Article storage device

Abstract

The control section can cause the transfer machine to perform: a first article handover operation in which the target article (93) is stored in the first placement region (A1) as the first article (91); and a second article position adjustment operation in which the second locking member (212b) disposed between the depth direction (X) of the first article (91) and the second article (92) is moved toward the inside of the depth direction (X2) to a position corresponding to the position of the front surface portion (921) of the second article (92) in the proper second article position (P2). After the target article (93) is stored in the first placement region (A1) as the first article (91) in the execution of the first article handover operation by the transfer machine (21), the transfer machine (21) performs the second article position adjustment operation. After the second article position adjustment operation is completed, the first locking member (212a) is returned to a position corresponding to the holding region (2A), and the first article handover 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. The item storage rack has a storage section capable of storing items. Background Technology

[0002] An example of such an item storage device is disclosed in Japanese Patent No. 5541178 (Patent Document 1). The reference numerals marked 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), and uses the transfer machine (29) to transfer the articles (W) to the storage section (11).

[0004] Patent Document 1: Japanese Patent No. 5541178.

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

[0006] In such a device, generally speaking, when both the inner side (far from the conveying device (3) in the depth direction (X) and the front side (near the conveying device (3)) of the storage section (11) are empty, items (W) are preferentially stored in the inner side. Therefore, the items (W) stored in the inner side of the storage section (11) take longer to arrive than those stored in the front side of the storage section (11), and consequently, the positional deviation tends to be larger. When the positional deviation is large, it becomes difficult to properly transfer the items (W) by the transfer machine (29). Therefore, it is advisable to periodically detect the positional deviation of the items (W) stored in the inner side of the storage section (11) using the transfer machine (29), and adjust the position of the items (W) to correct the positional deviation if it occurs. However, if the movement of items (W) into and out of the storage section (11) is hindered by the adjustment of the item's (W) position, the overall storage capacity of the equipment will be reduced. If the storage and out of the equipment is prioritized to avoid this situation, the opportunity to adjust the position of items (W) will be reduced, resulting in a situation where the position of items (W) stored in the storage section (11) is not adjusted at the appropriate time, causing a large deviation in the position of items (W). In this way, in conventional technology, the position adjustment of items on the inside cannot be performed efficiently. Summary of the Invention

[0007] In view of the above-mentioned practical situation, it is desirable to realize an item storage device, which has a structure in which a storage part is provided to store two items in the depth direction, and can efficiently adjust the position of the items arranged on the inner side in the depth direction.

[0008] The item storage device of this application is characterized by comprising: an item storage rack having a storage section capable of arranging and storing two items in the depth direction; a transport device for transporting the items along a transport direction intersecting the aforementioned depth direction; and a control unit for controlling the operation of the transport device, wherein the transport device has a transfer machine for performing a transfer operation, the transfer operation moving the items in the aforementioned depth direction and transferring the items to the aforementioned item storage rack; wherein, in the aforementioned depth direction, the side of the transport 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; and a first load is set on the front side of the aforementioned storage section in the aforementioned depth direction. The aforementioned items stored in the designated storage area are designated as first items, the aforementioned items stored in the second placement area set inside the aforementioned storage section in the aforementioned depth direction are designated as second items, the aforementioned items being transported by the aforementioned transport device are designated as target items, the appropriate position of the aforementioned second items in the aforementioned storage section is designated as appropriate second item position, and the area set at the aforementioned transport device for holding the aforementioned target items is designated as holding area. The aforementioned transfer machine includes: a locking part that locks onto the front surface portion of the aforementioned items facing forward in the aforementioned depth direction; and a driving part that moves the aforementioned locking part between a position corresponding to the aforementioned holding area and a position corresponding to the aforementioned first placement area or the aforementioned second placement area. The locking part includes a first locking member and a second locking member. The control unit controls the drive unit to enable the transfer machine to perform: a first article transfer operation, in which the first locking member is positioned relative to the front surface of the object article located in the holding area at a near-forward position in the depth direction, so that the first locking member is locked against the front surface of the object article, the first locking member is moved inward in the depth direction, the object article is placed in the first placement area as the first article, and then the first locking member is moved forward in the depth direction back to the position corresponding to the holding area to perform the transfer operation; the second... 2. The item position adjustment operation causes the second locking member, which is disposed between the first item and the second item in the aforementioned depth direction, to move inward in the aforementioned depth direction to a position corresponding to the position of the front surface portion of the second item located in the aforementioned appropriate second item position. During the execution of the first item transfer operation performed by the aforementioned transfer machine, after the aforementioned object item is placed in the aforementioned first placement area as the aforementioned first item, the aforementioned transfer machine performs the aforementioned second item position adjustment operation. After the aforementioned second item position adjustment operation is completed, the aforementioned first locking member returns to the position corresponding to the aforementioned holding area, thus completing the aforementioned first item transfer operation.

[0009] According to this structure, the transfer machine performs a second item position adjustment operation, moving the second locking member inward in the depth direction to a position corresponding to the front surface of the second item located at the appropriate second item position. Therefore, even if the second item has shifted from the appropriate second item position towards the forward position in the depth direction before the second item position adjustment operation is performed, the second locking member can still move the second item inward in the depth direction to position it at the appropriate second item position. Furthermore, according to this structure, after the object item being transferred in the first item transfer operation is placed in the first placement area and designated as the first item, this second item position adjustment operation is performed. That is, by utilizing the operation of moving the first locking member inward in the depth direction to place the object item in the first placement area as the first item, the second locking member can be positioned between the first item and the second item in the depth direction to perform the second item position adjustment operation. Therefore, according to this structure, it becomes possible to efficiently adjust the position of the second item stored inside the depth direction of the storage section.

[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 storage rack.

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

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

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

[0016] Figure 6 This is a 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 11 This is an illustration of the second item location detection action.

[0022] Figure 12 This is an illustration of the action to adjust the position of the second item.

[0023] Figure 13 This is a schematic perspective view showing another embodiment of the item storage device. Detailed Implementation

[0024] The following describes the implementation of the item storage device with reference to the accompanying drawings.

[0025] [Brief Structure of Item Storage Equipment]

[0026] 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 and storing two items 90 in the depth direction X; 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 conveying device 2 in the depth direction X, sandwiching the conveying device 2.

[0027] The conveying device 2 includes a transfer machine 21 that performs a transfer operation, which moves the item 90 in the depth direction X and transfers the item 90 to the item storage rack 1 (storage section 13). In this embodiment, the transfer machine 21 is configured to perform a retrieval operation of the item 90 from the item storage rack 1 (storage section 13) in addition to such a transfer operation. That is, the transfer machine 21 is configured to perform a transfer operation of the item 90 to the storage section 13 of the item storage rack 1, which includes the aforementioned transfer operation and retrieval operation.

[0028] Here, "depth direction X" refers to the direction in which the conveying device 2 moves the item 90 in and out of 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 in depth direction, and the opposite side is designated as the inner side X2 in depth direction. 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 addition, 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 the opening for transferring the item 90) extends horizontally. Furthermore, the pair of item storage racks 1 have the same construction, and in the following description of the item storage rack 1, unless otherwise specifically mentioned, one of the pair of item storage racks 1 will be referred to as the object.

[0029] 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.

[0030] 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 composed of four shelf members 130 arranged in the width direction Y.

[0031] 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 combination of the plurality of storage sections 13 arranged in the width direction Y is covered by multiple layers arranged 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.

[0032] like Figure 1As shown, a lift 4 is provided at the item storage device 100. The lift 4 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 to move up and down along the rod.

[0033] 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 while 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 combination of the storage rack 1, the transfer conveyor 3 and the elevator 4 arranged in the width direction Y is provided as a pair with the conveying device 2 sandwiched in the depth direction X. However, it is not limited to such a structure, and the combination of the storage rack 1, the transfer conveyor 3 and the elevator 4 may also be provided only on one side of the conveying path of the conveying device 2 in the depth direction X.

[0034] 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.

[0035] [thing]

[0036] 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, when defining a certain "direction" or a certain "side", the item 90 is based on the state in which it is stored in the storage unit 13.

[0037] 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.).

[0038] 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. The main body 900 includes: a front surface 901, formed on a front surface facing the front (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 (X2) in the depth direction; and side surfaces 903, formed on each of two sides facing the width (Y). The pair of side surfaces 903 face opposite sides in the width (Y). Furthermore, 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.

[0039] 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.

[0040] As described above, the storage section 13 of the storage unit 90 is configured to accommodate two items 90 arranged in the depth direction X. Here, as... Figure 2 As shown, the item 90 stored in the first placement area A1, located near the front side X1 in the depth direction of the storage section 13, is designated as the first item 91, and the item 90 stored in the second placement area A2, located inside the depth direction X2 of the storage section 13, is designated as the second item 92. Furthermore, when the item 90 is stored in the storage section 13, it is referred to as the first item 91 or the second item 92 depending on the storage area; when the item 90 is being transported by the transport device 2, it is referred to as the target item 93. The target item 93 is transported along the width direction Y while being held by the transport device 2, and is transferred along the depth direction X by the transfer machine 21. A holding area 2A is provided at the transport device 2, which is used to hold the target item 93 being transported in advance along the width direction Y. Thus, the object 93 is held by the transport device 2 in the holding area 2A set in the transport device 2 during the period when it is being transported along the width direction Y (including the period when the transport device 2 stops).

[0041] 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, reference numerals 930, 931, 932, and 933 are used to denote the main body, front surface, rear surface, and side surface of the object article 93. Unless otherwise specified, the first article 91, the second article 92, and the object article 93 are simply referred to as article 90.

[0042] [Structure of the storage rack]

[0043] 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.

[0044] The storage section 13 is configured to accommodate 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 the upper surfaces of the plurality of shelf members 130 included in the storage section 13. As described above, the storage section 13 is provided with a first mounting area A1 and a second mounting area A2 for mounting the items 90. The first mounting area A1 is located in the storage section 13 near the front side X1 in the depth direction, and the second mounting area A2 is located in the storage section 13 in the depth direction X2 further inward than the first mounting area A1 and inward in the depth direction X2 of the storage section 13. The first mounting area A1 and the second mounting area A2 are both part of the mounting surface 13F.

[0045] In this embodiment, such as Figure 7 As shown in the operation diagram, the appropriate position of the first item 91 in the storage section 13 is defined as the appropriate first item position P1, and the appropriate position of the second item 92 in the storage section 13 is defined as the appropriate second item position P2.

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

[0047] In this embodiment, with the article 90 stored 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 orientation of the first article 91 to an appropriate orientation. In other words, the orientation of the first article 91 can be restricted such that the side portion 913 of the first article 91 is along the depth direction X, and the front surface portion 911 and the rear surface portion 912 of the first article 91 are along the width direction Y. Therefore, a structure is achieved that allows for easier transfer of the first article 91 with a suitable orientation. In this example, to enhance this restrictive function, each of the width-direction restrictors 14y is positioned outside the first placement area A1 and adjacent to the boundary of the width-direction Y of the first placement area A1. Furthermore, the width-direction restrictors 14y are configured for the second placement area A2 in the same manner as for the first placement area A1. That is, in this example, four width-direction restrictors 14y are configured relative to one second placement area A2. Thus, a structure is achieved that allows for easier transfer of the second article 92 with a suitable orientation.

[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 placement area A2, protruding upward from the placement 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 section 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 first item position P1 mentioned above (refer to...) Figure 7 (etc.) is the appropriate position of the first item 91 in the storage section 13. In this embodiment, the appropriate first item position P1 is the position in which the first item 91 is stored in the storage section 13 with the width direction Y restricted by the width direction restrictor 14y, and is defined based on the position of the side portion 913 of the first item 91 in the width direction Y. Furthermore, the appropriate first item position P1 is the position in which the first item 91 is stored in the storage section 13 in the following manner: in the depth direction X, 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 X2 of the storage section 13 by a predetermined distance, and is defined based on the position of the front surface portion 911 or the rear surface portion 912 of the first item 91 in the depth direction X. In this example, as Figure 7 As shown, the appropriate first item position P1 in the depth direction X is defined with reference to the rear surface portion 912 of the first item 91. That is, when the rear surface portion 912 of the first item 91 is located at the appropriate first item position P1 indicated by the single-dotted line in the figure, the first item 91 is located at the appropriate first item position P1 in the depth direction X.

[0052] In addition, the appropriate second item location P2 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 second item position P2 is the position in which the second item 92 is stored in the storage section 13 in the width direction Y, with the width direction Y restricted by the width direction restrictor 14y, and is defined based on the position of the side portion 923 of the second item 92 in the width direction Y. Furthermore, the appropriate second item position P2 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 is defined based on the position of the front surface portion 921 or the rear surface portion 922 of the second item 92 in the depth direction X. In this example, as Figure 7As shown, the appropriate second item position P2 in the depth direction X is defined with reference to the rear surface portion 922 of the second item 92. That is, when the rear surface portion 922 of the second item 92 is located at the appropriate second item position P2 indicated by the single-dot line in the figure, the second item 92 is located at the appropriate second item position P2 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 second item position P2, 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. In other words, the conveying device 2 conveys the object item 93 along the width direction Y and moves it along the depth direction X to transfer it 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 capable of supporting items 90 from below (see reference). Figure 3 and Figure 4 The traveling trolley 20 is configured to travel on the traveling track 2R while supporting the article 90 with the support surface 20F, thereby transporting the article 90 along the width direction Y by the transport device 2. In this embodiment, the holding area 2A is provided on the support surface 20F of the traveling trolley 20.

[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 7As shown, the conveying device 2 is configured to slide the article 90 along the depth direction X on the support surface 20F of the traveling trolley 20 and the placement surface 13F of the storage section 13, thereby transferring the article 90 to the storage section 13. In other words, the conveying device 2 is configured to move the article 90 along the depth direction X, thereby transferring the article 90 between the holding area 2A and the first placement area A1 or the second placement area A2.

[0057] like Figure 3 and Figure 4 As shown, the transfer machine 21 includes a locking part 212, which locks onto the front surface portion 901 of the article 90 in the direction of depth (near the front x1) or the rear surface portion 902 of the article 90 in the direction of depth (inside x2) (see reference). Figure 2 One of them. In addition, such as Figure 7 As shown, the transfer machine 21 includes a drive unit M (see reference). Figure 6 The aforementioned drive unit M moves the locking part 212 between a position corresponding to the holding region 2A and a position corresponding to the first placement region A1 or the second placement region A2. The transfer machine 21 is configured to move the article 90 in the depth direction X while the locking part 212 is locked to the front surface 901 or the rear surface 902 of the article 90, thereby transferring the article 90 to the storage unit 13. In this example, the position corresponding to the holding region 2A refers to the position that overlaps with the holding region 2A when viewed from above. Furthermore, the position corresponding to the first placement region A1 refers to the position that overlaps with the first placement region A1 when viewed from above. And the position corresponding to the second placement region A2 refers to the position that overlaps with the second placement region A2 when viewed from above. In addition, as described above, the transfer operation performed by the transfer machine 21 includes a transfer operation of transferring the article 90 to the storage unit 13 and a removal operation of removing the article 90 from the storage unit 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. The other side 903 of the transfer arm 211 moves forward and backward along the outer side of the article 90 in the width direction Y. The transfer arm 211 is moved forward and backward by a motor M1 (see reference). Figure 6 Driven by the X direction of depth, it moves forward and backward.

[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. 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 means of this rotation, 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 side of the transfer arm 211 on the other side of the width direction Y, and the non-protruding state is a state in which the transfer arm 211 does not protrude to the side of the transfer arm 211 on the other side of 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 when viewed in 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 when viewed in 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 drive unit rotates 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 away along the width direction Y (approaching and moving away motor), the drive unit M may also include this approaching and moving away motor.

[0062] When the transfer machine 21 performs a transfer operation, with the locking part 212 already engaged with the front surface 901 of the article 90 (object article 93), it moves the locking part 212 from the position corresponding to the holding area 2A toward the position corresponding to the first placement area A1 or the second placement area A2 inward in the depth direction by X2, thereby moving the article 90 (object article 93) inward in the depth direction by X2. Furthermore, when the transfer machine 21 performs a removal operation during the transfer operation, with the locking part 212 already engaged with the rear surface 902 of the article 90 (first article 91 or second article 92), it moves the locking part 212 from the position corresponding to the first placement area A1 or the second placement area A2 toward the position corresponding to the holding area 2A in the depth direction by X1, thereby moving the article 90 (first article 91 or second article 92) inward in the depth direction by X1.

[0063] In this embodiment, the locking portion 212 has locking members at multiple locations along the depth direction X of the transfer arm 211. In other words, the multiple locking members are arranged on the transfer arm 211 in a positional relationship that is separated from each other in the depth direction X. In this example, the locking portion 212 includes: a first locking member 212a, which is located at the farthest position in the depth direction X relative to the receiving portion 13 that is the transfer target portion; a second locking member 212b, which is located at the closest position in the depth direction X relative to the receiving portion 13 that is the transfer target portion; and an intermediate locking member 212m, which is located between the first locking member 212a and the second locking member 212b in the depth direction X. That is, with the storage portion 13, which will be the transfer target, defined as the forward side X1 and the inner side X2 in the depth direction, the first locking member 212a is disposed on the forward side X1 portion of the transfer arm 211 in the depth direction (the end of the forward side X1 in the illustrated example), the second locking member 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 member 212m is disposed between these locking members 212a and 212b in the depth direction X. The first locking member 212a, the second locking member 212b, and the intermediate locking member 212m are provided on each of the pair of transfer arms 211. A pair of first locking members 212a are configured to be positioned at the same location relative to the transfer arm 211 (here, the second arm 211b) in the depth direction X, and cooperate with each other to lock onto the article 90. The same configuration is applied to a pair of second locking members 212b and a pair of intermediate locking members 212m.

[0064] In this embodiment, the first locking member 212a functions to transfer the first article 91 to the first placement area A1 of the storage section 13 (see reference). Figure 7The intermediate locking component 212m functions to transfer the second item 92 to the second placement area A2 of the storage section 13 (see reference). Figure 8 The second locking member 212b functions to remove the first item 91 placed in the first placement area A1 of the storage section 13 and 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 1 As 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 of the storage sections 13 designated as transfer targets is located in the pair of storage racks 1, 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 member 212a and the second locking member 212b will also be in opposite relationships. That is, depending on the storage section 13 that becomes the transfer target, the first locking member 212a may become the second locking member 212b. Furthermore, the second locking member 212b may become the first locking member 212a.

[0065] In this embodiment, the transfer machine 21 includes a detector 5 that detects the position of the article 90 in the depth direction X. The detector 5 is configured to detect the position of the first article 91 placed in the first placement area A1 and the second article 92 placed in the second placement area A2 in the depth direction X. In this example, the detector 5 detects whether the first article 91 placed in the first placement area A1 is positioned at the appropriate first article position P1 and whether the second article 92 placed in the second placement area A2 is positioned at the appropriate second article position P2.

[0066] In this embodiment, the detector 5 is configured to move synchronously with the locking part 212 along the depth direction X. In this example, the detector 5 is provided on the transfer arm 211 and is configured to move along the depth direction X in tandem with the forward and backward movement of the transfer arm 211. Furthermore, the detector 5 detects the position of the article 90 located between the width direction Y of the pair of transfer arms 211. In this embodiment, the detector 5 is provided at the end region of the transfer arm 211 in the protruding direction (the end region of the inner depth direction X2). More specifically, the detector 5 is positioned adjacent to the second locking member 212b and is located further inward in the depth direction X2 than the intermediate locking member 212m. In the illustrated example, the detector 5 is provided on the second arm 211b.

[0067] As the detector 5, a known sensor, such as a light sensor or an ultrasonic sensor, can be used. In this embodiment, the detector 5 is configured as a light sensor, which includes a light-emitting part 51 that projects detection light and a light-receiving part 52 that receives the detection light projected by the light-emitting part 51. When the detector 5 receives the detection light projected by the light-emitting part 51 via the light-receiving part 52, it determines that "no object 90" exists; when the detection light projected by the light-emitting part 51 is blocked by an object and is not received by the light-receiving part 52, it determines that "object 90 exists". The light-emitting part 51 and the light-receiving part 52 constituting a detector 5 are arranged at the same position in the depth direction X. In this example, the light-emitting part 51 is provided in one of a pair of transfer arms 211, and the light-receiving part 52 is provided in the other of the pair of transfer arms 211. The light-emitting part 51 projects detection light in a direction parallel to the width direction Y, and the light-receiving part 52 receives this light. Furthermore, the detector 5 detects the position of the article 90 in the depth direction X based on the amount of protrusion of the transfer arm 211 at the point when the detection light of the projection section 51 is blocked. However, it is not limited to the structure described above. When the detector 5 is composed of a light sensor, the detector 5 may also be composed of a light-projecting and receiving section that emits and receives detection light, and a reflective section that reflects detection light.

[0068] [Control structure of item storage equipment]

[0069] 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 involves moving the item 90 to one of the multiple storage sections 13 (see reference 1) of the item storage rack 1. Figure 1 The item 90 is moved from one of the multiple storage sections 13 to another. 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.

[0070] 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 3The 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".

[0071] In this embodiment, the control unit C2 receives the detection result from the detector 5 and controls the operation of the transfer machine 21 based on the detection result. In this example, the control unit C2 determines whether to cause the transfer machine 21 to perform the second item position adjustment operation (described later) based on the position of the second item 92 in the depth direction X detected by the detector 5. If the second item 92 is not positioned in the appropriate second item position P2, the control unit C2 causes the transfer machine 21 to perform the second item position adjustment operation (see...). Figure 12 ).

[0072] 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.

[0073] [Transfer Action]

[0074] Next, refer to Figures 7-12 The transfer operation of item 90 performed by transfer machine 21 will be explained. Furthermore, due to... Figures 7-12 This is an explanatory diagram schematically showing the transfer operation, therefore details (such as the width direction limiting body 14y, the depth direction limiting body 14x, etc.) are omitted.

[0075] The transfer operation performed by the transfer machine 21 includes a transfer operation of transferring the item 90 (object item 93) to the storage section 13, and a retrieval operation of retrieving the item 90 (first item 91 or second item 92) from 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 explanation. Figure 6 .

[0076] In this embodiment, the transfer operation includes: a first item transfer operation, in which the object item 93 is transferred to the first placement area A1 of the storage unit 13 as the first item 91; and a second item transfer operation, in which the object item 93 is transferred to the second placement area A2 of the storage unit 13 as the second item 92. Furthermore, the retrieval operation includes: a first item retrieval operation, in which the first item 91 placed in the first placement area A1 of the storage unit 13 is retrieved; and a second item retrieval operation, in which the second item 92 placed in the second placement area A2 of the storage unit 13 is retrieved.

[0077] Figure 7 This indicates 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, after the control unit C2 positions the first locking member 212a (locking part 212) relative to the front surface 931 of the object item 93 located in the holding area 2A on the near-front side X1 in the depth direction, the first locking member 212a is locked to the front surface 931 of the object item 93. The first locking member 212a is then moved inward X2 in the depth direction, and the object item 93 is stored in the first placement area A1 as the first item 91 (see reference). Figure 7 (a), (b)). Specifically, the control unit C2 controls the winding motor M2 to cause the first locking member 212a to protrude in the width direction Y, and controls the forward and backward motor M1 to cause the transfer arm 211 to protrude in the depth direction X2. Thus, the object 93 is pushed out towards the depth direction X2 using the first locking member 212a (see reference). Figure 7 (a) and (b)). In this embodiment, the first item transfer operation is performed using a first locking member 212a, which is configured to be closer to the front side (X1) in the depth direction than the second locking member 212b. That is, the first item transfer operation is performed using a front-side locking member (in this example, the first locking member 212a), which is configured to be closer to the front side (X1) in the depth direction than the inner locking member (in this example, the second locking member 212b). The inner locking member is the locking member among the plurality of locking members that is closest to the inner side (X2) in the depth direction. This reduces the protrusion of the transfer arm 211 during the first item transfer operation, thus shortening the cycle time of the first item transfer operation. During the first item transfer operation, the object item 93, pushed out by the first locking member 212a, slides on the support surface 20F of the traveling trolley 20 and the placement surface 13F of the storage section 13, is placed in the first placement area A1, and is positioned at the appropriate first item position P1. In other words, during the first item transfer operation, the object item 93 is transferred from the holding area 2A to the first placement area A1 and is treated as the first item 91.

[0078] 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 object item 93 and the appropriate first item position P1. After the object item 93 has been positioned at the appropriate first item position P1 and has become the first item 91, 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) That is, the control unit C2 stores the object article 93 in the first placement area A1 as the first article 91, and then moves the first locking member 212a forward in the depth direction X1 and returns it to the position corresponding to the holding area 2A. In this example, the control unit C2 retracts the transfer arm 211 forward in the depth direction X1, and simultaneously or subsequently controls the rotating motor M2 to set the first locking member 212a to a non-protruding state.

[0079] Figure 8 This indicates that the transfer machine 21 is performing a 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, in the second item transfer operation, after the control unit C2 positions the intermediate locking member 212m (locking member 212) relative to the front surface 931 of the object item 93 located in the holding area 2A on the near-front side X1 in the depth direction, the intermediate locking member 212m is locked to the front surface 931 of the object item 93. The intermediate locking member 212m is then moved inward X2 in the depth direction, and the object item 93 is stored in the second placement area A2 as the second item 92 (see reference). Figure 8 (a), (b)). Specifically, the control unit C2 controls the winding motor M2 to cause the intermediate locking member 212m to protrude in the width direction Y, and controls the forward and backward motor M1 to cause the transfer arm 211 to protrude in the depth direction X2. Thus, the intermediate locking member 212m pushes the object 93 towards the depth direction X2 (see reference). Figure 8(a), (b)). In this embodiment, the second article transfer operation is performed using an intermediate locking member 212m, which is configured to be closer to the front side X1 in the depth direction than the second locking member 212b. In this embodiment, in the reference state of the transfer arm 211 during the movement of the traveling trolley 20, the intermediate locking member 212m is located further inward X2 in the depth direction than the front surface 931 of the object article 93. Therefore, in the second article transfer operation, after the object article 93 is moved inward X2 in the depth direction within the holding area 2A by means of the first locking member 212a, the intermediate locking member 212m is locked onto the front surface 931 of the object article 93, and then the transfer arm 211 is protruded inward X2 in the depth direction. In addition, during the second item transfer operation, the transfer arm 211 can be moved forward X1 in the depth direction first, so that the intermediate locking member 212m locks onto the front surface 931 of the object item 93. Then, the transfer arm 211 is protruded inward X2 in the depth direction. When this is done, the control unit C2 causes the transfer machine 21 to perform the second item transfer operation. During the second item transfer operation, the object item 93, pushed out by the intermediate locking member 212m, slides on the support surface 20F of the traveling trolley 20 and the placement surface 13F of the storage section 13, is placed in the second placement area A2, and positioned at the appropriate second item position P2. In other words, during the second item transfer operation, the object item 93 is transferred from the holding area 2A to the second placement area A2 and treated as the second item 92.

[0080] 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 target item 93 and the appropriate second item position P2. Once the target item 93 is positioned at the appropriate second item 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) That is, the control unit C2 stores the object article 93 in the second placement area A2 as the second article 92, and then moves the intermediate locking member 212m forward in the depth direction to the front X1 and returns it to the position corresponding to the holding area 2A. In this example, the control unit C2 retracts the transfer arm 211 forward in the depth direction to the front X1, and simultaneously or subsequently controls the rotating motor M2 to set the intermediate locking member 212m to a non-protruding state.

[0081] Figure 9 This indicates 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 9As shown, during the first item removal operation, the control unit C2 controls the drive unit M to position the second locking member 212b (locking part 212) between the first item 91 and the second item 92 in the depth direction X, so that the second locking member 212b is locked onto the rear surface 912 of the first item 91, and the second locking member 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 member 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 member 212b in the width direction Y, thereby positioning the second locking member 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 locking the second locking member 212b onto the rear surface 912 of the first article 91 and moving it towards the front X1 in the depth direction. Thus, the control unit C2 uses the second locking member 212b to pull the first article 91 towards the front X1 in the depth direction as the target article 93, moving the target article 93 towards the holding area 2A of the support surface 20F (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 (object item 93), pulled in by the second locking member 212b, slides on the placement surface 13F of the storage unit 13 and the support surface 20F of the traveling trolley 20, and is placed on the support surface 20F of the traveling trolley 20. In other words, during the first item removal operation, the first item 91, transferred from the first placement area A1 towards the forward side X1 in the depth direction and designated as the object item 93, is transferred to the holding area 2A.

[0082] During the first item removal operation, the amount of protrusion of the transfer arm 211 inward X2 in the depth direction when the second locking member 212b is positioned between the first item 91 and the second item 92 in the depth direction X is controlled based on the appropriate first item position P1. More specifically, considering the positional offset of the first item 91 stored in the storage unit 13 in the depth direction X, the control errors of the control unit C2 (errors in the amount of protrusion of the transfer arm 211, etc.), and the mechanical errors of the item storage device 100 (setting errors of the item storage rack 1 and the conveying device 2, etc.), the aforementioned protrusion amount is controlled based on the position of the rear surface portion 912 of the first item 91 located at the appropriate first item position P1, 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; for example, the control unit C2 may also control the amount of protrusion of the transfer arm 211 based on the detection results of the detector 5. The detector 5 causes the transfer arm 211 to protrude inwards X2 in the depth direction, and detects the presence or absence of the first item 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 detection result of the detector 5, which is a position of "item present → item absent". At a position a certain distance inwards X2 in the depth direction from the position of "item present → item absent", the second locking member 212b is protruded in the width direction Y, thereby enabling the second locking member 212b to be positioned appropriately.

[0083] Figure 10 This indicates that the transfer machine 21 is performing the second item retrieval operation. The control unit C2 controls the drive unit M to cause the transfer machine 21 to perform the second item retrieval 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 member 212b (locking part 212) in a position X2 further inward in the depth direction than the second item 92, so that the second locking member 212b is locked against the rear surface 922 of the second item 92, and the second locking member 212b moves forward 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, and the second locking member 212b is positioned X2 further inward in the depth direction than the rear surface 922 of the second item 92, the control unit C2 controls the winding motor M2 to protrude the second locking member 212b in the width direction Y, thereby positioning the second locking member 212b in a position X2 further inward in the depth direction than 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 locking the second locking member 212b onto the rear surface 922 of the second article 92 and moving it towards the front X1 in the depth direction. Thus, the control unit C2 uses the second locking member 212b to pull the second article 92 towards the front X1 in the depth direction as the target article 93, moving the target article 93 towards the holding area 2A of the support surface 20F (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 (object item 93) pulled in by the second locking member 212b slides on the placement surface 13F of the storage unit 13 and the support surface 20F of the traveling trolley 20, and is placed on the support surface 20F of the traveling trolley 20. In other words, during the second item removal operation, the second item 92 is transferred from the second placement area A2 toward the forward side X1 in the depth direction and is designated as the object item 93, and is transferred to the holding area 2A.

[0084] During the second item removal operation, the amount by which the transfer arm 211 protrudes inward X2 in the depth direction when the second locking member 212b is positioned closer to the inner side X2 in the depth direction than the second item 92 is controlled according to the appropriate second item position P2. More specifically, the protrusion amount is controlled based on the positional offset of the second item 92 stored in the storage section 13 in the depth direction X, the control error of the control section C2 (error in the protrusion amount of the transfer arm 211, etc.), the mechanical error of the item storage device 100 (setting error between the item storage rack 1 and the conveying device 2, etc.), etc., and is based on a position that is farther away from the position of the rear surface portion 922 of the second item 92, which is considered to be located at the appropriate second item position P2, from the inner side X2 in the depth direction X2. As described above, in this embodiment, the depth direction limiting body 14x that restricts the movement of the second item 92 in the depth direction X2 is provided in the storage section 13 (see reference). Figure 2 Therefore, even if the second item 92 vibrates at the storage section 13, the second item 92 is still difficult to move further inward X2 than the depth direction limiting body 14x. Thus, the amount by which the transfer arm 211 protrudes inward X2 when the second locking member 212b is positioned further inward X2 than the second item 92 is preferably controlled based on the position of the depth direction limiting body 14x. This suppresses interference between the second locking member 212b and the side portion 923 of the second item 92, ensuring the second locking member 212b is positioned appropriately. However, the structure is not limited to the above; as described above, the control unit C2 can also control the amount of protrusion of the transfer arm 211 based on the detection result of the detector 5.

[0085] In this case, the item storage device 100 may experience vibrations in the item storage rack 1 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 position shifts, the transfer machine 21 can be used to adjust the position of the item 90. As described below, the item storage device 100 of this application, in a structure having a storage section 13 that can arrange and store two items 90 in the depth direction X, can efficiently adjust the position of the item 90 (second item 92) located in the inner X2 (second placement area A2) in the depth direction.

[0086] The transfer machine 21 is configured to perform a transfer action of transferring the item 90 to the storage section 13 and a retrieval action of taking the item 90 out of the storage section 13, as well as a position detection action of detecting the position of the item 90 stored in the storage section 13 and a position adjustment action of adjusting the position of the item 90 stored in the storage section 13. The position detection action includes a second item position detection action, which detects the position of the second item 92 stored in the second placement area A2 of the storage section 13. Furthermore, the position adjustment action includes a second item position adjustment action, which adjusts the position of the second item 92 stored in the second placement area A2 of the storage section 13 to a suitable second item position P2.

[0087] Figure 11 This indicates that the transfer machine 21 is performing a second item position detection operation. The control unit C2 is configured as a control drive unit M to cause the transfer machine 21 to perform the second item position detection operation. That is, as... Figure 11As shown, during the second item position detection operation, when the control unit C2 performs the first item transfer operation of transferring the object item 93 to the first placement area A1, it moves the first locking member 212a (locking part 212) toward the inward side X2 in the depth direction, causing the detector 5 to move toward the inward side X2 in the depth direction. The detector 5 is used to detect the position of the second item 92 stored in the second placement area A2 in the depth direction X. In this embodiment, during the second item position detection operation, the transfer arm 211 protrudes toward the inward side X2 in the depth direction, thereby causing the detector 5, more specifically, the detection range of the detector 5, to move toward the inward side X2 in the depth direction, corresponding to the position of the second placement area A2. In this example, during the second item position detection operation, the detector 5 (the detection range of the detector 5) is moved from a predetermined first position near the front side X1 in the depth direction of the second placement area A2, towards the inner side X2 in the depth direction, until the front surface 921 of the second item 92 is detected. This detects the position of the front surface 921 of the second item 92 housed in the second placement area A2. Furthermore, if the detector has moved to a predetermined second position set in the second placement area A2 (e.g., corresponding to the central portion in the depth direction X of the second placement area A2) without detecting the front surface 921 of the second item 92, the second item position detection operation ends. In this case, the control unit C2 determines that the second item 92 is not housed in the second placement area A2. The position of the front surface portion 921 of the second item 92, which is positioned at the appropriate second item position P2, in the depth direction X is determined based on the dimensions of the appropriate second item position P2 and the depth direction X of the second item 92. That is, the longer the dimension of the second item 92 in the depth direction X, the more the front surface portion 921 of the second item 92, positioned at the appropriate second item position P2, is positioned closer to the front side X1 in the depth direction. Conversely, the shorter the dimension of the second item 92 in the depth direction X, the more the front surface portion 921 of the second item 92, positioned at the appropriate second item position P2, is positioned closer to the inner side X2 in the depth direction. In this embodiment, the control unit C2 determines whether the second item 92 is positioned at the appropriate second item position P2 based on the appropriate second item position P2, the dimension of the second item 92 in the depth direction X, and the detection result of the detector 5.

[0088] In this embodiment, such as Figure 11As shown, the mounting position of the detector 5 relative to the transfer arm 211 is set such that, during the process of placing the object article 93 in the appropriate first article position P1 of the first placement area A1 as the first article 91, the detector 5 (the detection range of the detector 5) extends from the near-front side X1 in the depth direction to the inward side X2 in the depth direction, passing through the area in the depth direction X where the front surface portion 921 of the second article 92 may be placed. However, this structure is not limited to this; it is also possible that, when the object article 93 is placed in the appropriate first article position P1 as the first article 91, the detector 5 (the detection range of the detector 5) is located further in the depth direction near the front side X1 than the area where the front surface portion 921 of the second article 92 may be placed. In this case, it can also be configured such that after the first locking member 212a releases the locking of the front surface portion 911 of the first article 91, the transfer arm 211 protrudes inward in the depth direction X2, thereby moving the detector 5 (the detection range of the detector 5) to the area in the depth direction X where the front surface portion 921 of the second article 92 may be placed. In this case, the control unit C2 controls the protrusion amount of the transfer arm 211, so that the detector 5 (the detection range of the detector 5) moves from the near front side X1 in the depth direction to the inward side X2 in the depth direction, passing through the area in the depth direction X where the front surface portion 921 of the second article 92 may be placed.

[0089] Figure 12 This indicates that the transfer machine 21 is performing a 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 12 As shown in (b) and (c), during the second item position adjustment operation, the control unit C2 controls the drive unit M to position the second locking member 212b (locking member 212) between the first item 91 and the second item 92 in the depth direction X, causing the second locking member 212b to move towards the inner side X2 in the depth direction to a position corresponding to the position of the front surface portion 921 of the second item 92 located at the appropriate second item position P2. In this embodiment, the second item position adjustment operation is performed using the inner locking member (in this example, the second locking member 212b) located closest to the inner side X2 in the depth direction among a plurality of locking members. This reduces the protrusion of the transfer arm 211 during the second item position adjustment operation, thus shortening the cycle time when performing the second item position adjustment operation.

[0090] like Figure 12As shown in (b) and (c), during the second article position adjustment operation, the control unit C2 controls the drive unit M to perform the following operation: the second locking member 212b (locking part 212), which is disposed between the first article 91 and the second article 92 in the depth direction X, moves 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 second article position P2. Figure 12 In the examples shown in (a) and (b), the second article 92 is shifted from the appropriate second article position P2 towards the forward X1 position in the depth direction. In such a case, with the second locking member 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 member 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 member 212b inward X2 in the depth direction, pushing the second article 92 outward X2 in the depth direction and positioning it at the appropriate second article position P2 (see reference). Figure 12 (c)). In this manner, the control unit C2 causes the transfer machine 21 to perform the second item position adjustment action.

[0091] In 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 appropriate second item position P2 is controlled based on the dimension of the second item 92 in the depth direction X and the appropriate second item position P2. For example, as shown in the figure, when the appropriate second item position P2 is taken as a reference to the position of the rear surface portion 922 of the second item 92 (which may actually not be positioned at the appropriate second item position P2), the position of the surface portion 922 thereafter 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 member 212b is positioned such that it is located away from the dimension of the second item 92 in the depth direction X by a distance from the position of the rear surface portion 922 of the second item 92, which is considered to be located at the appropriate second item position P2, towards the front in the depth direction X1. 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 second article position P2, 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.

[0092] Here, the second item position adjustment operation is performed during the execution of the first item transfer operation. More specifically, during the execution of the first item transfer operation performed by the transfer machine 21, the control unit C2 uses the first locking member 212a to store the target item 93 in the first placement area A1 as the first item 91 (see reference). Figure 12 (a) causes the transfer machine 21 to perform the second item position adjustment action. After the second item position adjustment action is completed (refer to...). Figure 12 (b) and (c) cause the first locking member 212a (locking part 212) used to store the object item 93 in the first placement area A1 to return to the position corresponding to the holding area 2A, thus completing the first item transfer operation (see reference). Figure 7 (c)).

[0093] Furthermore, in this embodiment, such as Figure 12 As shown, during the execution of the first item transfer operation, after the object item 93 is placed in the first placement area A1 as the first item 91, the first locking member 212a (near-front locking member) is released from locking the front surface 911 of the first item 91. Then, the second locking member 212b (inner locking member) is positioned between the first item 91 and the second item 92 in the depth direction X, and the second item position adjustment operation is performed. Therefore, when performing the second item position adjustment operation using the second locking member 212b (inner locking member), the first locking member 212a (near-front locking member) can be prevented from obstructing the second item position adjustment operation. Therefore, the protrusion of the transfer arm 211 in the first item transfer action and the second item position adjustment action can be minimized, the cycle time of each action performed by the transfer arm 211 can be shortened, and the second item position adjustment action can be performed while the first item 91 is stored in the appropriate position through the first item transfer action.

[0094] Furthermore, in this embodiment, the second item position adjustment action is performed under the following circumstances: by the execution of the second item position detection action (see...). Figure 11The detector 5 is located at the end region of the transfer arm 211 in the protruding direction (end region of the inner depth X2), adjacent to the second locking member 212b. Furthermore, in this embodiment, the separation distance between the first locking member 212a and the second locking member 212b in the depth direction X is set to be longer than the length of the first placement area A1 in the depth direction X. Therefore, it is conceivable that at the point in time when the second item position detection operation is performed together with the first item transfer operation using the first locking member 212a and the first item transfer operation has been completed, the second locking member 212b located at the end region of the inner depth X2 of the transfer arm 211 is positioned closer to the inner depth X2 (see reference) than the front surface portion 921 of the second item 92. Figure 12 (a) Therefore, in this embodiment, if the execution of the first article transfer action and the second article position detection action has detected that the second article 92 is not positioned at the appropriate second article position P2, the transfer arm 211 is first retracted to the front side X1 in the depth direction, so that the second locking member 212b is positioned after the front surface portion 921 of the second article 92 is closer to the front side X1 in the depth direction (see reference). Figure 12 (b)) Only then is the second item position adjustment operation performed. More specifically, after performing the first item transfer operation and the second item position detection operation, the transfer arm 211 is retracted to the front side X1 in the depth direction, and the second locking member 212b is positioned between the first item 91 and the second item 92 in the depth direction X. Then, the second locking member 212b is moved to the inside side X2 in the depth direction to a position corresponding to the position of the front surface portion 921 of the second item 92 located at the appropriate second item position P2, thereby performing the second item position adjustment operation.

[0095] As described above, the second item position detection action and the second item position adjustment action are performed during the execution of the first item transfer action. Therefore, it is possible to efficiently detect the position deviation of the second item 92 and adjust the position of the second item 92 in the event of a position deviation.

[0096] On the other hand, in this embodiment, if the execution of the second item position detection operation has detected that the second item 92 has been placed in the appropriate second item position P2, the control unit C2 will not cause the transfer machine 21 to perform the second item position adjustment operation. In this case, after the control unit C2 uses the first locking member 212a to store the object item 93 in the first placement area A1 as the first item 91, it will return the first locking member 212a (locking part 212) to the position corresponding to the holding area 2A without performing the second item position adjustment operation, thus completing the first item transfer operation (see reference). Figure 7 (c) Therefore, since the control unit C2 can complete the transfer of the first item without causing the transfer machine 21 to perform the operation for adjusting the position of the second item 92, the cycle time of the transfer of the first item can be shortened.

[0097] Furthermore, since the probability of the second item 92 being precisely positioned at the appropriate second item position P2 is low, the range within which the detection determines whether to perform a second item position adjustment operation is considered to indicate that the second item 92 is positioned at the appropriate second item position P2 is preferably set to a range that has some degree of extension in the depth direction X. For example, a preferred structure is one in which the second item 92 is positioned within a range that is separated by a predetermined distance on both the near-front side X1 and the inner side X2 in the depth direction relative to the position of the second item 92 at the appropriate second item position P2, and is detected as having been positioned at the appropriate second item position P2 if the second item 92 is positioned outside this range, and is detected as not being positioned at the appropriate second item position P2 if the second item 92 is positioned outside this range.

[0098] [Other Implementation Methods]

[0099] Next, other embodiments of the item storage device will be described.

[0100] (1) In the above embodiment, the following example was described: the first article transfer operation was performed using a first locking member 212a configured to be closer to the front side X1 in the depth direction than the inner locking member (second locking member 212b). However, it is not limited to such an example; the first article transfer operation may also be performed using an intermediate locking member 212m configured to be closer to the front side X1 in the depth direction than the inner locking member (second locking member 212b). That is, in this case, the intermediate locking member 212m is set as a "front locking member".

[0101] (2) In the above embodiment, the following example was described: The second item position adjustment operation is performed using the second locking member 212b (inner locking member) among a plurality of locking members, which is configured to be closest to the inner side X2 in the depth direction. However, it is not limited to such an example, and the second item position adjustment operation can also be performed using a locking part 212 configured to be closer to the front side X1 in the depth direction than the second locking member 212b (inner locking member). For example, the second item position adjustment operation can also be performed using an intermediate locking member 212m configured in the middle part of the transfer arm 211 in the depth direction X. In this case, when the positional shift of the second item 92 is detected by the detector 5, if the intermediate locking member 212m is configured to be closer to the front side X1 in the depth direction than the front surface 921 of the second item 92, the second item position adjustment operation can be performed without retracting the transfer arm 211 to the front side X1 in the depth direction. When the positional shift of the second item 92 has been detected by the detector 5, and the intermediate locking member 212m is configured to be closer to the inside of the depth direction than the front surface portion 921 of the second item 92 by X2, it is also possible, in the same manner as the above embodiment, to first retract the transfer arm 211 to the front side of the depth direction by X1, thereby configuring the intermediate locking member 212m to be closer to the front side of the depth direction than the front surface portion 921 of the second item 92 by X1.

[0102] (3) In the above embodiment, the following example was described: When the control unit C2 detects that the second item 92 is not positioned at the appropriate second item position P2 through the execution of the second item position detection operation, it causes the transfer machine 21 to perform a second item position adjustment operation. However, it is not limited to such an example. When the control unit C2 causes the transfer machine 21 to perform the first item transfer operation, it may also perform the second item position adjustment operation each time the first item transfer operation is performed. In other words, the control unit C2 may perform the second item position adjustment operation during the execution of the first item transfer operation regardless of whether the second item 92 is misaligned. In this case, even if the second item 92 is in the appropriate second item position P2, the second item 92 will not move inward X2 in the depth direction due to the second locking member 212b, even if the second item position adjustment operation is performed. However, when the transfer machine 21 performs the first item transfer operation, a second item position adjustment operation is performed each time. This allows for position adjustments to be made for each of the multiple second items 92 stored in the item storage rack 1 at certain intervals, thus reducing the possibility of the second item 92's position significantly deviating from its proper second item position P2. Furthermore, according to the structure described above, a detector 5 for detecting the position of the second item 92 is not required.

[0103] (4) Furthermore, regardless of the detection result of the detector 5, the control unit C2 can perform the second item position adjustment operation during the execution of the first item transfer operation if the preset conditions are met. The longer the time elapsed after the second item 92 is stored in the storage unit 13, the more likely it is to shift from the appropriate second item position P2 due to vibrations of the item storage rack 1, etc. Therefore, the preset conditions can include, for example, cases where the time elapsed after the second item 92 is stored in the storage unit 13 is greater than a predetermined threshold. In this case, the control unit C2 targets the second item 92 whose time elapsed after being stored in the storage unit 13 has exceeded the threshold, and performs the second item position adjustment operation during the execution of the first item transfer operation. Thus, it is possible to target the second item 92, which has a higher probability of position shift, and perform the second item position adjustment operation during the execution of the first item transfer operation.

[0104] (5) In the above embodiment, the following example is described: On both sides of the width direction Y, a width direction limiting body 14y protruding upward from the mounting surface 13F is provided relative to each of the first mounting area A1 and the second mounting area A2. 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.

[0105] (6) In the above embodiment, the following example is 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.

[0106] (7) In the above embodiment, the following example was described: the locking part 212 is configured to rotate about an axis in the depth direction X relative to the transfer arm 211, thereby changing the state to a protruding state protruding towards the transfer arm 211 on the other side in the width direction Y, and a non-protruding state. 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 to change the state to a protruding state and a non-protruding state by rotating about the axis in the vertical direction Z. 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, changing the state to a protruding state and a non-protruding state.

[0107] (8) 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, and 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. Furthermore, it can be arranged as follows: by bringing the pair of transfer arms 211 close in the width direction Y, the pair of locking portions 212 are positioned at a position that overlaps with the article 90 when viewed in the depth direction X; by moving the pair of transfer arms 211 far apart in the width direction Y, the pair of locking portions 212 are positioned at a position that does not overlap with the article 90 when viewed in the depth direction X. 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.

[0108] (9) In the above embodiment, the following example is described: three locking portions 212 are provided for each of the pair of transfer arms 211. However, this is not a limitation; two or fewer, or four or more locking portions 212 may be provided for each of the pair of transfer arms 211. Furthermore, in the above embodiment, the following structure is described as an example: the intermediate locking member 212m is disposed at the center of the interval between the first locking member 212a and the second locking member 212b in the depth direction X. However, this is not a limitation; the intermediate locking member 212m may also be disposed on the side closer to the first locking member 212a than the center of the interval between the first locking member 212a and the second locking member 212b, or disposed on the side closer to the second locking member 212b. In such cases, the distance between the first locking member 212a and the intermediate locking member 212m in the depth direction X, or the distance between the intermediate locking member 212m and the second locking member 212b in the depth direction X, can be set according to the dimension of the article 90 in the depth direction X, or set to be larger than the dimension of the article 90 in the depth direction X.

[0109] (10) As the conveying device 2, in addition to the method described in the first embodiment above, for example, Figure 13 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 13 Although the term indicates that a stacker crane 200 has a structure with multiple transfer machines 21 (two transfer machines 21), it can also mean that a stacker crane 200 has a structure with one transfer machine 21.

[0110] (11) 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.

[0111] [Summary of the above embodiments]

[0112] The following is an overview of the storage equipment described above.

[0113] An item storage device, characterized in that it comprises: an item storage rack having a storage section capable of arranging and storing two items in a depth direction; a transport device for transporting the items along a transport direction intersecting the depth direction; and a control unit for controlling the operation of the transport device, wherein the transport device includes a transfer machine for performing a transfer operation, the transfer operation moving the items in the depth direction and transferring the items to the item storage rack, wherein in the depth direction, the side of the transport device relative to the 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, and a first mounting device is set on the front side in the depth direction of the storage section. The aforementioned items stored in the aforementioned storage area are designated as first items, the aforementioned items stored in the aforementioned second placement area set inside the aforementioned depth direction of the aforementioned storage section are designated as second items, the aforementioned items being transported by the aforementioned transport device are designated as target items, the appropriate position of the aforementioned second items in the aforementioned storage section is designated as appropriate second item position, and the area set at the aforementioned transport device for holding the aforementioned target items is designated as holding area. The aforementioned transfer machine includes: a locking part that locks onto the front surface portion of the aforementioned items facing forward in the aforementioned depth direction; and a driving part that moves the aforementioned locking part between a position corresponding to the aforementioned holding area and a position corresponding to the aforementioned first placement area or the aforementioned second placement area. The locking part includes a first locking member and a second locking member. The control unit controls the drive unit to enable the transfer machine to perform: a first article transfer operation, in which the first locking member is positioned near the front of the object article located in the holding area in the depth direction, locking the first locking member against the front surface of the object article, moving the first locking member inward in the depth direction, storing the object article in the first placement area as the first article, and then moving the first locking member near the front of the depth direction back to the position corresponding to the holding area to perform the transfer operation; the second... 2. The item position adjustment operation causes the second locking member, which is disposed between the first item and the second item in the aforementioned depth direction, to move inward in the aforementioned depth direction to a position corresponding to the position of the front surface portion of the second item located in the aforementioned appropriate second item position. During the execution of the first item transfer operation performed by the aforementioned transfer machine, after the aforementioned object item is placed in the aforementioned first placement area as the aforementioned first item, the aforementioned transfer machine performs the aforementioned second item position adjustment operation. After the aforementioned second item position adjustment operation is completed, the aforementioned first locking member returns to the position corresponding to the aforementioned holding area, thus completing the aforementioned first item transfer operation.

[0114] According to this structure, the transfer machine performs a second item position adjustment operation, moving the second locking member inward in the depth direction to a position corresponding to the front surface of the second item located at the appropriate second item position. Therefore, even if the second item has shifted from the appropriate second item position towards the forward position in the depth direction before the second item position adjustment operation is performed, the second locking member can still move the second item inward in the depth direction to position it at the appropriate second item position. Furthermore, according to this structure, after the object item being transferred in the first item transfer operation is placed in the first placement area and designated as the first item, this second item position adjustment operation is performed. That is, by utilizing the operation of moving the first locking member inward in the depth direction to place the object item in the first placement area as the first item, the second locking member can be positioned between the first item and the second item in the depth direction to perform the second item position adjustment operation. Therefore, according to this structure, it becomes possible to efficiently adjust the position of the second item stored inside the depth direction of the storage section.

[0115] Preferably, the aforementioned transfer machine includes a detector for detecting the position of the aforementioned item in the aforementioned depth direction. The detector is configured to move synchronously with the aforementioned locking part along the aforementioned depth direction. During the execution of the aforementioned first item transfer operation, the aforementioned control unit moves the aforementioned first locking part toward the aforementioned depth direction, causing the aforementioned detector to move toward the aforementioned depth direction, thereby enabling the aforementioned transfer machine to perform a second item position detection operation. The aforementioned second item position detection operation uses the aforementioned detector to detect the position of the aforementioned second item in the aforementioned depth direction of the aforementioned second item stored in the aforementioned second placement area. If the aforementioned second item is not placed in the aforementioned appropriate second item position after the aforementioned second item position detection operation is performed, the aforementioned second item position adjustment operation is performed.

[0116] According to this structure, the positional deviation of the second item in the depth direction can be detected by a second item position detection action, which is performed during the execution of the first item transfer action by moving the first locking member inward in the depth direction. Furthermore, if a positional deviation of the second item has been detected, a second item position adjustment action can be performed to place the misaligned second item into a suitable position. On the other hand, if the second item position detection action detects no positional deviation in the depth direction of the second item, the second item position adjustment action can be controlled to not be performed. Thus, according to this structure, since the second item position detection action and the second item position adjustment action can be performed during the execution of the first item transfer action, and the second item position adjustment action can be set to be performed only when necessary, the position adjustment of the second item becomes more efficient.

[0117] Furthermore, preferably, the aforementioned transfer machine has a transfer arm configured to move freely forward and backward along the aforementioned depth direction, and the aforementioned locking part has locking members at multiple locations of the aforementioned transfer arm in the aforementioned depth direction. Among the plurality of locking members, the inner locking member that is closest to the inner side in the aforementioned depth direction is designated as the aforementioned second locking member, and the aforementioned second item position adjustment operation is performed using the aforementioned inner locking member. Among the plurality of locking members, the front locking member that is positioned closer to the front side in the aforementioned depth direction than the aforementioned inner locking member is designated as the aforementioned first locking member, and the aforementioned first item transfer operation is performed using the aforementioned front locking member.

[0118] According to this structure, since the first item transfer action is performed using a front-side locking component and the second item position adjustment action is performed using an inner-side locking component, the protrusion of the transfer arm in the second item position adjustment action and the protrusion of the transfer arm in the first item transfer action can be reduced, thereby shortening the cycle time of each action performed by the transfer arm.

[0119] Furthermore, preferably, in a structure in which locking members are provided at multiple locations in the aforementioned depth direction of the aforementioned transfer arm, during the execution of the aforementioned first item transfer operation, after the aforementioned object item is placed in the aforementioned first placement area as the aforementioned first item, the locking member on the aforementioned front surface of the aforementioned first item is released, and the aforementioned inner locking member is positioned between the aforementioned first item and the aforementioned second item in the aforementioned depth direction, and then the aforementioned second item position adjustment operation is performed.

[0120] According to this structure, when the second item position adjustment action using the inner locking member is performed during the execution of the first item transfer action using the front locking member, the front locking member can prevent the second item position adjustment action from being obstructed. Therefore, according to this structure, the protrusion of the transfer arm during the first item transfer action and the second item position adjustment action can be minimized, the cycle time of each action performed by the transfer arm can be shortened, and the second item position adjustment action can be performed while the first item is stored in the appropriate position through the first item transfer action.

[0121] Furthermore, it is preferable to designate the surface of the aforementioned storage section on which the aforementioned item is placed as the placement surface, and to designate the direction orthogonal to the aforementioned depth direction when viewed from above as the width direction, and to provide a width-direction limiting body protruding upward from the aforementioned placement surface on both sides of the aforementioned width direction relative to each of the aforementioned first placement area and the aforementioned second placement area.

[0122] According to this structure, since the width direction position of the first item and the second item can be restricted by means of the width direction restrictor, the operation of the transfer machine can be configured to more easily and appropriately perform the second item position detection operation or the second item position adjustment operation.

[0123] Furthermore, preferably, a depth-direction limiting body protruding upward from the aforementioned mounting surface is provided on the inner side of the aforementioned second mounting area in the aforementioned depth direction.

[0124] According to this structure, the movement of the second article inward in the depth direction can be restricted from 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 second article can be positioned appropriately by the aforementioned second article position adjustment action. Therefore, according to this structure, the second article can be positioned within an appropriate range in the depth direction.

[0125] Industrial availability

[0126] The technology of this application can be applied to item storage equipment, which includes an item storage rack with a storage section for storing items and a handling device for transporting items.

[0127] Explanation of reference numerals in the attached figures

[0128] 100: Item storage equipment

[0129] 1: Item storage rack

[0130] 13: Storage Department

[0131] 13F: Placement Surface

[0132] 14x: Depth-direction confinement body

[0133] 14y: Width-direction limiting body

[0134] 2: Transport device

[0135] 2A: Maintain Area

[0136] 21: Transfer machine

[0137] 211: Transfer Arm

[0138] 212: Locking part

[0139] 5: Detector

[0140] 90: Items

[0141] 91: Item 1

[0142] 92: Item 2

[0143] 93: Target Item

[0144] 901: Front surface

[0145] 911: Front surface

[0146] 921: Front surface

[0147] 931: Front surface

[0148] A1: First Loading Area

[0149] A2: Second placement area

[0150] C2: Control Department

[0151] M: Drive unit

[0152] P2: Appropriate second item position

[0153] X: Depth direction

[0154] X1: Near the front side in the depth direction

[0155] X2: Inner side in the depth direction

[0156] 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; The control unit controls the operation of the aforementioned conveying device. The aforementioned conveying device includes a transfer machine for performing a transfer operation, which moves the aforementioned item in the aforementioned depth direction and transfers the aforementioned item to 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 first placement area set in the aforementioned front side in the depth direction of the aforementioned storage part is designated as the first item, and the aforementioned item stored in the second placement area set in the aforementioned inner side in the depth direction of the aforementioned storage part is designated as the second item. The aforementioned item being conveyed by the aforementioned conveying device is designated as the target item, the appropriate position of the aforementioned second item in the aforementioned storage part is designated as the appropriate second item position, and the area set at the aforementioned conveying device for holding the aforementioned target item is designated as the holding area. The aforementioned transfer machine has the following features: The locking part is locked onto the front surface of the aforementioned article facing the aforementioned depth direction; The driving unit moves the aforementioned locking unit between a position corresponding to the aforementioned holding region and a position corresponding to the aforementioned first mounting region or the aforementioned second mounting region. The aforementioned locking portion includes a first locking member and a second locking member. The aforementioned control unit controls the aforementioned drive unit, enabling the aforementioned transfer machine to perform the following: The first article transfer operation involves placing the first locking member relative to the front surface of the object article located in the holding area near the front side in the depth direction, so that the first locking member is locked to the front surface of the object article, moving the first locking member inward in the depth direction, storing the object article in the first placement area as the first article, and then moving the first locking member near the front side in the depth direction back to the position corresponding to the holding area, and performing the transfer operation. The second item position adjustment action causes the second locking member, which is disposed between the first item and the second item in the aforementioned depth direction, to move inward in the aforementioned depth direction to a position corresponding to the position of the front surface portion of the second item when it is located in the aforementioned appropriate second item position, thereby positioning the second item in the aforementioned appropriate second item position. During the execution of the first item transfer operation by the aforementioned transfer machine, the aforementioned control unit stores the aforementioned object item in the aforementioned first placement area as the aforementioned first item, and then causes the aforementioned transfer machine to perform the aforementioned second item position adjustment operation. After completing the aforementioned second item position adjustment operation, the aforementioned first locking component returns to the position corresponding to the aforementioned holding area, thus completing the aforementioned first item transfer operation.

2. The item storage device as described in claim 1, characterized in that, The aforementioned transfer machine is equipped with a detector to detect the position of the aforementioned item in the aforementioned depth direction. The aforementioned detector is configured to move synchronously with the aforementioned locking portion along the aforementioned depth direction. During the execution of the first item transfer operation, the control unit moves the first locking member inward in the depth direction, and the detector moves inward in the depth direction, enabling the transfer machine to perform a second item position detection operation. The second item position detection operation uses the detector to detect the depth direction position of the second item stored in the second placement area. If the aforementioned second item is not placed in the appropriate second item position when the aforementioned second item position detection action is performed, the aforementioned second item position adjustment action is performed.

3. The item storage device as described in claim 1 or 2, characterized in that, The aforementioned transfer machine has a transfer arm configured to move freely forward and backward along the aforementioned depth direction. The aforementioned locking portion has locking components at multiple locations in the aforementioned depth direction of the aforementioned transfer arm. The innermost locking component, positioned closest to the inner side in the depth direction among the aforementioned locking components, is designated as the second locking component. The second item position adjustment action is performed using this inner locking component. The first locking member is a front locking member that is positioned closer to the front in the depth direction than the inner locking member. The first article transfer operation is performed using the front locking member.

4. The item storage device as described in claim 3, characterized in that, During the execution of the aforementioned first item transfer action, after the aforementioned object item is placed in the aforementioned first placement area as the aforementioned first item, the aforementioned front-side locking member is released from locking the aforementioned front surface of the aforementioned first item, and the aforementioned inner-side locking member is positioned between the aforementioned first item and the aforementioned second item in the aforementioned depth direction, and then the aforementioned second item position adjustment action is performed.

5. The item storage device according to any one of claims 1 to 4, characterized in that, The surface of the aforementioned storage section that holds the aforementioned items is designated as the placement surface, and the direction orthogonal to the aforementioned depth direction when viewed from above is designated as the width direction. Each of the aforementioned first and second mounting regions has a width-direction limiting body protruding upward from the aforementioned mounting surface on both sides of the aforementioned width direction.

6. The item storage device as described in claim 5, characterized in that, A depth-direction limiting body protruding upward from the aforementioned mounting surface is provided on the inner side of the aforementioned second mounting area in the aforementioned depth direction.

Images