at an early stage.

In addition, when the carriage 111 is accelerating, the first fixed member 114 also brakes the first movable member 113 to decelerate the transfer mechanism 112. This is because the first movable element 113 is also disposed at the end of the carriage 111 in the direction of retreating from the transfer space 110. Therefore, as in the case of the present embodiment, when the carriage 111 enters the transfer space 110 from any direction and the carriage 111 exits from any direction, it is preferable to dispose the first fixing members 114 at both end portions of the transfer space 110 in the traveling direction of the carriage 111.

According to the conveying system 100 of the above embodiment, the carriage 111 not having a driving source for driving the transfer mechanism 112 can operate the transfer mechanism 112 before stopping in the transfer space 110. That is, the transfer mechanism 112 can be brought into the state of receiving the article 200 at an early stage, as compared with the case where the transfer mechanism 112 is operated upon receiving the supply of the driving force after the carriage 111 is stopped. Therefore, transfer of the article 200 can be started immediately after the carriage 111 stops, and the carriage 111 can be stopped for a shorter time to improve the conveyance efficiency.

Further, since the transfer mechanism 112 can be braked by the first fixing tool 114 while the carriage 111 is retracted from the transfer space 110, the carriage 111 can be dispatched while the transfer mechanism 112 receives the article 200 and decelerates the article 200 with respect to the carriage 111. Therefore, even when the carriage 111 is retracted from the transfer space 110, the stop time of the carriage 111 can be shortened, and the conveying efficiency of the conveying device 101 can be improved.

The present invention is not limited to the above embodiments. For example, the constituent elements described in the present specification may be arbitrarily combined, or another embodiment may be realized by removing some of the constituent elements as an embodiment of the present invention. Further, the present invention includes modifications obtained by implementing various modifications to the above-described embodiments, which are conceivable by those skilled in the art, without departing from the gist of the present invention, that is, within the scope of meaning of the language indicated by the claims.

For example, as shown in fig. 6, the first fixture 114 may be located at both ends of the transfer space 110, may extend from one end of the transfer space 110 to the other end, or may extend further beyond the transfer space. In this case, the first movable element 113 may be short in the traveling direction.

As shown in fig. 7, the transfer space 110 may further include a second fixed part 120 that moves the first movable part 113 by magnetic action, and the first fixed part 114 may be disposed in at least one of the vicinity of the outside of one end portion and the vicinity of the outside of the other end portion of the transfer space 110 in the traveling direction of the carriage 111. This enables the transfer mechanism 112 to start operating earlier than in the above embodiment.

In this case, the length of the first fixed part 114 in the traveling direction is shorter than the length required to supply the first movable part 113 with power of a magnitude capable of driving the transfer mechanism 112 holding the article 200. This is because the second fixing tool 120 drives the transfer mechanism 112 after receiving the article 200. The first movable element 113 may be configured not to extend over the entire bogie 111 in the traveling direction but to have a length that overlaps the entire second fixed element 120.

The first fixing member 114 may be provided only at one end of the transfer space 110. When the vehicle travels in either direction, the stop time of the vehicle can be shortened either when the vehicle reaches the transfer space or when the vehicle exits the transfer space.

The carrying-in direction of the article 200 may not be orthogonal to the traveling path of the carriage 111, and may be an angle other than a right angle.

The absolute value of the acceleration of the transfer mechanism 112 may not be larger than the absolute value of the deceleration. For example, these absolute values may also be identical.

In addition, the speeds of the loading device 102 and the transfer mechanism 112 may not be completely matched when transferring the article 200. These speeds may be set to values close to the extent that the article does not turn over.

The structure for running the carriage 111 is not limited to the linear motor, and the driving force for running may be mechanically applied from the outside.

Further, the transfer space 110 may be located at a plurality of positions on the travel route, or the transfer space 110 for carrying out the article 200 may be disposed on the travel route.

The present invention can be used in logistics bases, factories, and the like, where articles need to be efficiently transported.

Description of reference numerals

100 … handling system; 101 … handling device; 102 … carry-in device; 110 … transfer space; 111 … trolley; 112 … transfer mechanism; 113 … a first movable member; 114 … a first fastener; 115 … a second movable member; 116 … a second fastener; 117 … running rails; 118 … wheels; 119 … base station; 120 … a second fastener; 121 … an endless loop member; 122 … roller; 123 … transfer member; 200 … article.