Article storage device

Abstract

The aforementioned control section can cause the transfer machine (21) to perform a first article extraction operation and a second article position adjustment operation. The aforementioned first article extraction operation is performed while the locking section (212) is locked to the rear surface section (912) of the first article (91), and the locking section (212) is moved to the front side (X1) in the depth direction. The aforementioned second article position adjustment operation is performed by moving the locking section (212), which is disposed between the first article (91) and the second article (92) in the depth direction (X), to a position corresponding to the position of the front surface section (921) of the second article (92) in the proper position (P2) in the depth direction (X2). The transfer machine (21) performs the first article extraction operation while the locking section (212) is disposed between the first article (91) and the second article (92). After the second article position adjustment operation is performed, the aforementioned first article extraction operation is completed.

Description

Technical Field

[0001] The present invention relates to an item storage device, which includes an item storage rack and a transport device for transporting items, wherein the item storage rack has a storage section capable of storing items. Background Technology

[0002] An example of such an item storage device has been disclosed in Japanese Patent No. 5541178 (Patent Document 1). The reference numerals in parentheses in the following background description are those of Patent Document 1.

[0003] The article storage device described in Patent Document 1 includes: a storage section (11) capable of arranging two articles (W) in the depth direction (X) for storage; and a transport device (3) for transporting the articles (W) along a transport direction (Y) intersecting the depth direction (X). Furthermore, the transport device (3) includes a transfer machine (29) for moving the articles (W) in the depth direction (X), by means of which the transfer machine (29) is used to transfer the articles (W) to the storage section (11).

[0004] Patent document: Japanese Patent No. 5541178.

[0005] However, in the article storage device described in Patent Document 1, the following situation occurs: vibrations caused by the operation of the conveying device (3) cause the article (W) stored in the storage section (11) to shift in position. The position adjustment of the article (W) that has shifted in position can be performed using the transfer machine (29) provided on the conveying device (3).

[0006] Here, when adjusting the position of the item (W) located on the side furthest from the conveying device (3) in the depth direction (X) of the two items (W) stored in the storage section (11), the item (W) located on the side closest to the conveying device (3) in the depth direction (X) becomes an obstacle, making it difficult to detect the position of the item (W) on the inside side from the side of the conveying device (3). Therefore, it is difficult to properly adjust the position of the item (W). On the other hand, in order to properly detect the position of the item (W) on the inside side from the side of the conveying device (3), the item (W) on the near side must be temporarily moved to another location. If such a move hinders the entry and exit of the item (W) relative to the storage section (11), the entry and exit capacity of the equipment as a whole will be reduced. If the equipment's inbound and outbound operations are prioritized to avoid this situation, fewer opportunities will be available to adjust the position of the items (W). Consequently, adjustments may not be made at the appropriate time, resulting in a significant shift in the position of the items (W) stored in the storage section (11). In the past, in order to properly adjust the position of the items on the inside, additional actions such as moving items (W) on the front side that are not directly involved in the position adjustment, or interrupting the inbound and outbound operations of other items (W) must be performed, making it inefficient to adjust the position of the items on the inside. Summary of the Invention

[0007] In view of the above-mentioned practical situation, it is desirable to realize an item storage device, which, in a structure having a storage section capable of arranging and storing two items in the depth direction, can efficiently adjust the position of the item located on the inner side in the depth direction.

[0008] The item storage device of this application includes: an item storage rack with a storage section capable of arranging and storing two items in the depth direction; a conveying device for conveying the items along a conveying direction intersecting the depth direction; and a control unit for controlling the operation of the conveying device; the conveying device includes a transfer machine for performing a take-out action, the take-out action moving the items in the depth direction to remove the items from the item storage rack, and the depth is defined as the side of the conveying device relative to the item storage rack in the depth direction. The object stored in the storage unit on the front side in the depth direction is designated as the first object, and the object stored in the storage unit on the inner side in the depth direction is designated as the second object. The appropriate position of the second object in the storage unit is designated as the appropriate position of the second object. The transfer machine includes a locking part and a drive part for moving the locking part. The locking part locks onto the front surface of the object facing the front side in the depth direction or the rear surface of the object facing the inner side in the depth direction. On one of the faces, the aforementioned control unit controls the aforementioned drive unit, enabling the aforementioned transfer machine to perform a first item removal action and a second item position adjustment action. The aforementioned first item removal action involves positioning the aforementioned locking part between the aforementioned first item and the aforementioned second item in the aforementioned depth direction, so that the aforementioned locking part is locked onto the aforementioned rear surface of the aforementioned first item, and then moving the aforementioned locking part forward in the aforementioned depth direction to perform the aforementioned first item removal action. The aforementioned second item position adjustment action involves adjusting the position of the item already positioned on the aforementioned first item... The aforementioned locking part between the aforementioned depth direction and the aforementioned second item moves toward the inner side of the aforementioned depth direction to a position corresponding to the position of the aforementioned front surface part of the aforementioned second item located at an appropriate position of the aforementioned second item. During the execution of the aforementioned first item removal operation by the aforementioned transfer machine, after the aforementioned locking part has been positioned between the aforementioned first item and the aforementioned second item, the aforementioned control unit causes the aforementioned transfer machine to perform the aforementioned second item position adjustment operation. After the aforementioned second item position adjustment operation is completed, the aforementioned first item removal operation is completed.

[0009] According to this structure, the transfer machine performs a second item position adjustment operation, moving the locking part inward in the depth direction to a position corresponding to the front surface of the second item located at the appropriate position. Therefore, even if the second item has shifted from its appropriate position towards the front in the depth direction before the second item position adjustment operation is performed, the locking part can still move the second item inward in the depth direction to its appropriate position. Furthermore, according to this structure, since the locking part is positioned between the first and second items during the first item removal operation, and this second item position adjustment operation is performed afterward, the movement of the locking part in order to remove the first item allows for the position adjustment of the second item stored inward in the depth direction relative to the first item being removed. Thus, according to this structure, the position adjustment of the second item stored inward in the depth direction within the storage unit becomes efficient.

[0010] Further features and advantages of the technology of this application will become more apparent from the following illustrative and non-limiting description of the embodiments illustrated in the accompanying drawings. Attached Figure Description

[0011] Figure 1 It is a rough 3D diagram of an item storage device.

[0012] Figure 2 It is a 3D diagram showing the main parts of the item storage rack.

[0013] Figure 3 It is a three-dimensional view showing the main parts of the conveying device.

[0014] Figure 4 It is a depth view showing the main parts of the conveying device.

[0015] Figure 5 This is a control block diagram for an item storage device.

[0016] Figure 6 This is the control block diagram of the conveying device.

[0017] Figure 7 This is an illustration of the first item transfer action.

[0018] Figure 8 This is an illustration of the second item transfer action.

[0019] Figure 9 This is an illustration of the action of taking out the first item.

[0020] Figure 10 This is an illustration of the action of taking out the second item.

[0021] Figure 11This is an explanatory diagram of the second item position adjustment action performed during the first item removal action.

[0022] Figure 12 This is a schematic perspective view showing other embodiments of the item storage device. Detailed Implementation

[0023] The following describes the implementation of the item storage device with reference to the accompanying drawings.

[0024] [Overall Structure of Item Storage Equipment]

[0025] like Figure 1 As shown, the item storage device 100 includes: an item storage rack 1, which has a storage section 13 capable of arranging two items 90 in the depth direction X for storage; a conveying device 2, which conveys the items 90 along a conveying direction intersecting the depth direction X; and a control unit C2 (see reference). Figure 6 The conveying device 2 is controlled to operate. In this embodiment, a pair of item storage racks 1 are arranged on both sides of the depth direction X, separated by the conveying device 2.

[0026] The conveying device 2 includes a transfer machine 21 for performing a take-out operation. This take-out operation moves the item 90 in the depth direction X, removing the item 90 from the item storage rack 1 (storage section 13). In this embodiment, the transfer machine 21 is configured to perform a transfer operation, in addition to the take-out operation, to transfer the item 90 to the item storage rack 1 (storage section 13). That is, the transfer machine 21 is configured to perform a transfer operation of the item 90 relative to the storage section 13 of the item storage rack 1, which includes both the take-out and transfer operations described above.

[0027] Here, "depth direction X" refers to the direction in which the conveying device 2 moves the item 90 in and out relative to the item storage rack 1 (storage section 13). That is, depth direction X is equal to the transfer direction of the item 90 relative to the storage section 13 performed by the transfer machine 21. Hereinafter, in depth direction X, the side of the conveying device 2 relative to the item storage rack 1 is designated as the near-front side X1, and the opposite side is designated as the inner side X2. Furthermore, the direction orthogonal when viewed from above relative to depth direction X is designated as "width direction Y". Width direction Y is equal to the transport direction of the item 90 performed by the conveying device 2. In this example, width direction Y is also equal to the direction in which the front surface of the item storage rack 1 (the imaginary surface with an opening for transferring the item 90) extends horizontally. Additionally, the pair of item storage racks 1 have identical constructions. Hereinafter, when describing the item storage rack 1, unless otherwise specifically mentioned, one of the pair of item storage racks 1 will be considered.

[0028] In this embodiment, the item storage rack 1 includes: a storage section 13 for storing items 90; a plurality of support columns 11 arranged at predetermined intervals in the depth direction X and the width direction Y; and a beam 12 disposed between a pair of adjacent support columns 11 in the width direction Y.

[0029] like Figure 2 As shown, in this embodiment, the surface of the storage section 13 that holds the item 90 is designated as the mounting surface 13F. The storage section 13 includes a shelf member 130 on which the mounting surface 13F is formed. The shelf member 130 is a plate-shaped member bent at multiple locations. Furthermore, the mounting surface 13F is formed on the upper surface of the shelf member 130. In this embodiment, a storage section 13 is composed of a plurality of shelf members 130 arranged in the width direction Y. In this example, a storage section 13 is constructed by means of four shelf members 130 arranged in the width direction Y.

[0030] In this embodiment, a plurality of storage sections 13 are arranged in the width direction Y between a pair of adjacent pillars 11. Each storage section 13 is configured to store two items 90 arranged in the depth direction X. That is, each storage section 13 has a mounting surface 13F, which has a length in the depth direction X that is greater than the sum of the dimensions of the two items 90 in the depth direction X, and a length in the width direction Y that is greater than the dimension of one item 90 in the width direction Y. Furthermore, in this embodiment, the plurality of storage sections 13 arranged in the width direction Y are configured to cover multiple layers in the vertical direction Z. Furthermore, in this embodiment, the conveying device 2 is provided in multiple layers corresponding to each layer of the multi-layer storage section 13.

[0031] like Figure 1 As shown, the item storage device 100 is equipped with a lift 4, which moves up and down in the vertical direction Z, and can transport the item 90 to the height corresponding to each layer of the multi-layer storage section 13. For example, the lift 4 includes: a rod that extends in the vertical direction Z; and an item placement platform that is driven by a motor and moves up and down along the rod.

[0032] A transfer conveyor 3 is provided between the elevator 4 and the storage rack 1 in the width direction Y to transport items 90 between them. The transfer conveyor 3 is provided on multiple layers corresponding to each layer of the multi-layer storage section 13, and transports the items 90 along the width direction Y when they are loaded. For example, the transfer conveyor 3 is constructed by means of a roller conveyor or a belt conveyor. In the illustrated example, the set of storage rack 1, transfer conveyor 3 and elevator 4 arranged in the width direction Y is provided in pairs in the depth direction X, separated by the transport device 2. However, it is not limited to such a structure, and the set of storage rack 1, transfer conveyor 3 and elevator 4 may also be provided only on one side of the transport path of the transport device 2 in the depth direction X.

[0033] In the item storage device 100 of this embodiment, the items 90 are loaded and unloaded using a lift 4, a transfer conveyor 3, and a handling device 2. However, the handling device such as the lift 4 or the transfer conveyor 3 is not a necessary structure for the item storage device 100. In addition, other handling devices (or people) besides the lift 4 or the transfer conveyor 3 can also be used to load and unload the items 90.

[0034] [thing]

[0035] Here, we will describe the item 90, which is the object to be transported by the transport device 2 (the object to be transferred by the transfer machine 21) and the object to be stored in the storage unit 13. In addition, in the following description of the item 90, the state in which the item 90 is stored in the storage unit 13 is taken as the basis when a certain "direction" or a certain "side" is defined.

[0036] In this embodiment, the article 90 is a container for holding goods, etc. More specifically, the article 90 is a container made of resin (e.g., a container box or a so-called foldable container box, etc.).

[0037] like Figure 2 As shown, in this embodiment, the article 90 includes a main body 900 and a bottom 904 formed to protrude downward from the main body 900 (see reference). Figure 4In this embodiment, the main body 900 is a portion for accommodating goods, etc., and is formed in a box shape. Furthermore, the main body 900 includes: a front surface 901, formed on a front surface facing the front side X1 in the depth direction when the article 90 is stored in the storage portion 13; a rear surface 902, formed on a rear surface facing the inner side X2 in the depth direction; and side surfaces 903, formed on each of two sides facing the width direction Y. The pair of side surfaces 903 face opposite sides in the width direction Y. Additionally, the front surface 901 and the rear surface 902 have identical structures, and either may be either the front surface 901 or the rear surface 902 depending on the storage state of the article 90.

[0038] The bottom 904 is the portion placed on the mounting surface 13F of the storage section 13 when the item 90 is already stored in the storage section 13. For example... Figure 4 As shown, when the article 90 is being transported by the transport device 2, the bottom 904 is supported from below by the transport device 2 (specifically, the support surface 20F of the traveling trolley 20, described later). In this example, the bottom 904 slides across the support surface 20F of the traveling trolley 20 and the mounting surface 13F of the storage section 13, thereby transferring the article 90 between the transport device 2 and the storage section 13. In this embodiment, when viewed from above, the bottom 904 is smaller than the main body 900.

[0039] As described above, the storage section 13 for storing items 90 is configured to store two items 90 arranged in the depth direction X. Here, the item 90 stored in the storage section 13 near the front side X1 in the depth direction is designated as the first item 91, and the item 90 stored in the storage section 13 in the inner side X2 in the depth direction is designated as the second item 92. In this embodiment, a first placement area A1 for placing the first item 91 is provided in the storage section 13, and a second placement area A2 for placing the second item 92 is provided in the storage section 13 in the depth direction, which is located 2 steps further inward than the first placement area A1.

[0040] Hereinafter, the article 90 placed in the first placement area A1, or the article 90 that is the object placed in the first placement area A1, is defined as the first article 91. Furthermore, the article 90 placed in the second placement area A2, or the article 90 that is the object placed in the second placement area A2, is defined as the second article 92. That is, the article 90 being transferred in the first placement area A1 is also referred to here as the first article 91. The same applies to the second article 92. In this figure, reference numerals 910, 911, 912, and 913 are used to denote the main body, front surface, rear surface, and side surface of the first article 91. Similarly, reference numerals 920, 921, 922, and 923 are used to denote the main body, front surface, rear surface, and side surface of the second article 92. Furthermore, unless specifically distinguished, the first article 91 and the second article 92 are simply referred to as article 90.

[0041] [Composition of an item storage rack]

[0042] like Figure 1 and Figure 2 As shown, the item storage rack 1 has a storage section 13, which has a mounting surface 13F for placing items 90, and stores items 90 that slide and are transferred along the depth direction X on the mounting surface 13F.

[0043] The storage section 13 is configured to store two items 90 arranged in the depth direction X. As described above, in this embodiment, the storage section 13 includes a plurality of shelf members 130 arranged in the width direction Y. The mounting surface 13F of the storage section 13 is formed by means of the upper surfaces of the plurality of shelf members 130 included in the storage section 13.

[0044] In this embodiment, such as Figure 7 and Figure 9 As shown, the appropriate position of the first item 91 in the storage section 13 is set as the appropriate position of the first item P1, and the area in the mounting surface 13F where the first item 91 is placed at the appropriate position of the first item P1 is defined as the first mounting area A1. The first mounting area A1 is a region set on a part of the mounting surface 13F.

[0045] Furthermore, in this embodiment, such as Figure 8 and Figure 10 As shown, the appropriate position of the second item 92 in the storage section 13 is set as the appropriate position of the second item P2, and the area in the mounting surface 13F where the second item 92 is placed at the appropriate position of the second item P2 is defined as the second mounting area A2. The second mounting area A2 is an area set in a part of the mounting surface 13F.

[0046] like Figure 2As shown, in this embodiment, width-direction limiting bodies 14y protruding upward from the mounting surface 13F are provided on both sides of the width direction Y, relative to each of the first mounting region A1 and the second mounting region A2. This allows for the restriction of the position of the article 90 stored in the storage section 13 in the width direction Y.

[0047] In this embodiment, with the article 90 housed in the storage section 13, the width direction limiting bodies 14y are disposed on both sides of the article 90 in the width direction Y. In this example, the width direction limiting bodies 14y are disposed on both sides of the first mounting area A1 in the width direction Y. In the illustrated example, a pair of width direction limiting bodies 14y are disposed separately in the depth direction X on each side of the first mounting area A1 in the width direction Y. That is, four width direction limiting bodies 14y are disposed relative to one first mounting area A1. As a result, since the rotation of the first article 91 about an axis orthogonal to the mounting surface 13F can be restricted, it becomes easier to restrict the posture of the first article 91 to an appropriate posture. In other words, the posture of the first article 91 can be restricted such that one side surface 913 of the first article 91 is along the depth direction X, and the front surface 911 and rear surface 912 of the first article 91 are along the width direction Y. Thus, a structure is achieved that allows the first article 91 to be moved more easily in a suitable posture. In this example, to enhance such a restrictive function, each of the width-direction restrictors 14y is positioned outside the first mounting region A1 and adjacent to the boundary of the width direction Y of the first mounting region A1. Furthermore, the width-direction restrictors 14y are configured for the second mounting region A2 in the same manner as for the first mounting region A1. That is, in this example, four width-direction restrictors 14y are configured relative to one second mounting region A2. Thus, a structure is achieved that allows the second article 92 to be moved more easily in a suitable posture.

[0048] In this embodiment, a depth-direction limiting body 14x is provided on the inner side X2 in the depth direction relative to the second mounting region A2, protruding upward from the mounting surface 13F. This prevents the second item 92 stored in the storage section 13 from moving inward X2 in the depth direction relative to the depth-direction limiting body 14x.

[0049] In this embodiment, the depth direction limiting body 14x is disposed on the inner side X2 in the depth direction relative to the second article 92 placed in the second placement area A2. In this example, the depth direction limiting body 14x is disposed on the inner side X2 in the depth direction relative to the second placement area A2. More specifically, the depth direction limiting body 14x is disposed at a position that is outside the second placement area A2 and adjacent to the boundary of the inner side X2 in the depth direction of the second placement area A2. In this example, one depth direction limiting body 14x is disposed on the inner side X2 in the depth direction relative to the second placement area A2. However, it is not limited to this, and multiple depth direction limiting bodies 14x may be disposed on the inner side X2 in the depth direction of the second placement area A2.

[0050] In this embodiment, each of the width direction limiting body 14y and the depth direction limiting body 14x is constructed by means of a component other than the shelf member 130, and is disposed in the storage part 13 by being mounted on the shelf member 130. However, it is not limited to this, at least one of the width direction limiting body 14y and the depth direction limiting body 14x may also be integrally constructed with the shelf member 130.

[0051] Here, the appropriate position of the first item mentioned above is P1 (refer to...). Figure 7 (etc.) is the appropriate position of the first item 91 in the storage section 13. In this embodiment, the appropriate position P1 of the first item is the position in the width direction Y, where the first item 91 is stored in the storage section 13 with the width direction Y restricted by the width direction restrictor 14y, and the position in the width direction Y of one side surface 913 of the first item 91 is defined as the reference. Furthermore, the appropriate position P1 of the first item is the position in the storage section 13 where the first item 91 is stored in the storage section 13 in the depth direction X, such that the front surface portion 911 of the first item 91 is located at a position away from the end near the front side X1 in the depth direction of the storage section 13 by a predetermined distance inward X2, and the position in the depth direction X of the front surface portion 911 or the rear surface portion 912 of the first item 91 is defined as the reference. In this example, as Figure 7 As shown, the first article appropriate position P1 in the depth direction X defines the rear surface portion 912 of the first article 91 as the reference. That is, when the rear surface portion 912 of the first article 91 is located at the first article appropriate position P1 indicated by the single-dotted line in the figure, the first article 91 is located at the first article appropriate position P1 in the depth direction X.

[0052] In addition, the appropriate location P2 of the second item mentioned above (refer to...) Figure 7(etc.) is the appropriate position of the second item 92 in the storage section 13. In this embodiment, the appropriate position P2 of the second item is the position in which the second item 92 is stored in the storage section 13 with the width direction Y restricted by the width direction restrictor 14y, and the position of the width direction Y of one side surface 923 of the second item 92 is defined as the reference. Furthermore, the appropriate position P2 of the second item is the position in which the second item 92 is stored in the storage section 13 in the following manner: in the depth direction X, the rear surface portion 922 of the second item 92 is located at a position away from the end of the inner side X2 in the depth direction of the storage section 13 by a predetermined distance from the front side X1 in the depth direction, and the position of the front surface portion 921 or the rear surface portion 922 of the second item 92 in the depth direction X is defined as the reference. In this example, as Figure 7 As shown, the appropriate position P2 of the second item in the depth direction X defines the rear surface portion 922 of the second item 92 as a reference. That is, when the rear surface portion 922 of the second item 92 is located at the appropriate position P2 of the second item as shown by the dashed line in the figure, the second item 92 is located at the appropriate position P2 of the second item in the depth direction X. Furthermore, in Figure 7 Although detailed illustrations are omitted, in this example, the rear surface 922 of the second item 92, located at the appropriate position P2 of the second item, is configured to be 14x greater than the depth-direction limiting body (see reference). Figure 2 ) Near the front side X1 in the direction of depth.

[0053] [Structure of the transport device]

[0054] like Figure 1 As shown, the conveying device 2 conveys the item 90 along the width direction Y. Furthermore, the conveying device 2 moves the item 90 along the depth direction X to transfer the item 90 relative to the storage section 13.

[0055] In this embodiment, the conveying device 2 includes: a travel track 2R, arranged along the width direction Y; and a travel trolley 20, supported by the travel track 2R and traveling along the travel track 2R. The travel track 2R is disposed on the front side X1 in the depth direction relative to a plurality of storage sections 13 arranged along the width direction Y. In this embodiment, the travel track 2R is integrally disposed with the beam 12 on the front side X1 in the depth direction of the item storage rack 1. The travel trolley 20 has a support surface 20F (see reference) capable of supporting items 90 from below. Figure 3 and Figure 4 The traveling trolley 20 is configured to travel on the traveling track 2R while supporting the item 90 with the support surface 20F, thereby the transport device 2 transports the item 90 along the width direction Y.

[0056] The conveying device 2 includes a transfer mechanism 21, which is configured to transfer items 90 to the storage section 13 of the item storage rack 1. The transfer mechanism 21 is configured to transfer items 90 to the storage section 13 by moving the items 90 along the depth direction X. More specifically, as... Figure 7 As shown, the conveying device 2 is configured to slide the article 90 along the depth direction X on the support surface 20F in the traveling trolley 20 and the placement surface 13F of the storage section 13, thereby transferring the article 90 to the storage section 13.

[0057] like Figure 3 and Figure 4 As shown, the transfer machine 21 includes: a locking part 212 that locks onto the front surface 901 of the article 90 in the direction of depth towards the front X1 or the rear surface 902 of the article 90 in the direction of depth towards the inner X2 (see reference). Figure 2 Any one of the following; and the drive unit M (refer to) Figure 6 The transfer machine 21 is configured to move the locking part 212 to the storage section 13 while the locking part 212 is locked to the front surface 901 or rear surface 902 of the article 90. Furthermore, as described above, the transfer operation performed by the transfer machine 21 includes a removal operation of taking the article 90 out of the storage section 13 and a transfer operation of transferring the article 90 to the storage section 13.

[0058] In this embodiment, the transfer machine 21 includes transfer arms 211, which are configured to move freely forward and backward along the depth direction X. Here, the transfer machine 21 includes a pair of transfer arms 211 arranged at intervals in the width direction Y. The pair of transfer arms 211 are configured to move forward and backward relative to the article 90 to be transferred, passing through both sides in the width direction Y. That is, one of the pair of transfer arms 211 moves forward and backward relative to one side 903 of the article 90 (see reference). Figure 2 The transfer arm 211 moves forward and backward along the outer side of the article 90 in the width direction Y, while the other side 903 of the article 90 moves forward and backward along the outer side of the article 90 in the width direction Y. The transfer arm 211 is powered by a forward and backward motor M1 (see reference). Figure 6 And along the depth direction X, it is driven by advancing and retreating.

[0059] In this embodiment, the transfer arm 211 includes: a support portion 211s fixed to the traveling trolley 20; a first arm 211a supported and movable relative to the support portion 211s in the depth direction X; and a second arm 211b supported and movable relative to the first arm 211a in the depth direction X. Furthermore, it is configured such that the first arm 211a moves relative to the support portion 211s in the depth direction X, and the first arm 211a and the second arm 211b move relative to each other in the depth direction X, thereby allowing the transfer arm 211 to extend and retract in the depth direction X. In this embodiment, a locking portion 212 is provided on the second arm 211b. With this structure, the transfer arm 211 can move forward and backward in the depth direction X to move the article 90 in the depth direction X.

[0060] A locking portion 212, which engages with the article 90 during the transfer operation, is provided on the transfer arm 211. In this example, the locking portion 212 is provided on the second arm 211b of the transfer arm 211, and is configured to move in the depth direction X as the second arm 211b moves in the depth direction X. Furthermore, the locking portion 212 is configured to be supported by the transfer arm 211 and can rotate freely about an axis along the depth direction X. By rotating, its state can be changed to a protruding state and a non-protruding state. The protruding state is a state in which the transfer arm 211 protrudes to the other side of the transfer arm 211 in the width direction Y, and the non-protruding state is a state in which it does not protrude to the other side of the transfer arm 211 in the width direction Y. In the protruding state, the locking portion 212 is positioned at a position that overlaps with the article 90 being transferred from the perspective of the depth direction X, and in the non-protruding state, it is positioned at a position that does not overlap with the article 90 being transferred from the perspective of the depth direction X.

[0061] In this embodiment, the locking part 212 is secured by a winding motor M2 (see reference 2). Figure 6 The transfer arm 211 is driven to rotate around an axis along the depth direction X. In this embodiment, the forward / backward motor M1 for moving the transfer arm 211 forward and backward, and the winding motor M2 for rotating the locking part 212, are equivalent to the "drive unit M". The drive unit M, which includes the forward / backward motor M1 and the winding motor M2, may also include mechanisms or devices (motors, etc.) for performing other operations of the transfer machine 21. For example, if the transfer machine 21 is equipped with a motor for moving the pair of transfer arms 211 closer and further apart along the width direction Y (approaching and moving away motor), the drive unit M may also be configured to include this approaching and moving away motor.

[0062] When the transfer machine 21 performs a handover operation during the transfer process, it moves the item 90 inwards X2 in the depth direction while the locking part 212 is locked to the front surface 901 of the item 90, thereby moving the item 90 inwards X2 in the depth direction. Furthermore, when the transfer machine 21 performs a removal operation during the transfer process, it moves the item 90 inwards X1 in the depth direction while the locking part 212 is locked to the rear surface 902 of the item 90, thereby moving the item 90 inwards X1 in the depth direction.

[0063] In this embodiment, a plurality of locking portions 212 are arranged on the transfer arm 211 in a positional relationship that is far apart from each other in the depth direction X. In this example, the locking portions 212 include: a first locking portion 212a, which is arranged at the farthest position in the depth direction X relative to the storage portion 13 that is the transfer target location; a second locking portion 212b, which is arranged at the closest position in the depth direction X relative to the storage portion 13 that is the transfer target location; and an intermediate locking portion 212m, which is arranged between the first locking portion 212a and the second locking portion 212b in the depth direction X. That is, with the storage section 13, which will be the location of the transfer object, defined as the front side X1 and the inner side X2 in the depth direction, the first locking part 212a is disposed on the front side X1 portion of the transfer arm 211 in the depth direction (the end of the front side X1 in the illustrated example), the second locking part 212b is disposed on the inner side X2 portion of the transfer arm 211 in the depth direction (the end of the inner side X2 in the illustrated example), and the intermediate locking part 212m is disposed between these locking parts 212a and 212b in the depth direction X. The first locking part 212a, the second locking part 212b, and the intermediate locking part 212m are provided on each of the pair of transfer arms 211. A pair of first locking portions 212a are configured to be positioned at the same location in the depth direction X relative to the transfer arm 211 (here, the second arm 211b), and cooperate with each other to lock onto the article 90. The same configuration applies to a pair of second locking portions 212b and a pair of intermediate locking portions 212m.

[0064] In this embodiment, the first locking part 212a functions to transfer the first item 91 to the first placement area A1 of the storage part 13 (see reference). Figure 7 The intermediate locking part 212m functions to transfer the second item 92 to the second placement area A2 of the storage part 13 (see reference). Figure 8 The second locking part 212b functions to remove the first item 91 placed in the first placement area A1 of the storage section 13 and to remove the second item 92 placed in the second placement area A2 of the storage section 13 (see reference). Figure 9 and Figure 10 Furthermore, in this embodiment, such as Figure 1As shown, each of the storage sections 13 on both sides of a pair of storage racks 1 can become transfer targets. That is, depending on which storage section 13 is designated as a transfer target location, and with the conveying device 2 as the reference, the forward side X1 and the inward side X2 in the depth direction may be in opposite relationships. In this case, the relationship between the first locking part 212a and the second locking part 212b is also reversed. That is, depending on the storage section 13 that becomes a transfer target location, the first locking part 212a may become the second locking part 212b. Furthermore, the second locking part 212b may become the first locking part 212a.

[0065] [Control structure of item storage equipment]

[0066] like Figure 5 As shown, the item storage device 100 includes an integrated control device C for comprehensively managing the entire device. The integrated control device C is configured to generate a handling instruction and send this instruction to the handling device 2. The handling instruction is to move the item 90 to one of the multiple storage sections 13 (see reference 1) of the item storage rack 1. Figure 1 The system moves an item 90 from one of the multiple storage units 13. In this embodiment, the integrated control device C is configured to send the aforementioned moving instructions to the moving device 2, the transfer conveyor 3, and the elevator 4. The moving device 2, the transfer conveyor 3, and the elevator 4, having received the moving instructions, cooperate with each other to move the item 90 to its destination.

[0067] like Figure 6 As shown, the conveying device 2 includes a control unit C2 for controlling its operation. The control unit C2 is configured to control each functional unit of the conveying device 2. In this embodiment, the control unit C2 controls: a travel motor 20m for driving the travel trolley 20; and a forward / backward motor M1 for driving the transfer arm 211 of the transfer machine 21 (see reference). Figure 3 The conveying device 2 includes a forward / reverse motor M1 and a winding motor M2, which drive the locking portion 212 supported by the transfer arm 211 to rotate. In this embodiment, the control unit C2 of the conveying device 2 is equivalent to a "control unit". Furthermore, as described above, in this embodiment, the forward / reverse motor M1 and the winding motor M2 are equivalent to "drive units M".

[0068] The aforementioned control unit C2 and integrated control device C include peripheral circuits such as a processor and memory, similar to a microcomputer. Furthermore, various functions can be achieved through the cooperation of this hardware and programs executing on the processor of a computer.

[0069] [Transfer Action]

[0070] Next, refer to Figures 7-11The transfer operation of item 90 performed by transfer machine 21 will be explained. Furthermore, due to... Figures 7-11 This is an explanatory diagram that schematically shows the transfer operation, so detailed parts (such as the width direction limiting body 14y, the depth direction limiting body 14x, etc.) are omitted.

[0071] The transfer operation performed by the transfer machine 21 includes a take-out operation of retrieving the item 90 from the storage section 13 and a transfer operation of transferring the item 90 to the storage section 13. For example... Figure 6 As shown, the transfer action performed by the transfer machine 21 is controlled by the drive unit M (forward / reverse motor M1 and winding motor M2) via the control unit C2. This will also be referred to in the following description. Figure 6 .

[0072] In this embodiment, the transfer operation includes: a first item transfer operation, transferring the first item 91 to the first placement area A1 of the storage unit 13; and a second item transfer operation, transferring the second item 92 to the second placement area A2 of the storage unit 13. Furthermore, the retrieval operation includes: a first item retrieval operation, retrieving the first item 91 placed in the first placement area A1 of the storage unit 13; and a second item retrieval operation, retrieving the second item 92 placed in the second placement area A2 of the storage unit 13.

[0073] Figure 7 The display shows that the transfer machine 21 is performing the first item transfer operation. The control unit C2 controls the drive unit M to cause the transfer machine 21 to perform the first item transfer operation. Figure 7 As shown, during the first item transfer operation, the control unit C2 controls the drive unit M to lock the first locking part 212a (locking part 212) onto the front surface 911 of the first item 91, causing the first locking part 212a to move inward X2 in the depth direction, thus pushing the first item 91 inward X2 in the depth direction. Specifically, the control unit C2 controls the winding motor M2 to protrude the first locking part 212a in the width direction Y, and controls the forward and backward motor M1 to protrude the transfer arm 211 inward X2 in the depth direction (see reference). Figure 7 (a) and (b)). Thus, the control unit C2 causes the transfer machine 21 to perform the first item transfer operation. During the first item transfer operation, the first item 91, pushed by the first locking part 212a, slides on the support surface 20F of the traveling trolley 20 and the placement surface 13F of the storage part 13, is placed in the first placement area A1, and is positioned at the appropriate position P1 of the first item.

[0074] The amount by which the transfer arm 211 protrudes inward X2 in the depth direction during the first item transfer operation is controlled based on the depth direction X dimension of the first item 91 and the appropriate position P1 of the first item. Once the first item 91 is positioned at the appropriate position P1, the control unit C2 controls the forward / reverse motor M1 to retract the transfer arm 211 towards the front X1 in the depth direction (see reference). Figure 7 (c)). In this example, the control unit C2 retracts the transfer arm 211 towards the front X1 in the depth direction, and simultaneously or subsequently controls the winding motor M2 to set the first locking part 212a to a non-protruding state.

[0075] Figure 8 The display shows that the transfer machine 21 is performing the second item transfer operation. The control unit C2 controls the drive unit M to cause the transfer machine 21 to perform the second item transfer operation. Figure 8 As shown, during the second item transfer operation, the control unit C2 controls the drive unit M to lock the intermediate locking part 212m (locking part 212) onto the front surface 921 of the second item 92, causing the intermediate locking part 212m to move inward X2 in the depth direction, thus pushing the second item 92 inward X2 in the depth direction. Specifically, the control unit C2 controls the winding motor M2 to protrude the intermediate locking part 212m in the width direction Y, and controls the forward and backward motor M1 to protrude the transfer arm 211 inward X2 in the depth direction (see reference). Figure 8 (a), (b)). In this embodiment, in the reference state of the transfer arm 211 during the movement of the traveling trolley 20, the intermediate locking portion 212m is located further inward X2 in the depth direction than the front surface portion 921 of the second item 92. Therefore, during the second item transfer operation, the transfer arm 211 is temporarily moved forward X1 in the depth direction, so that the intermediate locking portion 212m is locked onto the front surface portion 921 of the second item 92, and then the transfer arm 211 is protruded inward X2 in the depth direction. In this way, the control unit C2 causes the transfer machine 21 to perform the second item transfer operation. During the second item transfer operation, the second item 92, pushed by the intermediate locking portion 212m, slides on the support surface 20F of the traveling trolley 20 and the placement surface 13F of the storage portion 13, is placed in the second placement area A2 and positioned at the appropriate position P2 of the second item.

[0076] The amount by which the transfer arm 211 protrudes inward X2 in the depth direction during the second item transfer operation is controlled based on the depth direction X dimension of the second item 92 and the appropriate position P2 of the second item. Once the second item 92 is positioned at the appropriate position P2, the control unit C2 controls the forward / reverse motor M1 to retract the transfer arm 211 towards the front X1 in the depth direction (see reference). Figure 8(c)). In this example, the control unit C2 retracts the transfer arm 211 towards the front X1 in the depth direction, and simultaneously or subsequently controls the winding motor M2 to set the intermediate locking part 212m to a non-protruding state.

[0077] Figure 9 The display shows that the transfer machine 21 is performing the first item retrieval operation. The control unit C2 controls the drive unit M to cause the transfer machine 21 to perform the first item retrieval operation. Figure 9 As shown, during the first item removal operation, the control unit C2 controls the drive unit M to position the second locking part 212b (locking part 212) between the first item 91 and the second item 92 in the depth direction X, so that the second locking part 212b is locked onto the rear surface 912 of the first item 91, and the second locking part 212b moves towards the front X1 in the depth direction. Specifically, after the control unit C2 controls the forward and backward motor M1 to protrude the transfer arm 211 inward X2 in the depth direction, with the second locking part 212b positioned between the first item 91 and the second item 92 in the depth direction X, the control unit C2 controls the rotation motor M2 to protrude the second locking part 212b in the width direction Y, thereby positioning the second locking part 212b between the first item 91 and the second item 92 in the depth direction X (see reference). Figure 9 (a), (b)). Then, the control unit C2 controls the forward / reverse motor M1 to retract the transfer arm 211 towards the front X1 in the depth direction, thereby causing the second locking part 212b to lock onto the rear surface 912 of the first article 91 and move towards the front X1 in the depth direction, pulling the first article 91 towards the front X1 in the depth direction (see reference). Figure 9 (c)). Thus, the control unit C2 causes the transfer machine 21 to perform the first item removal operation. During the first item removal operation, the first item 91 pulled in by the second locking part 212b slides on the placement surface 13F of the storage part 13 and the support surface 20F of the traveling trolley 20, and is placed on the support surface 20F of the traveling trolley 20.

[0078] During the first item removal operation, the amount by which the transfer arm 211 protrudes inward X2 in the depth direction when the second locking part 212b is positioned between the first item 91 and the second item 92 in the depth direction X is controlled based on the appropriate position P1 of the first item. More specifically, after considering the positional offset of the first item 91 stored in the storage unit 13 in the depth direction X, and the control errors of the control unit C2 (such as the error in the protrusion amount of the transfer arm 211) or the mechanical errors of the item storage device 100 (such as the setting error of the item storage rack 1 and the conveying device 2), the aforementioned protrusion amount is controlled based on the position of the rear surface portion 912 of the first item 91, which is considered to be located at the appropriate position P1 of the first item, which is further away from the position inward X2 in the depth direction by a predetermined distance. However, the structure is not limited to this; it can also be configured, for example, by having a detector that detects the position of the first item 91 in the depth direction X of the transfer machine 21. Furthermore, in this case, the control unit C2 can control the protrusion amount of the transfer arm 211 based on the detection results of the aforementioned detector. Such a detector could be, for example, a sensor that causes the transfer arm 211 to protrude inwards X2 in the depth direction and detects the presence or absence of the first article 91 at various positions in the depth direction X. In this case, the control unit C2 can control the protrusion amount of the transfer arm 211 based on the position where the detection results of the detector indicate a "present article → no article" state. By protruding the second locking part 212b in the width direction Y at a position a certain distance inwards X2 in the depth direction from the "present article → no article" position, the second locking part 212b can be positioned appropriately.

[0079] Figure 10 The display shows that the transfer machine 21 is performing the second item removal operation. The control unit C2 controls the drive unit M to cause the transfer machine 21 to perform the second item removal operation. Figure 10 As shown, during the second item removal operation, the control unit C2 controls the drive unit M to position the second locking part 212b (locking part 212) at a depth X2 inward from the second item 92, so that the second locking part 212b is locked against the rear surface 922 of the second item 92, and the second locking part 212b moves forward X1 in the depth direction. Specifically, after the control unit C2 controls the forward / backward motor M1 to protrude the transfer arm 211 in the depth direction X2, and the second locking part 212b is positioned at a depth X2 inward from the rear surface 922 of the second item 92, the control unit C2 controls the rotation motor M2 to protrude the second locking part 212b in the width direction Y, thereby positioning the second locking part 212b at a depth X2 inward from the second item 92 (see reference). Figure 10(a), (b)). Then, the control unit C2 controls the forward / reverse motor M1 to retract the transfer arm 211 towards the front X1 in the depth direction, thereby causing the second locking part 212b to lock onto the rear surface 922 of the second article 92 and move towards the front X1 in the depth direction, pulling the second article 92 into the depth direction towards the front X1 (see reference). Figure 10 (c)). Thus, the control unit C2 causes the transfer machine 21 to perform the second item removal operation. During the second item removal operation, the second item 92 pulled in by the second locking part 212b slides on the placement surface 13F of the storage part 13 and the support surface 20F of the traveling trolley 20, and is placed on the support surface 20F of the traveling trolley 20.

[0080] During the second item removal operation, the second locking part 212b is configured such that the protrusion of the transfer arm 211 in the depth direction x2 is controlled according to the appropriate position P2 of the second item. More specifically, the protrusion amount takes into account the positional offset of the second item 92 stored in the storage part 13 in the depth direction x, as well as the control errors of the control part C2 (errors in the protrusion amount of the transfer arm 211, etc.) or the mechanical errors of the item storage device 100 (setting errors of the item storage rack 1 and the conveying device 2, etc.), and is controlled based on a position that is farther away from the position of the rear surface part 922 of the second item 92, which is considered to be located at the appropriate position P2 of the second item, in the depth direction x2, from a predetermined distance. As described above, in this embodiment, a depth direction limiting body 14x that restricts the movement of the second item 92 in the depth direction x2 is provided in the storage part 13 (see reference). Figure 2 Therefore, even if the second item 92 vibrates in the storage section 13, it is still difficult for the second item 92 to move further inward in the depth direction than the aforementioned depth direction limiting body 14x. Thus, the amount by which the transfer arm 211 protrudes inward in the depth direction X2 when the second locking part 212b is positioned further inward in the depth direction than the second item 92 is preferably controlled based on the position of the depth direction limiting body 14x. This suppresses the second locking part 212b from interfering with the side portion 923 of the second item 92, and positions the second locking part 212b appropriately. However, the structure is not limited to that described above. As mentioned above, the transfer machine 21 may also be configured with a detector that detects the position of the second item 92 in the depth direction X. Although detailed explanation is omitted, in this case, the control unit C2 can control the amount of protrusion of the transfer arm 211 based on the detection result of this detector.

[0081] Here, in the item storage device 100, the item storage rack 1 may vibrate due to the operation of the conveying device 2, causing the item 90 stored in the storage section 13 to shift position. To correct such positional shifts, the transfer machine 21 can be used to adjust the position of the item 90. However, when two items 90 are arranged in the depth direction X and stored in the storage section 13, when adjusting the position of the item 90 (second item 92) stored on the inner side X2 in the depth direction, the item 90 (first item 91) located on the front side X1 in the depth direction relative to the second item 92 becomes an obstacle. Therefore, until the position of the second item 92 is adjusted, the first item 91 must be temporarily moved to another location. Therefore, the position adjustment of the second item 92 cannot be performed efficiently. On the other hand, as described below, the item storage device 100 of this application, in a structure having a storage section 13 that can store two items 90 arranged in the depth direction X, becomes able to efficiently adjust the position of the item 90 (second item 92) located on the inner side X2 in the depth direction.

[0082] The transfer machine 21 is configured to perform a position adjustment operation in addition to the transfer operation of transferring the item 90 to the storage section 13 and the removal operation of the item 90 from the storage section 13. The position adjustment operation adjusts the position of the item 90 stored in the storage section 13. The position adjustment operation includes a second item position adjustment operation, which sets the second item 92 stored in the storage section 13 to a state where it is located at the appropriate position P2.

[0083] Figure 11 Part of, namely Figure 11 (b) and (c) show the situation where the transfer machine 21 is performing the second item position adjustment operation. The control unit C2 is configured to control the drive unit M, causing the transfer machine 21 to perform the second item position adjustment operation. That is, as Figure 11 As shown in (b) and (c), during the second article position adjustment operation, the control unit C2 controls the drive unit M to cause the second locking part 212b (locking part 212), which is disposed between the first article 91 and the second article 92 in the depth direction X, to move inward in the depth direction X2 to a position corresponding to the position of the front surface part 921 of the second article 92 located at the appropriate position P2 of the second article. Figure 11In the examples shown in (a) and (b), the second article 92 is offset from the appropriate position P2 of the second article towards the forward X1 position in the depth direction. In such a case, with the second locking part 212b already positioned between the first article 91 and the second article 92 in the depth direction X, the control unit C2 controls the forward / reverse motor M1 to cause the transfer arm 211 to protrude inward X2 in the depth direction, thereby locking the second locking part 212b against the front surface portion 921 of the second article 92. Then, the control unit C2 controls the forward / reverse motor M1 to cause the transfer arm 211 to protrude further inward X2 in the depth direction, thereby moving the second locking part 212b further inward X2 in the depth direction, pushing the second article 92 inward X2 in the depth direction and positioning it at the appropriate position P2 of the second article (see reference). Figure 11 (c)). Thus, the control unit C2 causes the transfer machine 21 to perform the second item position adjustment action.

[0084] During the second item position adjustment operation, the amount by which the transfer arm 211 protrudes inward in the depth direction X2 when the second item 92 is positioned at the second item proper position P2 is controlled based on the dimension of the second item 92 in the depth direction X and the second item proper position P2. For example, as shown in the figure, when the second item proper position P2 is considered to be based on the position of the rear surface portion 922 of the second item 92 (actually, the second item 92 may not be positioned at the second item proper position P2) (the position indicated by "P2" in the figure), the position of the rear surface portion 922 is fixed regardless of the dimension of the second item 92 in the depth direction X. In this case, the amount by which the transfer arm 211 protrudes is controlled so that the second locking portion 212b is positioned such that it is located away from the dimension of the second item 92 in the depth direction X1 from the position of the rear surface portion 922 of the second item 92 considered to be located at the second item proper position P2. Therefore, for example, when the dimensions of the second article 92 in the depth direction X are not consistent, and the position of the rear surface portion 922 of the second article 92 is set as a reference for the appropriate position P2 of the second article, during the second article position adjustment operation, the control unit C2 controls the protrusion amount of the transfer arm 211 so that the longer the dimension of the second article 92 in the depth direction X, the smaller the protrusion amount of the transfer arm 211 becomes, and the shorter the dimension of the second article 92 in the depth direction X, the larger the protrusion amount of the transfer arm 211 becomes.

[0085] Furthermore, in this item storage device 100, in order to perform such a second item position adjustment operation, the control unit C2 utilizes the operation of the transfer machine 21 used for the first item removal operation. That is, during the execution of the first item removal operation performed by the transfer machine 21, after the second locking part 212b (locking part 212) has been positioned between the first item 91 and the second item 92, the control unit C2 causes the transfer machine 21 to perform the second item position adjustment operation, and after completing the second item position adjustment operation, the first item removal operation is completed.

[0086] Specifically, such as Figure 11 As shown in (a) and (b), the control unit C2 causes the transfer machine 21 to begin the first item removal operation, and positions the second locking part 212b between the first item 91 and the second item 92 in the depth direction X. Then, as... Figure 11 As shown in (b) and (c), the control unit C2 moves the second locking part 212b toward the inward side X2 in the depth direction to a position corresponding to the position of the front surface part 921 of the second article 92, which is considered to be located at the appropriate position P2 of the second article, thereby causing the transfer machine 21 to perform the second article position adjustment operation. After the second article position adjustment operation is completed, the control unit C2 causes the transfer machine 21 to perform the follow-up operation of the first article removal operation. Figure 11 (e)). Therefore, the second item position adjustment action can be performed during the execution of the first item removal action. Thus, if the second item 92 shifts towards the forward X1 position in the depth direction before the second item position adjustment action is performed, the second item 92 can be positioned at the appropriate second item position P2, and the first item 91 can be removed from the storage section 13. Therefore, according to this structure, the position adjustment of the second item 92, stored in the inward X2 direction relative to the first item 91 to be removed, can be performed by moving the second locking part 212b (locking part 212) in order to remove the first item 91. Thus, the position adjustment of the second item 92 becomes efficient.

[0087] In this embodiment, when the control unit C2 performs the second item position adjustment operation during the execution of the first item removal operation performed by the transfer machine 21, after the second locking part 212b (locking part 212) is positioned between the first item 91 and the second item 92, it moves the second locking part 212b towards the inward side X2 in the depth direction without moving it towards the forward side X1 in the depth direction, thus completing the second item position adjustment operation. Furthermore, after completing the second item position adjustment operation, the control unit C2 moves the second locking part 212b towards the forward side X1 in the depth direction to complete the first item removal operation. That is, when the control unit C2 performs the second item position adjustment operation between the first item removal operation and the second item removal operation, it controls the operation of the transfer machine 21 to minimize the amount of movement of the second locking part 212b in the depth direction X. This reduces wasted movement of the transfer machine 21 during the second item position adjustment operation, allowing for more efficient adjustment of the position of the second item 92.

[0088] Furthermore, in this embodiment, when the transfer machine 21 performs the first item removal operation, the control unit C2 performs the second item position adjustment operation during the execution of the first item removal operation each time. In other words, the control unit C2 performs the second item position adjustment operation during the execution of the first item removal operation regardless of whether the second item 92 is misaligned. For example, even if the second item 92 stored in the storage unit 13 is already in the appropriate position P2 before the first item removal operation is performed, the control unit C2 will still perform the second item position adjustment operation during the execution of the first item removal operation performed by the transfer machine 21. In this case, even if the second item position adjustment operation is performed, the second item 92 will not move inward X2 in the depth direction due to the movement of the second locking part 212b inward X2. However, by performing a second item position adjustment operation each time the transfer machine 21 performs the first item removal operation, the position of each of the multiple second items 92 stored in the item storage rack 1 can be adjusted at certain intervals, thus reducing the possibility of the position of the second item 92 shifting significantly from its proper position P2. Furthermore, according to this structure, a detection device for detecting whether the second item 92 has actually shifted position is unnecessary. This simplifies the structure of the item storage device 100. Additionally, since the second item position adjustment operation is performed during the execution of the first item removal operation, the second item position adjustment operation is completed simply by moving the second locking part 212b back and forth a predetermined distance in the depth direction X from a position where the second locking part 212b is already positioned between the first item 91 and the second item 92. Therefore, the wasted movement of the transfer machine 21 caused by performing the second item position adjustment operation can be minimized.

[0089] [Other implementation methods]

[0090] Next, other implementation methods of the item storage device will be described.

[0091] (1) In the above embodiment, the following example was described: When the transfer machine 21 performs the first item removal operation, the control unit C2 performs the second item position adjustment operation each time the first item removal operation is executed. However, it is not limited to such an example. The control unit C2 may also perform the second item position adjustment operation when a preset condition is met. For example, the longer the time after the second item 92 is stored in the storage unit 13, the more likely it is to shift from the appropriate position P2 of the second item due to vibration of the item storage rack 1, etc. Therefore, the preset condition can include, for example, a situation where the time after the second item 92 is stored in the storage unit 13 is more than a predetermined threshold. In this case, the control unit C2 targets the second item 92 whose time after being stored in the storage unit 13 has exceeded the threshold and performs the second item position adjustment operation when the first item removal operation is executed. Thus, it is possible to target the second item 92, which is more likely to shift position, and perform the second item position adjustment operation when the first item removal operation is executed.

[0092] (2) Furthermore, it is not limited to this. As a condition set above, it may also include, for example, a case where a positional shift has been detected by a detector used to detect the positional shift of the second item 92 stored in the storage section 13. In this case, the control unit C2 targets the second item 92, whose positional shift has been detected, and performs a second item position adjustment operation during the execution of the first item removal operation. For example, a detector for detecting the position of the item 90 may be provided on the transfer arm 211. When the first item removal operation is performed, the detector reaches the second placement area A2 where the second item 92 is placed by protruding the transfer arm 211, and detects the positional shift of the second item 92. In this case, the detector is preferably installed at the end of the transfer arm 211 in the depth direction, on the inner side X2. Furthermore, if a positional shift of the second item 92 is detected by this detector, the control unit C2 uses the second locking part 212b or the intermediate locking part 212m to perform the second item position adjustment operation. When adjusting the position of the second item using the second locking part 212b located at the end portion of the transfer arm 211 on the inner side X2 in the depth direction, the transfer arm 211 can be temporarily retracted towards the front side X1 in the depth direction, so that the second locking part 212b is positioned closer to the front side X1 in the depth direction than the front surface 921 of the second item 92, and then the position adjustment of the second item is performed. When adjusting the position of the second item using the intermediate locking part 212m located in the middle portion of the transfer arm 211 in the depth direction X, if the intermediate locking part 212m is positioned closer to the front side X1 in the depth direction than the front surface 921 of the second item 92 at the time when the positional shift of the second item 92 is detected by the aforementioned detector, the position adjustment of the second item can be performed without retracting the transfer arm 211 towards the front side X1 in the depth direction. When the positional shift of the second item 92 has been detected by the aforementioned detector, and the intermediate locking part 212m is positioned X2 further inward in the depth direction than the front surface 921 of the second item 92, similar to the case when the second locking part 212b is used, the transfer arm 211 can be temporarily retracted to the front side X1 in the depth direction, thereby positioning the intermediate locking part 212m to be X1 further in the depth direction than the front surface 921 of the second item 92.

[0093] (3) In the above embodiment, the following example was described: On each side of the first placement area A1 and the second placement area A2 in the width direction Y, a width direction limiting body 14y protruding upward from the placement surface 13F is provided. However, the width direction limiting body 14y is not a necessary structure for the item storage device 100 and may not be provided in the storage section 13.

[0094] (4) In the above embodiment, the following example was described: a depth direction limiting body 14x is provided on the inner side X2 in the depth direction relative to the second placement area A2, which protrudes upward from the placement surface 13F. However, the depth direction limiting body 14x is not a necessary structure for the item storage device 100, and may not be provided in the storage section 13.

[0095] (5) In the above embodiments, the following example was described: the locking part 212 is configured to rotate relative to the transfer arm 211 about an axis in the depth direction X, thereby changing the state to a protruding state (protruding towards the transfer arm 211 in the width direction Y) and a non-protruding state (not protruding). However, it is not limited to such an example. The locking part 212 may also be configured, for example, to be supported relative to the transfer arm 211 so as to rotate freely about an axis in the vertical direction Z, and by rotating about an axis in the vertical direction Z, the state can be changed to a protruding state and a non-protruding state. Alternatively, the locking part 212 may also be configured to be supported so as to move relative to the transfer arm 211 in the width direction Y, thereby changing the state to a protruding state and a non-protruding state.

[0096] (6) In the above embodiment, the following example was described: the locking portion 212 supported by one of the pair of transfer arms 211 is configured to change its state to a protruding state and a non-protruding state. The protruding state is a state that protrudes towards the other transfer arm 211 in the width direction Y, and the non-protruding state is a state that does not protrude. However, it is not limited to such an example. The locking portion 212 may also be fixedly supported by the transfer arm 211 to always be in a protruding state. In this case, the pair of transfer arms 211 that support the locking portion 212 respectively can be configured to be close to each other and far apart in the width direction Y. And it can be set as follows: by bringing the pair of transfer arms 211 close in the width direction Y, the pair of locking portions 212 are positioned to overlap with the article 90 in the depth direction X view, and by moving the pair of transfer arms 211 far apart in the width direction Y, the pair of locking portions 212 are positioned to not overlap with the article 90 in the depth direction X view. With such a structure, it is also possible to achieve a structure in which the locking part 212 can be locked onto the front surface part 901 or the rear surface part 902 of the article 90.

[0097] (7) In the above embodiment, the following example was described: three locking portions 212 are provided for each of the pair of transfer arms 211. However, this is not a limitation; the locking portions 212 may be provided for two or fewer, or four or more, for each of the pair of transfer arms 211. Furthermore, in the above embodiment, the following structure is used as an example: the intermediate locking portion 212m is disposed at the center of the interval between the first locking portion 212a and the second locking portion 212b in the depth direction X. However, this is not a limitation; the intermediate locking portion 212m may be disposed closer to the first locking portion 212a than the center of the interval between the first locking portion 212a and the second locking portion 212b, or disposed closer to the second locking portion 212b. In such cases, the interval between the first locking portion 212a and the intermediate locking portion 212m in the depth direction X, or the interval between the intermediate locking portion 212m and the second locking portion 212b in the depth direction X, can be set according to the size of the article 90 in the depth direction X, or set to be larger than the size of the article 90 in the depth direction X.

[0098] (8) As the conveying device 2, in addition to the method shown in the above embodiment, for example, Figure 12 The stacker crane 200 shown is configured to move the transfer machine 21 along the vertical direction Z and the width direction Y. Furthermore, in Figure 12 Although the diagram shows a stacker crane 200 having a structure with multiple transfer machines 21 (two transfer machines 21), it can also be a stacker crane 200 having a single transfer machine 21.

[0099] (9) Furthermore, the structures disclosed in the above embodiments can be combined with the structures disclosed in other embodiments, provided that no contradictions arise. Regarding other structures, the embodiments disclosed in this specification are merely illustrative at all points. Therefore, various modifications can be appropriately made without departing from the spirit of this application.

[0100] [Summary of the above embodiments]

[0101] The following is an overview of the item storage equipment described above.

[0102] An item storage device includes: an item storage rack with a storage section capable of arranging and storing two items in a depth direction; a conveying device for conveying the items along a conveying direction intersecting the depth direction; and a control unit for controlling the operation of the conveying device; the conveying device includes a transfer machine for performing a removal action, the removal action moving the items in the depth direction to remove the items from the item storage rack, wherein the depth direction is defined as the side of the conveying device relative to the item storage rack. Near the front side, with its opposite side designated as the inner side in the depth direction, the aforementioned item stored in the aforementioned storage unit near the front side in the depth direction is designated as the first item, and the aforementioned item stored in the aforementioned storage unit on the inner side in the depth direction is designated as the second item. An appropriate position for the aforementioned second item in the aforementioned storage unit is designated as the appropriate position for the second item. The aforementioned transfer machine includes a locking part and a drive part for moving the aforementioned locking part. The aforementioned locking part locks onto the front surface of the aforementioned item facing the front side in the depth direction or the rear surface of the aforementioned item facing the inner side in the depth direction. In one of the components, the aforementioned control unit controls the aforementioned drive unit, enabling the aforementioned transfer machine to perform a first item removal operation and a second item position adjustment operation. The first item removal operation involves positioning the aforementioned locking part between the aforementioned first item and the aforementioned second item in the aforementioned depth direction, so that the aforementioned locking part is locked onto the aforementioned rear surface of the aforementioned first item, and then moving the aforementioned locking part forward in the aforementioned depth direction to perform the aforementioned item removal operation. The aforementioned second item position adjustment operation involves adjusting the position of the second item... The aforementioned locking part between the aforementioned depth direction and the aforementioned second item moves toward the inner side of the aforementioned depth direction to a position corresponding to the position of the aforementioned front surface part of the aforementioned second item located at an appropriate position of the aforementioned second item. During the execution of the aforementioned first item removal operation by the aforementioned transfer machine, after the aforementioned locking part has been positioned between the aforementioned first item and the aforementioned second item, the aforementioned control unit causes the aforementioned transfer machine to perform the aforementioned second item position adjustment operation. After the aforementioned second item position adjustment operation is completed, the aforementioned first item removal operation is completed.

[0103] According to this structure, the transfer machine performs a second item position adjustment operation, moving the locking part inward in the depth direction to a position corresponding to the front surface of the second item located at the appropriate position. Therefore, even if the second item has shifted from its appropriate position towards the front in the depth direction before the second item position adjustment operation is performed, the locking part can still move the second item inward in the depth direction to its appropriate position. Furthermore, according to this structure, since the locking part is positioned between the first and second items during the first item removal operation, and this second item position adjustment operation is performed afterward, the movement of the locking part in order to remove the first item allows for the position adjustment of the second item stored inward in the depth direction relative to the first item being removed. Thus, according to this structure, the position adjustment of the second item stored inward in the depth direction within the storage unit becomes efficient.

[0104] Here, preferably, when the control unit performs the second item position adjustment operation during the first item removal operation performed by the transfer machine, after the locking part has been positioned between the first item and the second item, the control unit moves the locking part toward the inside of the depth direction without moving the locking part toward the front of the depth direction, thereby completing the second item position adjustment operation.

[0105] According to this structure, the waste of the transfer machine's movements when performing the second item position adjustment operation can be reduced, and the position adjustment of the second item can be performed more efficiently.

[0106] Furthermore, it is preferable that, when the aforementioned control unit causes the aforementioned transfer machine to perform the aforementioned first item removal operation, the aforementioned second item position adjustment operation is performed each time the aforementioned first item removal operation is executed.

[0107] According to this structure, regardless of whether the second item is misaligned, the second item's position adjustment action is performed during the first item's removal action. Therefore, it is unnecessary to have a detection device or similar device to detect whether the second item is actually misaligned.

[0108] Furthermore, preferably, the appropriate position of the first item in the aforementioned storage section is designated as the appropriate position of the first item, the surface of the aforementioned storage section on which the aforementioned item is placed is designated as the placement surface, the area on the aforementioned placement surface at the appropriate position of the first item on which the aforementioned first item is placed is designated as the first placement area, the area on the aforementioned placement surface at the appropriate position of the second item on which the aforementioned second item is placed is designated as the second placement area, the direction orthogonal to the aforementioned depth direction when viewed from above is designated as the width direction, and a width-direction limiting body protruding upward from the aforementioned placement surface is provided on both sides of each of the aforementioned first placement area and the aforementioned second placement area in the aforementioned width direction.

[0109] According to this structure, the width-direction positions of the first and second articles can be limited by means of a width-direction limiting body. Therefore, when the locking part is moved inward in the depth direction to position the locking part between the first and second articles in the depth direction, the possibility of interference between the locking part and the first or second article can be reduced. Thus, according to this structure, the transfer machine's operations, such as the first article removal operation or the second article position adjustment operation, can be easily and appropriately performed.

[0110] Furthermore, preferably, a depth-direction limiting body protruding upward from the aforementioned mounting surface is provided on the inner side of the aforementioned depth direction relative to the aforementioned second mounting area.

[0111] According to this structure, the movement of the second article inward in the depth direction can be restricted from being restricted by the depth direction limiting body. Furthermore, if the second article has already shifted to a position closer to the front in the depth direction, the aforementioned position adjustment action of the second article can be used to position the second article in an appropriate position. Therefore, according to this structure, the second article can be positioned within an appropriate range in the depth direction.

[0112] Industrial availability

[0113] The technology of this application can be used in item storage equipment, which includes an item storage rack and a handling device for transporting items. The item storage rack has a storage section capable of storing items.

[0114] Explanation of reference numerals in the attached figures

[0115] 100: Item storage equipment

[0116] 1: Item storage rack

[0117] 13: Storage Department

[0118] 13F: Placement Surface

[0119] 14x: Depth-direction constraint

[0120] 14y: Width-direction limiting body

[0121] 2: Transport device

[0122] 21: Transfer machine

[0123] 212: Locking part

[0124] 90: Items

[0125] 901: Front surface

[0126] 902: Rear surface

[0127] 91: Item 1

[0128] 92: Item 2

[0129] C2: Control Department

[0130] M: Drive unit

[0131] A1: First loading area

[0132] A2: Second placement area

[0133] P1: The appropriate location of the first item

[0134] P2: The appropriate location for the second item

[0135] X: Depth direction

[0136] X1: Near the front side in the depth direction

[0137] X2: Inside in the depth direction

[0138] Y: Width direction.

Claims

1. A storage device for items, characterized in that, have: A storage rack with a storage section that allows two items to be arranged and stored in the depth direction; The transport device transports the aforementioned items along a transport direction that intersects with the aforementioned depth direction; and control unit, which controls the operation of the aforementioned conveying device; The aforementioned conveying device includes a transfer machine for performing a removal operation, which moves the aforementioned item in the aforementioned depth direction to remove the aforementioned item from the aforementioned item storage rack. In the aforementioned depth direction, the side of the aforementioned conveying device relative to the aforementioned item storage rack is designated as the front side in the depth direction, and the opposite side is designated as the inner side in the depth direction. The aforementioned item stored in the aforementioned storage unit on the front side in the depth direction is designated as the first item, and the aforementioned item stored in the aforementioned storage unit on the inner side in the depth direction is designated as the second item. The appropriate position of the aforementioned second item in the aforementioned storage unit is designated as the appropriate position of the second item. The aforementioned transfer machine includes a locking part and a drive part for moving the aforementioned locking part. The aforementioned locking part locks onto either a front surface portion of the aforementioned article facing forward in the aforementioned depth direction or a rear surface portion of the aforementioned article facing inward in the aforementioned depth direction. The aforementioned control unit controls the aforementioned drive unit, enabling the aforementioned transfer machine to perform the first item removal action and the second item position adjustment action. The aforementioned first item removal action involves positioning the locking part between the first item and the second item in the aforementioned depth direction, so that the locking part is locked onto the rear surface of the first item, and then moving the locking part forward in the aforementioned depth direction to perform the aforementioned first item removal action. The aforementioned second item position adjustment action involves moving the aforementioned locking portion, which is already positioned between the aforementioned first item and the aforementioned second item in the aforementioned depth direction, toward the inward side of the aforementioned depth direction, to a position corresponding to the position of the aforementioned front surface portion of the aforementioned second item at the appropriate position of the aforementioned second item, thereby pushing the aforementioned second item inward in the depth direction and positioning the aforementioned second item at the appropriate position of the aforementioned second item. During the execution of the first item removal operation by the aforementioned transfer machine, after the aforementioned locking part has been positioned between the first item and the second item, the aforementioned control unit causes the aforementioned transfer machine to perform the second item position adjustment operation. After the second item position adjustment operation is completed, the first item removal operation is completed.

2. The item storage device as described in claim 1, characterized in that, When the control unit performs the second item position adjustment operation during the first item removal operation performed by the transfer machine, after the locking part has been positioned between the first item and the second item, it moves the locking part toward the inside of the depth direction without moving the locking part toward the front of the depth direction, thereby completing the second item position adjustment operation.

3. The item storage device as described in claim 1 or 2, characterized in that, When the aforementioned control unit causes the aforementioned transfer machine to perform the aforementioned first item removal operation, the aforementioned second item position adjustment operation is performed each time the aforementioned first item removal operation is executed.

4. The item storage device as described in claim 1 or 2, characterized in that, The appropriate position of the first item in the aforementioned storage section is designated as the appropriate position of the first item; the surface of the aforementioned storage section on which the aforementioned item is placed is designated as the placement surface; the area on the placement surface at the appropriate position of the first item on which the first item is placed is designated as the first placement area; the area on the placement surface at the appropriate position of the second item on which the second item is placed is designated as the second placement area; and the direction orthogonal to the aforementioned depth direction when viewed from above is designated as the width direction. Relative to each of the aforementioned first and second mounting regions, a width-direction limiting body protruding upward from the aforementioned mounting surface is provided on both sides of the aforementioned width direction.

5. The item storage device as described in claim 4, characterized in that, In contrast to the aforementioned second placement area, a depth-direction limiting body is provided on the inner side of the aforementioned depth direction, protruding upward from the aforementioned placement surface.

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