Goods handling equipment

Abstract

The first storage unit includes a first support portion that supports an article, and a movable support portion that movably supports the first support portion in the path width direction; the second storage unit includes a second support portion whose position in the path width direction of the movement path is fixed and that supports the article. Taking the space occupied by the article in the state of being supported by the second support portion as the target space, taking the position where the first support portion overlaps with the target space when viewed in the vertical direction along the up-down direction as the overlapping position, taking the position that is adjacent to the overlapping position on the first side and where the first support portion does not overlap with the target space when viewed in the up-down direction as the non-overlapping position, an operation portion is provided in the handling device, which contacts and acts on the storage device to switch the position of the first support portion between the overlapping position and the non-overlapping position.

Description

Technical Field

[0001] The present invention relates to an article handling device, which includes a handling device that moves along a movement path and handles articles, and a storage device that is disposed adjacent to the movement path and stores articles. Background Art

[0002] An example of the above-described article handling device is disclosed in Japanese Unexamined Patent Application Publication No. 2006-282382 (Patent Document 1). Hereinafter, the symbols shown in parentheses in the description of the background art and the problems are the symbols of Patent Document 1. As an overhead traveling vehicle system (2) of the article handling device disclosed in Patent Document 1, it includes: an overhead traveling vehicle (8) that handles an article (24); and a side buffer (40) that is disposed at a lower portion on the side of a traveling track (6) on which the overhead traveling vehicle (8) travels. The overhead traveling vehicle (8) includes a lift table (22) that clamps the article (24), a lift drive unit (20) that raises and lowers the lift table (22), and a lateral movement unit (16) that laterally moves the lift drive unit (20). Moreover, when transferring the article (24) between the lift table (22) and the side buffer (40), the lift drive unit (20) moves in the lateral direction with respect to the traveling track (6) based on the lateral movement unit (16).

[0003] In the overhead traveling vehicle system (2) of Patent Document 1, as shown in this document's Figure 1 The side buffer (40) includes two-level racks (41, 42). Moreover, in this overhead handling vehicle system (2), by providing a lift mechanism that raises and lowers the lateral movement unit (16) on the overhead traveling vehicle (8), it is possible to transfer the article (24) not only between the lift table (22) and the upper-level rack (41), but also between the lift table (22) and the lower-level rack (42). Specifically, when transferring the article (24) between the lift table (22) and the lower-level rack (42), after the lateral movement unit (16) is lowered based on the lift mechanism, the lift drive unit (20) is laterally moved based on the lateral movement unit (16), so that the lift table (22) moves above the lower-level rack (42). Then, by raising and lowering the lift table (22), the article (24) is transferred between the lift table (22) and the lower-level rack (42). Summary of the Invention

[0004] The ceiling traveling vehicle system (2) of Patent Document 1 is configured as described above. Thus, in this ceiling traveling vehicle system (2), in order for the ceiling carrier (8) to transfer the article (24) to and from the lower shelf (42), a lifting mechanism for lifting and lowering the lateral movement section (16) must be provided in the ceiling traveling vehicle (8). Moreover, the lifting mechanism for lifting and lowering the lateral movement section (16) needs to have a relatively large lifting stroke of at least about the height of the article (24). Therefore, in the ceiling traveling vehicle system (2) of Patent Document 1, the ceiling traveling vehicle (8) can transfer the article (24) to and from both of the two-level shelves (41, 42) provided in the side buffer (40), but the configuration of the ceiling traveling vehicle (8) tends to be complicated.

[0005] Thus, in the case where the storage device includes multiple levels of storage sections, the realization of a technique is desired that suppresses the complication of the configuration of the transfer device and enables the transfer device to transfer articles between the respective levels of storage sections.

[0006] The article transfer device according to the present disclosure is an article transfer device including a transfer device that moves along a movement path and transfers an article, and a storage device that is disposed adjacent to the movement path and stores the article; with one side of the storage device disposed with respect to the movement path in the path width direction, which is the width direction of the movement path, being the first side, the transfer device including a holding section that holds the article, a lifting mechanism that raises and lowers the holding section, and a movement mechanism that moves the holding section along the path width direction, configured such that when transferring the article between the holding section and the storage device, the holding section protrudes on the first side by the movement mechanism, the storage device including a first storage section and a second storage section disposed below the first storage section, the first storage section including a first support section that supports the article and a movable support section that movably supports the first support section in the path width direction, the second storage section including a second support section whose position in the path width direction with respect to the movement path is fixed and that supports the article, with the space occupied by the article in a state of being supported by the second support section being the target space, with the position where the first support section overlaps the target space when viewed in the vertical direction along the vertical direction being the overlapping position, with the position adjacent to the overlapping position on the first side and where the first support section does not overlap the target space when viewed in the vertical direction being the non-overlapping position, and an operation section is provided in the transfer device that contacts and acts on the storage device to switch the position of the first support section between the overlapping position and the non-overlapping position.

[0007] In this configuration, the storage device disposed on the first side with respect to the movement path includes a first storage unit and a second storage unit disposed below the first storage unit. Further, the holding unit that is moved by the moving mechanism to protrude on the first side is lifted and lowered by the lifting mechanism, so that articles can be transferred between the holding unit and the first storage unit and the second storage unit. Here, the position of the second support unit provided in the second storage unit in the path width direction of the movement path is fixed. In contrast, the first support unit provided in the first storage unit is movably supported in the path width direction by the movable support unit. Further, an operation unit that switches the position of the first support unit between the overlapping position and the non-overlapping position is provided in the transfer device. Therefore, when transferring an article between the holding unit and the second storage unit, by moving the first support unit to the non-overlapping position, the first support unit and the article supported by the first support unit can be avoided from the lifting path of the holding unit and the article held by the holding unit. Thus, according to this configuration, even without providing a mechanism in the transfer device that lifts the moving mechanism above the vertical dimension of the article, a configuration in which the transfer device can transfer articles between both the first storage unit and the second storage unit can be achieved.

[0008] In addition, in this configuration, an operation unit that switches the position of the first support unit between the overlapping position and the non-overlapping position needs to be provided in the transfer device. Such an operation unit can more easily ensure a higher degree of freedom in configuration and arrangement compared to a mechanism that lifts the moving mechanism at least about the height of the article. Therefore, according to this configuration, the complication of the configuration of the transfer device can be suppressed, and at the same time, a configuration in which the transfer device can transfer articles between storage units at various levels can be achieved.

[0009] According to this configuration, there are also the following advantages. It can be considered that, different from this configuration, the first support unit is fixed in the non-overlapping position. However, in this case, the protrusion amount of the holding unit to the first side that is necessary when transferring an article between the holding unit and the first storage unit is likely to become large. In contrast, in this configuration, when transferring an article between the holding unit and the first storage unit, the first support unit can be moved to the overlapping position. Therefore, the protrusion amount of the holding unit to the first side that is necessary when transferring an article between the holding unit and the first storage unit can be made the same as or almost the same as the protrusion amount of the holding unit to the first side that is necessary when transferring an article between the holding unit and the second storage unit. From this point, according to this configuration, the complication of the configuration of the transfer device can be suppressed. Further, in this configuration, when transferring an article between the holding unit and the second storage unit, the first support unit can be avoided to a position where it is difficult to interfere with the transfer. Therefore, the vertical gap between the article supported by the second support unit and the first support unit can be suppressed to be small, and the enlargement of the storage device in the vertical direction can be suppressed.

[0010] From the following description of the embodiments with reference to the accompanying drawings, further features and advantages of the article conveying device become apparent. Description of the Drawings

[0011] Figure 1 It is a view showing a part of the article handling device according to the first embodiment.

[0012] Figure 2 It is a view showing the handling device and the storage device according to the first embodiment.

[0013] Figure 3 It is a view showing a state where an article is transferred between the holding part and the first support part in the article handling device according to the first embodiment.

[0014] Figure 4 It is a view showing a state where an article is transferred between the holding part and the second support part in the article handling device according to the first embodiment.

[0015] Figure 5 It is a control block diagram according to the first embodiment.

[0016] Figure 6 It is a view showing a state where an article is transferred between the holding part and the first support part in the article handling device according to the second embodiment.

[0017] Figure 7 It is a view showing a state where an article is transferred between the holding part and the second support part in the article handling device according to the second embodiment. Detailed Embodiments

[0018] [First Embodiment]

[0019] With reference to the accompanying drawings, a first embodiment of the article handling device will be described.

[0020] As Figure 1 shown, the article handling device 100 includes a handling device 10 that moves along a movement path R and conveys an article W, and a storage device 40 that stores the article W. Here, as Figure 1 shown, the length direction of the movement path R (the direction in which the movement path R extends) is defined as the path length direction X. Further, as Figure 2As shown, the width direction of the movement path R is defined as the path width direction Y. The side where the storage device 40 is arranged with respect to the movement path R in the path width direction Y is defined as the first side Y1, and the side opposite to the first side Y1 in the path width direction Y (i.e., the side where the movement path R is arranged with respect to the storage device 40 in the path width direction Y) is defined as the second side Y2. The path width direction Y is orthogonal to both the path length direction X and the vertical direction Z (plumb direction). The path width direction Y is a horizontal direction. As Figure 1 shown, when the movement path R extends in the horizontal direction, the path length direction X is a horizontal direction.

[0021] The movement path R is formed based on the traveling rails 2. Specifically, the movement path R is formed based on a pair of traveling rails 2 arranged separately in the path width direction Y. As Figure 1 and Figure 2 shown, in the present embodiment, the traveling rails 2 are fixed to the ceiling 1 in a state of being suspended and supported from the ceiling 1, and the transfer device 10 moves along the movement path R formed along the ceiling 1. That is, the transfer device 10 is an overhead carrier that travels along the traveling rails 2 provided on the ceiling side.

[0022] As Figure 2 shown, the storage device 40 is arranged adjacent to the movement path R. The storage device 40 is arranged adjacent to the movement path R on the first side Y1 when viewed from above in the vertical direction (i.e., top view). In the present embodiment, the storage device 40 is supported by the ceiling 1. Specifically, the storage device 40 includes a frame group frame 43 formed by connecting frame members, and the frame group frame 43 is fixed to the ceiling 1 in a state of being suspended and supported from the ceiling 1. Here, a configuration in which the storage device 40 is arranged on one side in the width direction Y with respect to the movement path R is exemplified, but a configuration in which the storage device 40 is arranged on both sides in the width direction Y with respect to the movement path R is also possible. In this case, the first side Y1 and the second side Y2 are defined based on each of the storage devices 40 arranged on both sides in the path width direction Y with respect to the movement path R. That is, the first side Y1 of the storage device 40 arranged on one side in the width direction Y with respect to the movement path R and the first side Y1 of the storage device 40 arranged on the other side in the width direction Y with respect to the movement path R are opposite sides in the path width direction Y.

[0023] The storage device 40 includes a first storage unit 50 and a second storage unit 60 arranged below the first storage unit 50. The first storage unit 50 is arranged at a position above the second storage unit 60 and overlapping the second storage unit 60 in a top view. In the present embodiment, no other storage units are arranged between the first storage unit 50 and the second storage unit 60 in the vertical direction Z. That is, the second storage unit 60 is arranged adjacent to the first storage unit 50 on the lower side Z2. In Figure 1In the illustrated example, a group of a first storage unit 50 and a second storage unit 60 arranged side by side in the vertical direction Z are arranged in multiple groups side by side in the path length direction X. Further, the upper side is the direction toward the upper side Z1 of the vertical direction Z, and the lower side is the direction toward the lower side Z2 of the vertical direction Z.

[0024] As Figure 2 shown, the first storage unit 50 includes a first support portion 51 that supports the article W, and the second storage unit 60 includes a second support portion 61 that supports the article W. As Figure 1 shown, in the present embodiment, the first support portion 51 and the second support portion 61 support the article W from the lower side Z2. The position of the second support portion 61 in the path width direction Y of the movement path R is fixed. The second support portion 61 is fixed to the frame group frame 43. On the other hand, the position of the first support portion 51 in the path width direction Y of the movement path R is not fixed. That is, the first storage unit 50 includes a movable support portion 52 that movably supports the first support portion 51 in the path width direction Y. The movable support portion 52 movably supports the first support portion 51 in the path width direction Y with respect to the frame group frame 43.

[0025] The movable support portion 52 movably supports the first support portion 51 in the path width direction Y in a state where the movement of the first support portion 51 in each direction orthogonal to the path width direction Y is restricted. The movable support portion 52 is configured by a linear motion mechanism that includes, for example, a guide rail and a guide block that is guided and supported by the guide rail as described below. The guide rail is fixed to the frame 43 so as to extend along the path width direction Y. Further, the guide block is engaged with the guide rail in a state where relative movement in the path width direction Y with respect to the guide rail is allowed and relative movement in each direction orthogonal to the path width direction Y with respect to the guide rail is restricted. Moreover, the guide block is fixed to the first support portion 51. Thus, the first support portion 51 is supported by the frame group frame 43 via the movable support portion 52 in a state where relative movement in the path width direction Y with respect to the frame group frame 43 is allowed and relative movement in each direction orthogonal to the path width direction Y with respect to the frame group frame 43 is restricted.

[0026] In the movement range of the first support portion 51 in the path width direction Y, an overlapping position PA and a non-overlapping position PB are included. The overlapping position PA is Figure 2 and Figure 3 the position of the first support portion 51 shown, and the non-overlapping position PB is Figure 4 the position of the first support portion 51 shown. In the present embodiment, the first support portion 51 moves in the path width direction Y between the overlapping position PA and the non-overlapping position PB. As Figure 4As shown, the object space S is the space occupied by the article W in the state of being supported by the second support portion 61. The overlapping position PA is the position where the first support portion 51 overlaps with the object space S when viewed in the vertical direction. Further, the non-overlapping position PB is adjacent to the overlapping position PA on the first side Y1 and the first support portion 51 does not overlap with the object space S when viewed in the vertical direction. As described later, an operation unit 20 that contacts the storage device 40 and switches the position of the first support portion 51 between the overlapping position PA and the non-overlapping position PB is provided on the transfer device 10.

[0027] As Figure 2 shown, the transfer device 10 includes a holding unit 11 that holds the article W. In the present embodiment, the holding unit 11 holds the article W from the upper side Z1. In the present embodiment, the article W is a container that houses semiconductor wafers, specifically, a FOUP (Front Opening Unified Pod). The holding unit 11 includes a gripping portion 11a (here, a pair of gripping portions 11a) that grips a flange portion formed on the upper portion of the article W, and the article W is held by gripping the article W with the gripping portion 11a. The transfer device 10 includes a gripping motor 34 (an example of a driving force source, refer to Figure 5 ) that switches the state of the gripping portion 11a, and the state of the gripping portion 11a is switched between a gripping state of gripping the article W and a released gripping state in which the gripping of the article W is released by driving the gripping motor 34.

[0028] The transfer device 10 includes a traveling unit 12 that travels along a travel path R. The traveling unit 12 travels along the travel rails 2 (here, a pair of travel rails 2). As Figure 2 shown, the traveling unit 12 includes traveling wheels 12a that roll on the travel rails 2. The transfer device 10 (specifically, the traveling unit 12) includes a traveling motor 31 (an example of a driving source, refer to Figure 5 ) that drives the traveling wheels 12a, and the traveling wheels 12a are driven by the traveling motor 31 so that the traveling unit 12 travels along the travel rails 2. The traveling unit 12 includes guide wheels 12b that guide the travel along the travel rails 2 of the traveling unit 12, and the traveling unit 12 travels along the travel rails 2 in a state where the guide wheels 12b are in contact with and guided by the side surfaces of the travel rails 2.

[0029] The transfer device 10 includes a main body portion 13 that is coupled to the traveling unit 12. The holding unit 11 is provided on the main body portion 13, and the later-described lifting mechanism 15 and moving mechanism 16 are also provided on the main body portion 13. In the present embodiment, the main body portion 13 is suspended and supported by the traveling unit 12 in a state of being disposed below the travel rails 2.

[0030] The transfer device 10 includes a lifting mechanism 15 that raises and lowers the holding unit 11. By raising and lowering the holding unit 11 with the lifting mechanism 15, the relative position of the holding unit 11 changes in the vertical direction Z with respect to the traveling unit 12. The lifting mechanism 15 raises and lowers the holding unit 11 between the traveling height, which is the height when the traveling unit 12 travels, and the transfer height, which is the height for transferring the article W with respect to the transfer target portion. The transfer height is set corresponding to the height of each transfer target portion. In Figure 1 , the holding unit 11 at the traveling height is shown by a solid line, and the holding unit 11 at the transfer height corresponding to the support table 3 as the transfer target portion is shown by a two-dot chain line. The support table 3 is a port (such as a loading port) that can perform at least one of loading and unloading the article W in a processing device that processes the article W, for example. In Figure 2 , the holding unit 11 at the traveling height is shown, and in Figure 3 , the holding unit 11 at the transfer height corresponding to the first storage unit 50 (specifically, the first support table 51) as the transfer target portion is shown. In addition, in Figure 4 , the holding unit 11 at the traveling height is shown by a two-dot chain line, and the holding unit 11 at the transfer height corresponding to the second storage unit 60 (specifically, the second support table 61) as the transfer target portion is shown by a solid line.

[0031] In the present embodiment, the lifting mechanism 15 raises and lowers the holding unit 11 while suspending and supporting the holding unit 11. Specifically, the holding unit 11 is connected to the front end portion of a transmission member 15a such as a belt or a wire, and the transfer device 10 (specifically, the main body portion 13) includes a lifting motor 32 (an example of a driving force source, refer to Figure 5 ) that rotates a winding body (not shown) around which the transmission member 15a is wound. The lifting mechanism 15 rotates the winding body with the lifting motor 32 and winds or unwinds the transmission member 15a, thereby raising or lowering the holding unit 11.

[0032] The transfer device 10 includes a moving mechanism 16 that moves the holding unit 11 in the path width direction Y. By moving the holding unit 11 in the path width direction Y with the moving mechanism 16, the relative position of the holding unit 11 changes in the path width direction Y with respect to the traveling unit 12. The moving mechanism 16 moves the holding unit 11 in the path width direction Y between the retracted position (refer to Figure 2 ) when the traveling unit 12 travels and the protruding position on the first side Y1 with respect to the retracted position (refer to Figure 3 and Figure 4 ). As shown in Figure 2As shown, the retracted position is the position where the holding unit 11 and the traveling unit 12 overlap when observed in the vertical direction. The transfer device 10 (specifically, the main body unit 13) includes a moving motor 33 (an example of a driving force source, refer to Figure 5 ), and the moving mechanism 16 moves the holding unit 11 in the path width direction Y by the driving force of the moving motor 33.

[0033] In the present embodiment, the moving mechanism 16 moves the holding unit 11 supported by the lifting mechanism 15 in the path width direction Y by moving the lifting mechanism 15 in the path width direction Y. Specifically, the lifting mechanism 15 is configured to lift the holding unit 11 relative to the support unit 14. That is, the holding unit 11 is supported by the support unit 14 and is suspended and supported by the support unit 14 in the present embodiment. The moving mechanism 16 movably supports the support unit 14 in the path width direction Y in a state where the movement of the support unit 14 in each direction orthogonal to the path width direction Y is restricted. Moreover, the moving mechanism 16 is configured to move the holding unit 11 in the state of being supported by the support unit 14 in the path width direction Y by moving the support unit 14 in the path width direction Y. The moving mechanism 16 moves the support unit 14 in the path width direction Y by the driving force of the moving motor 33. The moving mechanism 16 is configured using a sliding mechanism (for example, a three-stage sliding mechanism), and this sliding mechanism supports the support unit 14 to freely slide and move in the path width direction Y.

[0034] The article transfer device 100 includes a control unit 30 that controls the transfer device 10. The control unit 30 includes an arithmetic processing device such as a CPU, and includes peripheral circuits such as a memory, and realizes each function of the control unit 30 based on the cooperation of these hardware and a program executed on the hardware such as the arithmetic processing device. As Figure 5 shown, the control unit 30 controls the driving of each of the above-described traveling motor 31, lifting motor 32, moving motor 33, and gripping motor 34, and also controls the driving of an operation motor 35 described later.

[0035] When transferring the article W between the transfer device 10 (specifically, the holding unit 11) and the transfer target portion, the control unit 30 controls the driving of the traveling motor 31 to cause the traveling unit 12 to travel to the transfer position corresponding to the transfer target portion. The movement path R is formed to pass through the transfer positions corresponding to the respective transfer target portions. When the traveling unit 12 is traveling, the holding unit 11 is disposed at the retracted position at the traveling height (refer to Figure 2) When the transfer target part is arranged at a position overlapping with the movement path R when observed in the vertical direction, the control unit 30 controls the driving of the lifting motor 32 in a state where the traveling unit 12 is stopped at the transfer position, and causes the holding unit 11 to descend from the traveling height to the transfer height through the lifting mechanism 15. On the other hand, when the transfer target part is arranged on the first side Y1 with respect to the movement path R when observed in the vertical direction, the control unit 30 controls the driving of the moving motor 33 in a state where the traveling unit 12 is stopped at the transfer position, and causes the holding unit 11 to move from the retracted position to the first side Y1 until the protruding position (specifically, the position where the holding unit 11 overlaps with the transfer target part when observed in the vertical direction) through the moving mechanism 16, and then controls the driving of the lifting motor 32, and causes the holding unit 11 to descend from the traveling height to the transfer height through the lifting mechanism 15 (see Figure 3 , Figure 4 ).

[0036] The control unit 30 controls the driving of the gripping motor 34 in a state where the holding unit 11 has descended to the transfer height, and switches the state of the gripping part 11a. When transferring the article W from the transfer device 10 to the transfer target part, the state of the gripping part 11a is switched from the gripping state to the released gripping state; when transferring the article W from the transfer target part to the transfer device 10, the state of the gripping part 11a is switched from the released gripping state to the gripping state. Then, the control unit 30 controls the driving of the lifting motor 32, and causes the holding unit 11 to ascend from the transfer height to the traveling height through the lifting mechanism 15. When the transfer target part is arranged on the first side Y1 with respect to the movement path R when observed in the vertical direction, the control unit 30 controls the driving of the moving motor 33 in a state where the traveling unit 11 has ascended to the traveling height, and causes the holding unit 11 to move from the protruding position to the second side Y2 until the retracted position through the moving mechanism 16. By performing the above control by the control unit 30, when transferring the article W from the transfer device 10 to the transfer target part, the article W held by the holding unit 11 of the transfer device 10 descends to the transfer target part; when transferring the article W from the transfer target part to the transfer device 10, the article W placed on the transfer target part is held by the holding unit 11 and taken out from the transfer target part.

[0037] The storage device 40 is disposed adjacent to the first side Y1 with respect to the movement path R when viewed in the vertical direction. Therefore, when transferring the article W between the transfer device 10 (specifically, the holding unit 11) and the storage device 40, the storage device 40, which is the transfer target part, is disposed on the first side Y1 with respect to the movement path R when viewed in the vertical direction. Thus, the control unit 30 moves the holding unit 11 from the retracted position to the first side Y1 until the protruding position (specifically, the position where the holding unit 11 overlaps with the storage device 40 when viewed in the vertical direction) by the moving mechanism 16, and then raises and lowers the holding unit 11 between the traveling height and the transfer height by the lifting mechanism 15. That is, the transfer device 10 is configured to protrude the holding unit 11 on the first side Y1 when transferring the article W between the holding unit 11 and the storage device 40. Here, "protruding on the first side Y1" means protruding on the first side Y1 with respect to the movement path R or the traveling unit 12.

[0038] When the transfer device 10 transfers the article W between the holding unit 11 and the first storage unit 50, as Figure 3 shown, the moving mechanism 16 protrudes the holding unit 11 on the first side Y1 until the position where the holding unit 11 overlaps with the first support portion 51 disposed at the overlapping position PA (hereinafter, referred to as the "first protruding position") when viewed in the vertical direction. Then, the transfer device 10 raises and lowers the holding unit 11 in the state of being disposed at the first protruding position between the traveling height and the transfer height corresponding to the first support portion 51 ( Figure 3 the height of the holding unit 11 shown), and transfers the article W between the holding unit 11 and the first storage unit 50 (specifically, the first support portion 51). In addition, when the transfer device 10 transfers the article W between the holding unit 11 and the second storage unit 60, as Figure 4 shown, the moving mechanism 16 protrudes the holding unit 11 on the first side Y1 until the position where the holding unit 11 overlaps with the second support portion 61 (hereinafter, referred to as the "second protruding position") when viewed in the vertical direction. Then, the transfer device 10 raises and lowers the holding unit 11 in the state of being disposed at the second protruding position between the traveling height ( Figure 4 the height of the holding unit 11 shown by the two-dot chain line) and the transfer height corresponding to the second support portion 61 ( Figure 4 the height of the holding unit 11 shown by the solid line), and transfers the article W between the holding unit 11 and the second storage unit 60 (specifically, the second support portion 61).

[0039] In the present embodiment, the overlapping position PA is set such that the first protruding position and the second protruding position are at the same position in the path width direction Y. That is, the overlapping position PA is set at the same position as the second support portion 61 in the path width direction Y. Therefore, the protruding amount of the holding portion 11 toward the first side Y1 based on the moving mechanism 16 (in other words, the moving amount from the retracted position toward the first side Y1) when transferring the article W between the holding portion 11 and the first storage portion 50 is equal to the protruding amount of the holding portion 11 toward the first side Y1 based on the moving mechanism 16 when transferring the article W between the holding portion 11 and the second storage portion 60.

[0040] As Figures 2 to 4 shown, the transfer device 10 includes an operation portion 20 that contacts and acts on the storage device 40 and switches the position of the first support portion 51 between the overlapping position PA and the non-overlapping position PB. By providing the operation portion 20 in the transfer device 10, as described below, when transferring the article W between the holding portion 11 and the second storage portion 60, the first support portion 51 is disposed at the non-overlapping position PB, so that the first support portion 51 and the article W supported by the first support portion 51 can be avoided from the lifting path of the article W held by the holding portion 11.

[0041] Through the contact action of the operation portion 20 on the storage device 40, one or both of the switching of the position of the first support portion 51 from the overlapping position PA to the non-overlapping position PB and the switching of the position of the first support portion 51 from the non-overlapping position PB to the overlapping position PA are performed. In the present embodiment, only one of these two switches is performed through the contact action of the operation portion 20 on the storage device 40. Specifically, one of the overlapping position PA and the non-overlapping position PB is the first position P1, and the other is the second position P2. The first support portion 51 is configured to be disposed at the first position P1 in a state where it is not operated by the operation portion 20. Moreover, through the contact action of the operation portion 20 on the storage device 40, the position of the first support portion 51 is switched from the first position P1 to the second position P2.

[0042] As Figures 2 to 4 shown, in the present embodiment, the transfer device 10 includes an operation mechanism 21 that moves the operation portion 20 independently of the holding portion 11 along the path width direction Y. The transfer device 10 (specifically, the main body portion 13) includes an operation motor 35 (an example of a driving force source, refer to Figure 5 ), and the operation mechanism 21 moves the operation portion 20 in the path width direction Y by the driving force of the operation motor 35. The operation mechanism 21 is configured using a sliding mechanism (for example, a three-stage sliding mechanism), and this sliding mechanism supports the operation portion 20 so as to be freely slidable in the path width direction Y, for example.

[0043] AsFigure 4 As shown, the operation unit 20 is configured to push the pushed part 41 provided in the storage device 40 toward the first side Y1 as it moves toward the first side Y1. The end portion of the operation unit 20 on the first side Y1 constitutes a pushing part 20a that pushes the pushed part 41 toward the first side Y1. As Figure 1 and Figure 3 shown, in the present embodiment, the pushed part 41 is disposed above the article W supported by the first support part 51. Further, the first storage part 50 is configured such that as the pushed part 41 is pushed toward the first side Y1, the first support part 51 moves from the first position P1 to the second position P2; as the pushing of the pushed part 41 toward the first side Y1 is released, the first support part 51 moves from the second position P2 to the first position P1. In the present embodiment, the operation unit 20 is configured to always push the pushed part 41 toward the first side Y1 as it moves toward the first side Y1. Therefore, as the operation unit 20 moves toward the first side Y1, the first support part 51 always moves from the first position P1 toward the second position P2 in the path width direction Y.

[0044] In the present embodiment, the pushed part 41 is provided to move integrally with the first support part 51 in the path width direction Y. Specifically, as Figure 1 and Figure 2 shown, the pushed part 41 is connected to the first support part 51 by a connecting member 41a. Therefore, as the pushed part 41 is pushed toward the first side Y1 by the operation unit 20, the first support part 51 moves from the overlapping position PA to the non-overlapping position PB. That is, in the present embodiment, the first position P1 is the overlapping position PA, and the second position P2 is the non-overlapping position PB. Therefore, in normal times when the pushing of the pushed part 41 toward the first side Y1 is released, as Figure 2 shown, the first support part 51 is disposed at the overlapping position PA.

[0045] As described above, as the pushing of the pushed part 41 toward the first side Y1 by the operation unit 20 is released, the first support part 51 moves from the second position P2 (in the present embodiment, the non-overlapping position PB) to the first position P1 (in the present embodiment, the overlapping position PA). In the present embodiment, the storage device 40 is configured to generate at least a part of the force for moving the first support part 51 from the second position P2 to the first position P1 using one or both of the self-weight of the first support part 51 and the biasing force of the biasing mechanism 42. Here, the storage device 40 is configured to generate all of the force for moving the first support part 51 from the second position P2 to the first position P1 by the biasing force of the biasing mechanism 42.

[0046] In Figures 2 to 4In the illustrated example, the biasing mechanism 42 includes: a wire 42a having one end connected to the first support portion 51, a spool 42b around which the wire 42a is wound, and a biasing member such as a spring (not shown) that biases the spool 42b in the direction of winding the wire 42a. When the first support portion 51 moves from the overlapping position PA to the non-overlapping position PB, the wire 42a is released from the spool 42b against the biasing force of the biasing member by the pushing force in the first side Y1 of the pushed portion 41 based on the operation portion 20. If the pushing in the first side Y1 of the pushed portion 41 based on the operation portion 20 is released, the wire 42a is wound around the spool 42b by the biasing force of the biasing member, and the first support portion 51 moves from the non-overlapping position PB to the overlapping position PA (see Figure 3 ).

[0047] In the present embodiment, the control unit 30 is configured to control the operation state of the first support portion 51 based on the operation portion 20 such that when the article W is transferred between the holding portion 11 and the first support portion 51, the first support portion 51 is disposed at the overlapping position PA, and when the article W is transferred between the holding portion 11 and the second support portion 61, the first support portion 51 is disposed at the non-overlapping position PB. The control unit 30 controls the driving of the operation motor 35, and the operation mechanism 21 controls the operation state of the first support portion 51 based on the operation portion 20.

[0048] As described above, in the present embodiment, when the pushing in the first side Y1 of the pushed portion 41 is released during normal times, the first support portion 51 is disposed at the overlapping position PA. Therefore, when the article W is transferred between the holding portion 11 and the first support portion 51, the control unit 30 is as Figure 3 shown, maintains the operation portion 20 at the position of the operation portion 20 during the travel of the travel portion 12 (see Figure 2 ), thereby disposing the first support portion 51 at the overlapping position PA (in other words, the first support portion 51 is still in the state of being disposed at the overlapping position PA). On the other hand, when the article W is transferred between the holding portion 11 and the second support portion 61, the control unit 30 is as Figure 4 shown, moves the operation portion 20 from the position of the operation portion 20 during the travel of the travel portion 12 (see Figure 2 ) to the first side Y1 until the first support portion 51 is disposed at the non-overlapping position PB, thereby disposing the first support portion 51 at the non-overlapping position PB. When the article W is transferred between the holding portion 11 and the second support portion 61, the control unit 30 moves the operation portion 20 to the first side Y1 through the operation mechanism 21 in cooperation (synchronization) with the protruding movement of the holding portion 11 to the first side Y1 based on the moving mechanism 16; or before the protruding movement of the holding portion 11 to the first side Y1 based on the moving mechanism 16, the control unit 30 moves the operation portion 20 to the first side Y1 through the operation mechanism 21.

[0049] [Second Embodiment]

[0050] Referring to the accompanying drawings, a second embodiment of the article handling device will be described. Hereinafter, the article handling device of the present embodiment will be described centering on the differences from the first embodiment. For points not particularly specified, they are the same as those in the first embodiment, and the same reference numerals are attached and detailed descriptions are omitted.

[0051] In the first embodiment, the handling device 10 includes an operating mechanism 21 that moves the operating portion 20 independently of the holding portion 11 in the path width direction Y. In the present embodiment, as Figure 6 and Figure 7 shown, the operating portion 20 is configured to move on the same side as the side where the holding portion 11 moves in the path width direction Y in accordance with the movement of the holding portion 11 in the path width direction Y. Specifically, the operating portion 20 is coupled to the support portion 14 so as to move integrally with the support portion 14 in the path width direction Y, and the moving mechanism 16 is configured to move the support portion 14 in the path width direction Y, thereby moving the holding portion 11 and the operating portion 20 in the path width direction Y.

[0052] In the present embodiment, the article handling device 100 includes a switching mechanism 22 that switches the first support portion 51 between an effective state in which the first support portion 51 moves from the first position P1 to the second position P2 in accordance with the operation state of the operating portion 20 and moves to the first side Y1 ( Figure 7 the state shown) and an ineffective state in which the first support portion 51 is maintained at the overlapping position PA or the non-overlapping position PB regardless of the movement of the operating portion 20 to the first side Y1 ( Figure 6 the state shown). In the present embodiment, in the ineffective state, the first support portion 51 is maintained at the overlapping position PA. The switching mechanism 22 switches the first support portion 51 between the effective state and the ineffective state in accordance with the operation state of the operating portion 20 by the driving force of the operating motor 35 (an example of a driving force source, refer to Figure 5 ).

[0053] In the present embodiment, similar to the first embodiment, the control unit 30 is configured to control the first support portion 51 based on the operation state of the operating portion 20 such that when the article W is transferred between the holding portion 11 and the first support portion 51, the first support portion 51 is disposed at the overlapping position PA, and when the article W is transferred between the holding portion 11 and the second support portion 61, the first support portion 51 is disposed at the non-overlapping position PB. The control unit 30 controls the driving of the operating motor 35 and controls the first support portion 51 based on the operation state of the operating portion 20 through the switching mechanism 22.

[0054] Specifically, the control unit 30 switches the posture of the operation unit 20, thereby switching the first support unit 51 between an effective state and an ineffective state based on the operation state of the operation unit 20. The posture of the operation unit 20 is switched by a switching mechanism 22 based on the driving force of the operation motor 35. That is, the control unit 30 controls the driving of the operation motor 35 and switches the posture of the operation unit 20 through the switching mechanism 22. The operation unit 20 is configured to be able to switch between a pressing posture Q1 (refer to Figure 7 ) in which the pressed portion 41 is pressed toward the first side Y1 as it moves toward the first side Y1, and a non-pressing posture Q2 (refer to Figure 6 ) that is not the pressing posture Q1. The control unit 30 switches the first support unit 51 to the effective state based on the operation state of the operation unit 20 by switching the posture of the operation unit 20 to the pressing posture Q1, and switches the first support unit 51 to the ineffective state based on the operation state of the operation unit 20 by switching the posture of the operation unit 20 to the non-pressing posture Q2. In the examples shown in Figure 6 and Figure 7 , the switching mechanism 22 switches the posture of the operation unit 20 between the pressing posture Q1 and the non-pressing posture Q2 by rotating the operation unit 22 around a rotation axis along the path width direction Y.

[0055] In the present embodiment, similar to the first embodiment, the first storage unit 50 is configured such that: as the pressed portion 41 is pressed toward the first side Y1, the first support unit 51 moves from the first position P1 to the second position P2; as the pressing of the pressed portion 41 toward the first side Y1 is released, the first support unit 51 moves from the second position P2 to the first position P1. Moreover, the first position P1 is the overlapping position PA, the second position P2 is the non-overlapping position PB, and normally when the pressing of the pressed portion 41 toward the first side Y1 is released, the first support unit 51 is disposed at the overlapping position PA.

[0056] Therefore, when the article W is transferred between the holding unit 11 and the first support unit 51, the control unit 30, as shown in Figure 6 , switches the first support unit 51 to the ineffective state based on the operation state of the operation unit 20 through the switching mechanism 22. Therefore, as the holding unit 11 protrudes and moves toward the first side Y1 based on the moving mechanism 16, even if the operation unit 20 moves toward the first side Y1, the first support unit 51 is maintained at the overlapping position PA. That is, the first support unit 51 is disposed at the overlapping position PA. On the other hand, when the article W is transferred between the holding unit 11 and the second support unit 61, the control unit 30, as shown in Figure 7As shown, the first support portion 51 is switched to an effective state by the switching mechanism 22 based on the operation state of the operation portion 20. Therefore, as the holding portion 11 protrudes toward the first side Y1 based on the moving mechanism 16, when the operation portion 20 moves toward the first side Y1, the first support portion 51 moves from the overlapping position PA to the non-overlapping position PB. That is, the first support portion 51 is disposed at the non-overlapping position PB.

[0057] [Other Embodiments]

[0058] Next, other embodiments of the article handling device will be described.

[0059] (1) In the above-described second embodiment, an example is described in which the control unit 30 switches the posture of the operation unit 20 to switch the operation state of the first support portion 51 between an effective state and an ineffective state. However, the present disclosure is not limited to such a configuration, and may also be configured as follows: The control unit 30 or another control unit (for example, a control unit superior to the control unit 30) does not switch the posture of the operation unit 20, but switches the posture of the pressed portion 41 to switch the operation state of the first support portion 51 between an effective state and an ineffective state. In this case, the pressed portion 41 is configured to be switchable between a pressed posture in which the pressed portion 41 is pressed toward the first side Y1 by the operation unit 20 moving toward the first side Y1 and an ineffective posture that is not a pressed posture. Further, the control unit 30 or another control unit switches the operation state of the first support portion 51 to an effective state by switching the posture of the pressed portion 41 to the pressed posture, and switches the operation state of the first support portion 51 to an ineffective state by switching the posture of the pressed portion 41 to the ineffective posture. In this case, a switching mechanism for switching the posture of the pressed portion 41 is provided in the storage device 40, and the control unit 30 or another control unit controls the driving of a motor (an example of a driving force source), and switches the posture of the pressed portion 41 by this switching mechanism.

[0060] In addition, it may also be configured as follows: The switching of the posture of the pressed portion 41 based on the switching mechanism is performed not by the control of the control unit 30 or another control unit, but by, for example, the weight of the article W supported by the first support portion 51. That is, the control or switching of the operation state of the first support portion 51 based on the operation of the operation portion 20 may be performed mechanically instead of being controlled by the control unit 30 or another control unit.

[0061] (2) In each of the above-described embodiments, an example is described in which the pressed portion 41 is configured to move integrally with the first support portion 51 in the path width direction Y. However, the present disclosure is not limited to such a configuration, and the pressed portion 41 may be configured not to move integrally with the first support portion 51 in the path width direction Y. In this case, for example, the pressed portion 41 and the first support portion 51 may be connected via a link mechanism. The link mechanism may be configured such that as the pressed portion 41 is pressed by the operation portion 20 toward the first side Y1, the first support portion 51 moves from the non-overlapping position PB to the overlapping position PA, and as the pressing of the pressed portion 41 toward the first side Y1 by the operation portion 20 is released, the first support portion 51 moves from the overlapping position PA to the non-overlapping position PB. In this case, different from the above-described embodiments, the non-overlapping position PB becomes the first position P1, and the overlapping position PA becomes the second position P2.

[0062] Thus, when the non-overlapping position PB is the first position P1 and the overlapping position PA is the second position P2, normally when the pressing of the pressed portion 41 toward the first side Y1 is released (i.e., in a state where the first support portion 51 is not operated by the operation portion 20), the first support portion 51 is disposed at the non-overlapping position PB. Moreover, the operation state of the first support portion 51 is controlled or switched based on the operation of the operation portion 20 such that the first support portion 51 moves from the non-overlapping position PB to the overlapping position PA when the article W is transferred between the holding portion 11 and the first support portion 51, and the first support portion 51 is maintained at the non-overlapping position PB when the article W is transferred between the holding portion 11 and the second support portion 61.

[0063] (3) In each of the above-described embodiments, an example is described in which all of the force for moving the first support portion 51 from the second position P2 to the first position is generated by the biasing force based on the biasing mechanism 42. However, the present disclosure is not limited to such a configuration, and it is also possible to have a configuration in which all of the force for moving the first support portion 51 from the second position P2 to the first position P1 is generated by the self-weight of the first support portion 51, or a configuration in which all of the force for moving the first support portion 51 from the second position P2 to the first position P1 is generated by the cooperation of the biasing force based on the biasing mechanism 42 and the self-weight of the first support portion 51. For example, when the movable support portion 52 is configured using a linear motion mechanism including a guide rail and a guide block as described above, the guide rail is fixed to the frame group frame 43 in a posture inclined downward toward the second side Y2, so that the force for moving the first support portion 51 from the second position P2 to the first position P1 is generated by the self-weight of the first support portion 51.

[0064] (4) In each of the above-described embodiments, an example is described in which only one of the switching of the position of the first support portion 51 from the overlapping position PA to the non-overlapping position PB and the switching of the position of the first support portion 51 from the non-overlapping position PB to the overlapping position PA is performed based on the contact action of the operation unit 20 on the storage device 40. However, the present disclosure is not limited to such a configuration, and it is also possible to adopt a configuration in which both of these two switches are performed by the contact action of the operation unit 20 on the storage device 40. Specifically, the following configuration can be adopted: one of the overlapping position PA and the non-overlapping position PB is the first position P1, and the other is the second position P2. As the operation unit 20 pushes the pushed portion 41 to the first side Y1, the first support portion 51 moves from the first position P1 to the second position P2; as the operation unit 20 pushes the pushed portion 41 to the second side Y2, the first support portion 51 moves from the second position P2 to the first position P1. In this case, the force for moving the first support portion 51 from the second position P2 to the first position P1 may not be generated by the self-weight of the first support portion 51 and the biasing force based on the biasing mechanism 42.

[0065] (5) In each of the above-described embodiments, an example is described in which no other storage unit is arranged between the upper and lower directions Z of the first storage unit 50 and the second storage unit 60. However, the present disclosure is not limited to such a configuration, and the storage device 40 can also be configured to include one or more other storage units (hereinafter referred to as "intermediate storage units") between the upper and lower directions Z of the first storage unit 50 and the second storage unit 60. In this case, for example, the following configuration can be adopted. The intermediate storage unit includes an intermediate support portion that supports the article W. The intermediate support portion is the same as the first support portion 51 and is movably supported in the path width direction Y. In addition, a coupling mechanism for selectively coupling the intermediate support portion to the first support portion 51 is provided in the storage device 4. Moreover, when the article W is transferred between the holding portion 11 and the second support portion 61, the intermediate support portion is coupled to the first support portion 51 by the coupling mechanism, so that the intermediate support portion and the first support portion 51 integrally move from the overlapping position PA to the non-overlapping position PB. On the other hand, when the article W is transferred between the holding portion 11 and the intermediate support portion, the coupling of the intermediate support portion to the first support portion 51 based on the coupling mechanism is released, so that the intermediate support portion is maintained at a position where the intermediate support portion overlaps the target space S in the vertical direction view, and only the first support portion 51 moves from the overlapping position PA to the non-overlapping position PB.

[0066] (6) In each of the above-described embodiments, an example is described in which the storage device 40 is supported by the ceiling 1. However, the present disclosure is not limited to such a configuration, and for example, the storage device 40 can also be configured to be supported by a wall and a floor.

[0067] (7) In the above-described embodiments, the configuration in which the main body portion 13 is suspended and supported by the traveling portion 12 is described as an example. However, the present disclosure is not limited to such a configuration, and the main body portion 13 may also be supported by the traveling portion 12 from the lower side Z2.

[0068] (8) In the above-described embodiments, the configuration in which the transfer device 10 moves along the movement path R formed along the ceiling 1 is described as an example. However, the present disclosure is not limited to such a configuration, and for example, the transfer device 10 may also move along the movement path R formed along the floor. In this case, the movement path R is formed based on, for example, a traveling rail provided on the floor. In addition, the movement path R may be formed without using a traveling rail, and may also be hypothetically set.

[0069] (9) In the above-described embodiments, the configuration in which the article W is a container for accommodating semiconductor wafers is described as an example. However, the present disclosure is not limited to such a configuration, and the article W may also be a container for accommodating articles other than semiconductor wafers (reticles, glass substrates, etc.), or an article other than a container.

[0070] (10) In addition, as long as there is no contradiction, the configurations disclosed in the above-described embodiments can be combined and applied with the configurations disclosed in other embodiments (including combinations of the embodiments described as other embodiments). Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various changes can be appropriately made without departing from the spirit of the present disclosure.

[0071] [Summary of the Above Embodiments]

[0072] Hereinafter, a summary of the article transfer device described above will be described.

[0073] An article handling device includes a handling device that moves along a movement path and handles an article, and a storage device that is disposed adjacent to the movement route and stores the article. With respect to the movement path, the side where the storage device is disposed with respect to the movement path in the path width direction, which is the width direction of the movement path, is defined as the first side. The handling device includes a holding unit that holds the article, a lifting mechanism that raises and lowers the holding unit, and a moving mechanism that moves the holding unit along the path width direction. When transferring the article between the holding unit and the storage device, the moving mechanism causes the holding unit to protrude on the first side. The storage device includes a first storage unit and a second storage unit disposed below the first storage unit. The first storage unit includes a first support unit that supports the article and a movable support unit that movably supports the first support unit in the path width direction. The second storage unit includes a second support unit whose position in the path width direction with respect to the movement path is fixed and that supports the article. The space occupied by the article in the state of being supported by the second support unit is defined as the target space. The position where the first support unit overlaps the target space when viewed in the vertical direction along the vertical direction is defined as the overlapping position, and the position that is adjacent to the overlapping position on the first side and where the first support unit does not overlap the target space when viewed in the vertical direction is defined as the non-overlapping position. An operation unit is provided on the handling device, and the operation unit contacts and acts on the storage device to switch the position of the first support unit between the overlapping position and the non-overlapping position.

[0074] In this configuration, the storage device disposed on the first side with respect to the movement path includes a first storage unit and a second storage unit disposed below the first storage unit. Further, the holding unit that is moved by the moving mechanism to protrude on the first side is raised and lowered by the lifting mechanism, so that the article can be transferred between the holding unit, the first storage unit, and the second storage unit. Here, the position of the second support unit provided in the second storage unit in the path width direction with respect to the movement path is fixed, while the first support unit provided in the first storage unit is movably supported in the path width direction by the movable support unit. Further, the operation unit that switches the position of the first support unit between the overlapping position and the non-overlapping position is provided on the handling device. Therefore, when transferring the article between the holding unit and the second storage unit, by moving the first support unit to the non-overlapping position, the first support unit and the article supported by the first support unit can be avoided from the lifting path of the article held by the holding unit. Thus, according to this configuration, even if a mechanism that raises and lowers the moving mechanism to a dimension greater than the vertical dimension of the article is not provided on the handling device, a configuration in which the handling device can transfer the article between both the first storage unit and the second storage unit can be achieved.

[0075] In addition, in this configuration, an operation unit for switching the position of the first support portion between the overlapping position and the non-overlapping position needs to be provided in the transfer device. Such an operation unit can more easily ensure a higher degree of freedom in the configuration and arrangement compared to a mechanism that moves the moving mechanism up and down at least by the height of the article. Therefore, according to this configuration, it is possible to suppress the complication of the configuration of the transfer device while realizing a configuration in which the transfer device can transfer articles between storage units at various levels.

[0076] According to this configuration, there are also the following advantages. It is possible to consider a configuration in which the first support portion is fixed at the non-overlapping position, which is different from this configuration. However, in this case, the amount of protrusion of the holding portion toward the first side, which is necessary when transferring an article between the holding portion and the first storage portion, is likely to become large. In contrast, in this configuration, when transferring an article between the holding portion and the first storage portion, the first support portion can be moved to the overlapping position, so that the amount of protrusion of the holding portion toward the first side, which is necessary when transferring an article between the holding portion and the first storage portion, can be made the same as or almost the same as the amount of protrusion of the holding portion toward the first side, which is necessary when transferring an article between the holding portion and the second storage portion. From this point, according to this configuration, it is possible to suppress the complication of the configuration of the transfer device. In addition, in this configuration, when transferring an article between the holding portion and the second storage portion, the first support portion can be moved to a position where it is difficult to interfere with the transfer, so that the gap in the vertical direction between the article supported by the second support portion and the first support portion can be suppressed to be small, and the enlargement of the storage device in the vertical direction can be suppressed.

[0077] Here, it is preferable to include a control unit that controls the transfer device. The control unit controls the first support portion based on the operation state of the operation unit such that when the article is transferred between the holding portion and the first support portion, the first support portion is disposed at the overlapping position; and when the article is transferred between the holding portion and the second support portion, the first support portion is disposed at the non-overlapping position.

[0078] According to this configuration, when an article is transferred between the holding part and the first support part, the first support part is arranged at the overlapping position. Therefore, when transferring the article between the holding part and the first storage part and when transferring the article between the holding part and the second storage part, the protruding amount of the holding part toward the first side can be made the same or almost the same. Thus, simplification of the configuration of the transfer device can be achieved. In addition, when the article is transferred between the holding part and the second support part, the first support part is arranged at the non-overlapping position. Therefore, the lifting path of the first support part and the article supported by the first support part can be avoided from the article held by the holding part. Thus, for both the first support part and the second support part, the article can be transferred by the common action of lifting the holding part that moves to the protruding state on the first side, and simplification of the configuration and control of the transfer device can be achieved. Moreover, in this configuration, this control of the first support part based on the operation state of the operation part is executed by the control part that controls the transfer device provided with the operation part. Therefore, coordinated control of the transfer device and the storage device for switching the position of the first support part as described above is not required, and simplification of the control system of the article transfer equipment can be achieved.

[0079] In addition, it is preferable that the transfer device includes an operating mechanism that moves the operation part independently of the holding part in the width direction of the path. The operation part is configured to push the pressed part provided on the storage device toward the first side as it moves toward the first side. One of the overlapping position and the non-overlapping position is the first position, and the other is the second position. The first storage part is configured such that as the pressed part is pushed toward the first side, the first support part moves from the first position to the second position, and as the pushing of the pressed part toward the first side is released, the first support part moves from the second position to the first position.

[0080] According to this configuration, the switching between the overlapping position and the non-overlapping position of the position of the first support part can be performed based on the presence or absence of the pushing of the pressed part by the operation part toward the first side. Therefore, simplification of the configuration and control of the operation part can be achieved. Moreover, according to this configuration, when the overlapping position is the first position and the non-overlapping position is the second position, it is configured that when the article is transferred between the holding part and the second support part, the operation part pushes the pressed part toward the first side; when the non-overlapping position is the first position and the overlapping position is the second position, it is configured that when the article is transferred between the holding part and the first support part, the operation part pushes the pressed part toward the first side, so that the first support part can be arranged at an appropriate position. Therefore, the article can be transferred appropriately for either the first support part or the second support part.

[0081] As described above, in the configuration in which the pushed portion is pushed forward to the first side and the first support portion moves from the first position to the second position, it is preferable that the pushed portion is provided to move in the path width direction integrally with the first support portion, the first position is the overlapping position, and the second position is the non-overlapping position.

[0082] According to this configuration, the pushed portion is provided to move in the path width direction integrally with the first support portion, so that the connection between the pushed portion and the first support portion can be made into a simple configuration, and the configuration of the storage device can be simplified. In addition, in this configuration, the first position of the first support portion at the normal time when the pushing of the pushed portion to the first side is released is the overlapping position. Therefore, when transferring an article between the holding portion and the first support portion, the position of the first support portion does not need to be switched, and it is easy to increase the transfer speed of the article between the holding portion and the first support portion.

[0083] In addition, it is preferable that the operation portion is configured to move in the path width direction to the same side as the side where the holding portion moves in the path width direction as the holding portion moves; one of the overlapping position and the non-overlapping position is the first position, and the other is the second position, and a switching mechanism is provided, which switches the first support portion between an effective state in which the first support portion moves from the first position to the second position as the operation portion moves forward to the first side and an ineffective state in which the first support portion is maintained at the overlapping position or the non-overlapping position regardless of the movement of the operation portion forward to the first side.

[0084] According to this configuration, the operation state of the first support portion based on the operation portion can be switched between the effective state and the ineffective state by the switching mechanism. Therefore, even in the case where the operation portion is configured to move in the path width direction to the same side as the side where the holding portion moves in the path width direction as the holding portion moves, when the holding portion protrudes to the first side, the position of the first support portion can be maintained and switched. Therefore, when an article is transferred between the holding portion and the first support portion, the first support portion can be arranged at the overlapping position, and when the article is transferred between the holding portion and the second support portion, the first support portion can be arranged at the non-overlapping position, and the article can be appropriately transferred to both the first support portion and the second support portion.

[0085] As described above, in the configuration having the switching mechanism that switches the first support portion between the effective state and the ineffective state based on the operation state of the operation portion, it is preferable to include a control portion that controls the transfer device. The control portion is configured to switch the first support portion between the effective state and the ineffective state based on the operation state of the operation portion by switching the posture of the operation portion.

[0086] According to this configuration, the position and posture of the component on the storage device side operated by the operation portion are fixed, and the posture of the operation portion is switched, so that the first support portion can be switched between the effective state and the ineffective state based on the operation state of the operation portion. Moreover, in this configuration, the switching of the posture of the operation portion is performed by controlling the control portion of the transfer device provided with the operation portion. Therefore, the coordinated control of the transfer device and the storage device for switching the first support portion based on the operation state of the operation portion is not required, and the simplification of the control system of the article transfer device can be achieved.

[0087] As described above, in the configuration in which the control portion switches the first support portion between the effective state and the ineffective state based on the operation state of the operation portion by switching the posture of the operation portion, it is preferable that the first storage portion is configured such that: as the pressed portion provided on the storage device is pressed toward the first side, the first support portion moves from the first position to the second position; as the pressing of the pressed portion toward the first side is released, the first support portion moves from the second position to the first position; the operation portion is configured to be able to switch the posture between a pressing posture in which the pressed portion is pressed toward the first side as it moves toward the first side and a non-pressing posture that is not the pressing posture; the control portion is configured to switch the first support portion to the effective state based on the operation state of the operation portion by switching the posture of the operation portion to the pressing posture, and to switch the first support portion to the ineffective state based on the operation state of the operation portion by switching the posture of the operation portion to the non-pressing posture.

[0088] According to this configuration, the attitude change of the operation unit that can be used to switch the operation state of the first support unit based on the operation of the operation unit can be a relatively small attitude change that can switch whether to press the pressed part when the operation unit moves to the first side. Therefore, the configuration of the operation unit can be simplified. Moreover, according to this configuration, when the overlapping position is the first position and the non-overlapping position is the second position, it is configured to switch the attitude of the operation unit to the pressing attitude when the article is transferred between the holding unit and the second support unit; when the non-overlapping position is the first position and the overlapping position is the second position, it is configured to switch the attitude of the operation unit to the pressing attitude when the article is transferred between the holding unit and the first support unit, so that the first support unit can be arranged at an appropriate position. Therefore, the article can be appropriately transferred to either the first support unit or the second support unit.

[0089] In the article handling device with each of the above configurations, it is preferable that one of the aforementioned overlapping position and the aforementioned non-overlapping position is the first position and the other is the second position, and the aforementioned first support unit is arranged at the aforementioned first position in a state where it is not operated by the aforementioned operation unit, and the aforementioned storage device is configured to use one or both of the self-weight of the aforementioned first support unit and the biasing force based on the biasing mechanism to generate at least a part of the force for moving the aforementioned first support unit from the aforementioned second position to the aforementioned first position.

[0090] According to this configuration, the first support unit can always be arranged at the first position in a state where it is not operated by the operation unit. Therefore, different from the case where the position of the first support unit in a state where it is not operated by the operation unit changes each time, the scenarios that require switching the position of the first support unit can be only one of the cases where the article is transferred between the holding unit and the first support unit and the case where the article is transferred between the holding unit and the second support unit. Therefore, for example, when switching the operation state of the first support unit based on the operation of the operation unit by control, the simplification of this control can be achieved. In addition, according to this configuration, one or both of the self-weight of the first support unit and the biasing force based on the biasing mechanism can be used to return the first support unit in the state of moving to the second position to the first position, so that the simplification of the configuration for returning the first support unit to the first position can be achieved.

[0091] In addition, it is preferable that the aforementioned handling device moves along a moving path formed along the ceiling, and the aforementioned storage device is supported by the aforementioned ceiling.

[0092] According to this configuration, in the case where the handling device is a ceiling handling device that moves along a moving path formed along the ceiling, the space on the ceiling side can be effectively utilized, and a multi-stage storage device having a first storage unit and a second storage unit can be arranged.

[0093] The article handling equipment related to the present disclosure only needs to achieve at least one of the above effects.

[0094] Symbol Explanation

[0095] 1: Ceiling

[0096] 10: Handling device

[0097] 11: Holding part

[0098] 15: Lifting mechanism

[0099] 16: Moving mechanism

[0100] 20: Operating part

[0101] 21: Operating mechanism

[0102] 22: Switching mechanism

[0103] 30: Control part

[0104] 40: Storage device

[0105] 41: Pressed part

[0106] 42: Biasing mechanism

[0107] 50: First storage part

[0108] 51: First support part

[0109] 52: Movable support part

[0110] 60: Second storage part

[0111] 61: Second support part

[0112] 100: Article handling equipment

[0113] P1: First position

[0114] P2: Second position

[0115] PA: Overlapping position

[0116] PB: Non - overlapping position

[0117] Q1: Pushing posture

[0118] Q2: Non - pushing posture

[0119] R: Moving path

[0120] S: Object space

[0121] W: Article

[0122] Y: Path width direction

[0123] Y1: The first side

[0124] Z: The vertical direction.

Claims

1. An article handling device, comprising: A handling device that moves along a movement path and handles articles; A storage device that is disposed adjacent to the movement path and stores the articles; It has the following characteristics: Taking the side where the storage device is disposed relative to the movement path in the path width direction of the width direction of the movement path as the first side; The handling device includes a holding portion that holds the article, a lifting mechanism that raises and lowers the holding portion, and a moving mechanism that moves the holding portion along the path width direction. When transferring the article between the holding portion and the storage device, the holding portion protrudes on the first side through the moving mechanism; The storage device includes a first storage portion and a second storage portion disposed below the first storage portion; The first storage portion includes a first support portion that supports the article and a movable support portion that movably supports the first support portion in the path width direction; The second storage portion includes a second support portion whose position in the path width direction of the movement path is fixed and supports the article; Taking the space occupied by the article in the state of being supported by the second support portion as the object space, taking the position where the first support portion overlaps with the object space when observed in the vertical direction along the vertical direction as the overlapping position, and taking the position adjacent to the overlapping position on the first side and where the first support portion does not overlap with the object space when observed in the vertical direction as the non-overlapping position; An operation portion is provided on the handling device, which contacts and acts on the storage device to switch the position of the first support portion between the overlapping position and the non-overlapping position.

2. The article handling device according to claim 1, wherein: It includes a control portion that controls the handling device, The control portion controls the first support portion based on the operation state of the operation portion, such that when the article is transferred between the holding portion and the first support portion, the first support portion is disposed at the overlapping position, and when the article is transferred between the holding portion and the second support portion, the first support portion is disposed at the non-overlapping position.

3. The article handling device according to claim 1 or 2, wherein: The handling device includes an operation mechanism that moves the operation portion independently of the holding portion along the path width direction, The operation portion is configured to push a pushed portion provided on the storage device toward the first side as it moves toward the first side, Taking one of the overlapping position and the non-overlapping position as the first position and the other as the second position, The first storage portion is configured such that as the pushed portion is pushed toward the first side, the first support portion moves from the first position to the second position; as the pushing of the pushed portion toward the first side is released, the first support portion moves from the second position to the first position.

4. The article handling device according to claim 3, wherein: The pushed portion is provided to move integrally with the first support portion in the path width direction. The first position is the overlapping position, and the second position is the non-overlapping position.

5. The article handling device according to claim 1 or 2, wherein The operation portion is configured to move to the same side as the side where the holding portion moves in the path width direction as the holding portion moves in the path width direction; Taking one of the overlapping position and the non-overlapping position as the first position and the other as the second position, A switching mechanism is provided which switches the first support portion between an effective state in which the first support portion moves from the first position to the second position as the operation portion moves to the first side based on the operation state of the operation portion, and an ineffective state in which the first support portion is maintained at the overlapping position or the non-overlapping position regardless of the movement of the operation portion to the first side.

6. The article handling device according to claim 5, wherein A control portion for controlling the handling device is provided, The control portion is configured to switch the first support portion between the effective state and the ineffective state based on the operation state of the operation portion by switching the posture of the operation portion.

7. The article handling device according to claim 6, wherein The first storage portion is configured such that the first support portion moves from the first position to the second position as the pushed portion provided in the storage device is pushed to the first side; and the first support portion moves from the second position to the first position as the pushing of the pushed portion to the first side is released, The operation portion is configured to be able to switch postures between a pushing posture in which the pushed portion is pushed to the first side as it moves to the first side and a non-pushing posture which is not the pushing posture; The control portion is configured to switch the first support portion to the effective state based on the operation state of the operation portion by switching the posture of the operation portion to the pushing posture; By switching the posture of the operation portion to the non-pushing posture, the first support portion is switched to the ineffective state based on the operation state of the operation portion.

8. The article handling device according to claim 1 or 2, wherein Taking one of the overlapping position and the non-overlapping position as the first position and the other as the second position, The first support portion is disposed at the first position in a state where it is not operated by the operation portion, The storage device is configured to generate at least a part of the force for moving the first support portion from the second position to the first position using one or both of the self-weight of the first support portion and the biasing force based on the biasing mechanism.

9. The article handling device according to claim 1 or 2, wherein The handling device moves along a moving path formed along the ceiling, The storage device is supported by the ceiling.

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