Conveying device

Abstract

The present application provides a kind of conveying device.The transfer device has push part (Ba) in unloading action to push container, locking part (Bb) in picking action to lock with container, transfer drive part to make push part (Ba) and locking part (Bb) reciprocating along the direction of transfer (X), and locking drive part (Mb) to drive locking part (Bb) to change posture separately with push part (Ba).The transfer device is carried out unloading action by making push part (Ba) and container rear surface part abut in the state of push part (Ba) moving to the direction of transfer unloading side (X1) by transfer drive part, and is carried out picking action by making locking posture locking part (Bb) move to the direction of transfer picking side (X2) by transfer drive part.

Description

Technical Field

[0001] This invention relates to a conveying device for conveying containers. Background Technology

[0002] For example, Japanese Patent No. 6337706 (Patent Document 1) discloses a transfer device for transferring goods relative to a storage shelf. Hereinafter, the reference numerals in parentheses in the background description are those of Patent Document 1.

[0003] The transfer device (2) disclosed in Patent Document 1 includes a cargo loading section (26) for loading cargo (10) and a sliding arm (28) having multiple hooks (30, 32, 34, 36). The transfer device (2) is configured to perform unloading operation (transferring cargo (10) from cargo loading section (26) to shelves (12a, 12b) and scooping operation (transferring cargo (10) from shelves (12a, 12b) to cargo loading section (26) by using the sliding arm (28).

[0004] In the transfer device (2) disclosed in Patent Document 1, the hooks (30, 32, 34, 36) engage with the handles (14a, 14b) of the goods (10) when both the unloading and scooping operations are performed. Furthermore, when the scooping operation is performed, the hooks (30, 32, 34, 36) pull the goods (10) toward the goods placement section (26). Conversely, when the unloading operation is performed, the hooks (30, 32, 34, 36) push the goods (10) toward the shelf (12a, 12b). Summary of the Invention

[0005] Thus, in the technology disclosed in Patent Document 1, hooks (30, 32, 34, 36) are used in both the unloading and scooping operations. However, while the shape of the hooks (30, 32, 34, 36) disclosed in Patent Document 1 is suitable for the scooping operation, it is not necessarily suitable for the unloading operation. Furthermore, although it is not necessary for the hooks (30, 32, 34, 36) to engage with the handles (14a, 14b) simply by pushing the goods (10), the technology disclosed in Patent Document 1 also involves such engagement of the hooks (30, 32, 34, 36), which can easily increase the time required for the unloading operation.

[0006] In view of the above-mentioned situation, it is desirable to achieve a technology that can easily reduce the time required to perform the container unloading action, and thus easily realize structures suitable for performing the container unloading and picking actions.

[0007] The technology used to solve the above problems is as follows.

[0008] A conveying device for conveying a container; comprising a transfer device having a holding portion for holding the container; the transfer device is configured to perform a transfer operation by moving the container along a transfer direction in a horizontal direction, the transfer operation including an unloading operation of transferring the container from the holding portion to a transfer target portion and a picking operation of transferring the container from the transfer target portion to the holding portion; the transfer device comprises a pushing portion for pushing the container during the unloading operation, a locking portion for locking the container during the picking operation, a transfer drive portion for reciprocating the pushing portion and the locking portion along the transfer direction, and a locking drive portion for separately driving the locking portion along the pushing portion to change the posture of the locking portion; the side in the transfer direction from the holding portion toward the transfer target portion is designated as the transfer direction unloading side, and the side in the transfer direction from the transfer target portion toward the holding portion is designated as the transfer direction unloading side. One side of the holding part is designated as the transfer direction picking side, the portion of the container facing the transfer direction unloading side is designated as the front surface portion of the container, and the portion of the container facing the transfer direction picking side is designated as the rear surface portion of the container; a recess is provided on the rear surface portion of the container, which opens in a direction orthogonal to the transfer direction; the locking part is driven by the locking drive unit in a state where its relative position to the container is within a predetermined locking range, and its posture can be changed to a locking posture inserted into the recess and a non-locking posture exiting the recess; the transfer device performs the unloading action by moving the pushing part toward the transfer direction unloading side by means of the transfer drive unit while the pushing part is in contact with the rear surface portion of the container; the transfer device performs the picking action by moving the locking part in the locking posture toward the transfer direction picking side by means of the transfer drive unit.

[0009] According to this structure, it includes a pushing part that pushes the container during the unloading operation, a locking part that locks the container during the picking operation, and a transfer drive part that reciprocates the pushing part and the locking part along the transfer direction; it also includes a locking drive part that drives the locking part separately from the pushing part to change the posture of the locking part. Therefore, when performing the picking operation, by driving the locking part to a locking posture, the locking part can lock the container and move the container toward the picking side in the transfer direction. When performing the unloading operation, the locking part used to lock the locking part can be driven, and the container can be pushed by the pushing part to move the container toward the unloading side in the transfer direction. Therefore, it is easy to shorten the time required for the unloading operation of the container. In addition, by including the pushing part and the locking part respectively, the pushing part can be made into a structure suitable for performing the unloading operation (pushing the container), and the locking part can be made into a structure suitable for performing the picking operation (pulling the container in). That is, based on this structure, it is easy to implement respective structures suitable for unloading and picking up containers.

[0010] Further features and advantages of the technology disclosed herein will become clearer from the following illustrative and non-limiting description of embodiments with reference to the accompanying drawings. Attached Figure Description

[0011] Figure 1 It is a top view of a conveyor system equipped with a conveying device.

[0012] Figure 2 This is the front view of the container shelf.

[0013] Figure 3 This is the main view of the container.

[0014] Figure 4 This is a side view of the container.

[0015] Figure 5 This is a view of the conveyor's body width.

[0016] Figure 6 This is a top view showing the first and second positions of the transfer device.

[0017] Figure 7 This diagram illustrates the state in which the container of the laminated region is lifted using a lifting device.

[0018] Figure 8 This is a diagram showing the transfer device as viewed from a width direction orthogonal to the transfer direction.

[0019] Figure 9 This is a three-dimensional view showing the main parts of the transfer machine.

[0020] Figure 10This is an explanatory diagram showing the copying operation performed by the transfer device.

[0021] Figure 11 This is an explanatory diagram showing the copying operation performed by the transfer device.

[0022] Figure 12 This is an explanatory diagram showing the copying operation performed by the transfer device.

[0023] Figure 13 This is an explanatory diagram showing the copying operation performed by the transfer device.

[0024] Figure 14 This is an explanatory diagram showing the unloading action performed by the transfer device.

[0025] Figure 15 This is an explanatory diagram showing the unloading action performed by the transfer device.

[0026] Figure 16 This is an explanatory diagram showing the unloading action performed by the transfer device.

[0027] Figure 17 This is an explanatory diagram showing the action of picking up a container relative to the shelf.

[0028] Figure 18 This is an explanatory diagram showing the action of picking up a container relative to the shelf.

[0029] Figure 19 This is an explanatory diagram showing the action of picking up a container relative to the shelf.

[0030] Figure 20 This is an explanatory diagram showing the action of picking up a container relative to the shelf.

[0031] Figure 21 This is an explanatory diagram showing the action of picking up a container relative to the shelf.

[0032] Figure 22 This is an explanatory diagram showing the action of picking up a container relative to the shelf.

[0033] Figure 23 This is an explanatory diagram showing the action of removing the container relative to the shelf.

[0034] Figure 24 This is an explanatory diagram showing the action of removing the container relative to the shelf.

[0035] Figure 25 This is an explanatory diagram showing the action of removing the container relative to the shelf.

[0036] Figure 26 This is an illustration of the parallel actions of copying and unloading containers relative to the stacked region.

[0037] Figure 27 This is an illustration of the parallel actions of copying and unloading containers relative to the stacked region.

[0038] Figure 28 This is an illustration of the parallel actions of copying and unloading containers relative to the stacked region.

[0039] Figure 29 This is an illustration of the parallel actions of copying and unloading containers relative to the stacked region. Detailed Implementation

[0040] A conveying device is a device for conveying containers. Hereinafter, an example of a conveying device being equipped in a container conveying equipment will be described, and an embodiment of this conveying device will be explained.

[0041] like Figure 1 As shown, the conveying equipment F has a receiving container 70 (refer to...) Figure 3 and Figure 4 The container shelf 8 and the inlet / outlet section 9 for transporting in and out of containers 70. The conveying device 100 transports containers 70 into the inlet / outlet section 9 to the container shelf 8, or transports containers 70 stored in the container shelf 8 to the inlet / outlet section 9 for out.

[0042] In this embodiment, a plurality of container shelves 8 are spaced apart by a predetermined interval and arranged parallel to each other. Each of the plurality of container shelves 8 has at least a front opening, through which containers 70 are placed and removed. Furthermore, a portion of the travel path R of the conveying device 100 is provided between a pair of container shelves 8 facing each other. In addition, the container shelf 8 located at the far end of the plurality of container shelves in the conveying device F is arranged with its front facing outward, and a portion of the travel path R is also provided along the front area of ​​the container shelf 8 at that end. Furthermore, the conveying device F is provided with a plurality of inlet and outlet sections 9, and a portion of the travel path R is also provided in the area passing through each of the plurality of inlet and outlet sections 9.

[0043] The travel path R includes an inner shelf path Ra extending along the front of the container shelf 8 in its extending direction, and an outer shelf path Rb intersecting the inner shelf path Ra outside the arrangement area of ​​the container shelf 8. The inner shelf path Ra is provided corresponding to each of the plurality of container shelves 8. In this embodiment, a portion of the travel path R provided in the area between a pair of container shelves 8 facing each other and a portion of the travel path R provided along the area of ​​the front of the container shelf 8 arranged with its front facing outwards corresponds to the inner shelf path Ra. Furthermore, the outer shelf path Rb is provided to connect the plurality of inner shelf paths Ra. Additionally, the outer shelf path Rb is also provided to pass through each of the plurality of inlet / outlet sections 9. In this embodiment, the portion of the travel path R other than the inner shelf path Ra corresponds to the outer shelf path Rb.

[0044] [Container shelf] like Figure 2 As shown, the container shelf 8 has a multi-layer shelf section 80 for storing containers 70 in the vertical direction. The shelf section 80 is configured as the transfer target section T when the containers 70 are transferred by the transfer device 4 described later. In this embodiment, the container shelf 8 is constructed by combining multiple support members 81 and multiple beam members 82. The multiple beam members 82 are arranged at intervals in the vertical direction. Moreover, each of the multiple beam members 82 is connected to a mounting member 83 for holding the containers 70. In this example, the containers 70 are stored in the shelf section 80 by being placed on a pair of mounting members 83. Furthermore, multiple sets of pairs of mounting members 83 are arranged in the shelf section 80, and multiple containers 70 can be stored in one shelf section 80. In addition, in this example, in Figure 2 The area between a pair of adjacent support members 81 in the left-right direction and between a pair of adjacent beam members 82 in the up-down direction, as shown in the frontal view, corresponds to the opening of the container shelf 8.

[0045] In this embodiment, a target portion 82T is provided at a reference position 80P of the shelf portion 80 for storing the container 70, serving as a target for storing the container 70 at that reference position 80P. In this example, the target portion 82T is provided on the beam member 82. One target portion 82T is provided for each pair of mounting members 83. In the illustrated example, the target portion 82T is formed by a hole formed in the beam member 82.

[0046] 〔container〕 like Figure 3As shown, the container 70 is box-shaped, having an opening 71 that opens upwards and a peripheral wall 72 that surrounds the internal space of the container 70. In this example, the container 70 has a rectangular shape when viewed from above. Articles can be contained within the internal space surrounded by the peripheral wall 72, i.e., inside the container 70. These articles include, for example, various commodities such as food and daily necessities, or parts and work-in-process used in factory production lines, etc.

[0047] In this embodiment, container 70 is configured to be stacked with another container 70 while containing items inside. That is, container 70 is configured to be stackable in the vertical direction (see also...). Figure 5 In this example, container 70 has a fitting portion 77 that protrudes downward from its bottom. The two containers 70 are stacked vertically by fitting the fitting portion 77 of container 70 with respect to the opening 71 of another container 70 from above.

[0048] Container 70 is configured to be transferred along a specific direction by the transfer device 4, which will be described later. Let the direction in which container 70 is transferred by the transfer device 4 be the transfer direction X (refer to...). Figure 4 Then, the container 70 is moved by the transfer device 4 along the transfer direction X. More specifically, when the transfer device 4 unloads the container 70 relative to the transfer target part T, the container 70 moves toward one side in the transfer direction X (hereinafter referred to as "transfer direction unloading side X1"). When the transfer device 4 picks up the container 70 relative to the transfer target part T, the container 70 moves toward the other side in the transfer direction X (hereinafter referred to as "transfer direction picking side X2").

[0049] The portion of container 70 facing the unloading side X1 in the transfer direction is designated as the front surface portion 70F of the container, and the portion of container 70 facing the picking side X2 in the transfer direction is designated as the rear surface portion 70R of the container (see reference). Figure 4 ).like Figure 2 As shown, the container 70 is stored in the shelf section 80 with the rear surface 70R of the container facing the front side of the container shelf 8.

[0050] like Figure 3 and Figure 4As shown, in this embodiment, the container 70 has a plurality of ribs protruding outward from the peripheral wall portion 72. A portion of these ribs is a lifting rib 73 that is lifted by the lifting device 3 (described later). In this example, the lifting rib 73 is formed on the upper part of the peripheral wall portion 72. Furthermore, the lifting rib 73 is formed around the entire circumference of the portion of the peripheral wall portion 72 that surrounds the opening 71. A portion of these ribs is a transfer rib 74 that is lifted during a transfer operation performed by the transfer device 4 (described later). In this example, the transfer rib 74 is formed below the lifting rib 73. The transfer rib 74 is provided on the rear surface portion 70R of the container. In this example, the transfer rib 74 is provided on both the rear surface portion 70R and the front surface portion 70F of the container. Additionally, in this embodiment, the rear surface portion 70R and the front surface portion 70F of the container have the same structure.

[0051] A recess 75 is provided on the rear surface portion 70R of the container, opening in a direction orthogonal to the transfer direction X. In this embodiment, the recess 75 opens vertically downward. The recess 75 is formed on the surface of the container 70 where the transfer rib 74 is provided (in this example, the rear surface portion 70R and the front surface portion 70F of the container). In this example, the container 70 has a locking wall portion 76 that protrudes outward from the peripheral wall portion 72 and extends downward between the lifting rib 73 and the transfer rib 74 in the vertical direction, and the recess 75 is formed between the locking wall portion 76 and the peripheral wall portion 72. In this example, the unloading side X1 of the recess 75 in the transfer direction is covered by the peripheral wall portion 72, and the picking side X2 of the recess 75 in the transfer direction is covered by the locking wall portion 76. In other words, the recess 75 is a space surrounded by the peripheral wall portion 72 and the locking wall portion 76. As described later, the locking wall portion 76 engages the locking portion Bb (see reference 4) during the transfer operation performed by the transfer device 4. Figure 9 The part that is stuck.

[0052] If the direction orthogonal to the transfer direction X when viewed in the vertical direction is defined as the width direction Y, then in this embodiment, the recess 75 is provided at the center of the respective width direction Y of the rear surface portion 70R and the front surface portion 70F of the container. Moreover, in this example, the recess 75 is formed in a manner that extends along both the width direction Y and the vertical direction.

[0053] In this embodiment, a downward-facing supported surface 74f is formed on the rear surface portion 70R of the container. In this example, the supported surface 74f is formed on the transfer rib 74. In other words, the downward-facing surface of the transfer rib 74 becomes the supported surface 74f. As will be described later, the supported surface 74f is supported by the support portion Bss (see reference 4) provided by the transfer device 4 during the transfer operation performed by the transfer device 4. Figure 9 (From the part supported below)

[0054] [Conveying device] like Figure 5 As shown, the conveying device 100 includes a traveling body 1, a container group support 2 that supports a stack of multiple containers 70 in a defined stacking region 2A, a lifting device 3 that lifts the containers 70 of the container group 7 supported by the container group support 2, and a transfer device 4 that transfers the containers 70. The container group support 2, the lifting device 3, and the transfer device 4 are mounted on the traveling body 1. If the direction along the traveling direction of the traveling body 1 is defined as the "vehicle body front-to-back direction L", then the container group support 2 and the transfer device 4 are arranged on the traveling body 1 in the vehicle body front-to-back direction L. In addition, the direction orthogonal to the vehicle body front-to-back direction L in the vertical direction will be defined as the "vehicle body width direction W" in the following description.

[0055] In this embodiment, the conveying device 100 includes a control device C. The control device C controls each functional unit of the conveying device 100. In this example, the control device C controls the traveling body 1, the container group support 2, the lifting device 3, the transfer device 4, and the rotating device 5 (described later). The actions for conveying and transferring the containers 70 are realized by controlling each functional unit through the control device C. The control device C includes, for example, a processor such as a microcomputer, peripheral circuits such as a memory, etc. Moreover, each function is realized through the cooperation of this hardware and the program executed on the processor such as the computer.

[0056] [Driving Body] The driving body 1 is configured to travel along a predetermined driving path R (refer to...) Figure 1 In this embodiment, the traveling body 1 is configured to travel along the inner shelf path Ra and the outer shelf path Rb. When traveling along the inner shelf path Ra, the traveling body 1 travels along the container shelf 8; more specifically, it travels along the front of the container shelf 8. In this embodiment, the traveling body 1 is configured to travel on the floor surface.

[0057] The vehicle body 1 includes a plurality of driving wheels 10 and a driving drive unit 10M that drives at least one of the driving wheels 10. The driving drive unit 10M is configured to include a motor (not shown). By driving the driving wheels 10 through the driving drive unit 10M, a propulsive force in the driving direction is applied to the vehicle body 1.

[0058] [Container Group Support Section] The container group support 2 is mounted on the traveling body 1. The container group support 2 is configured to support multiple containers 70 as a stacked container group 7. Above the container group support 2, a stacking region 2A is defined for arranging the container group 7. The stacking region 2A is a three-dimensional imaginary region extending upward from the container group support 2. In this example, the container group support 2 is configured as a conveyor capable of moving the container group 7 while it is loaded. In this example, the container group support 2 allows the container group 7 to move along the width direction W of the vehicle body. The conveyor constituting the container group support 2 can be a roller conveyor, chain conveyor, belt conveyor, or other known conveyors.

[0059] The container group 7, which consists of multiple stacked containers 70, is transported into the inlet / outlet section 9 (see reference). Figure 1 When the transport vehicle 1 is adjacent to the inbound / outbound section 9, the container group support 2 receives the container group 7 from the inbound / outbound section 9 or transfers the container group 7 to the inbound / outbound section 9. That is, the container group support 2 is configured to facilitate the transfer of the container group 7 between itself and the inbound / outbound section 9. Detailed illustrations are omitted, but in this example, the inbound / outbound section 9 is adjacent to the picking area where the operation of removing items from the container 70 is performed. If the container group 7 is transferred from the container group support 2 to the inbound / outbound section 9, the items are removed from the container 70 in the picking area adjacent to the inbound / outbound section 9. After removing some or all of the items contained in the container 70, the container 70 is transferred from the inbound / outbound section 9 to the container group support 2 (conveyor 100) and transported to the container shelf 8 again. However, the inbound / outbound section 9 may not be adjacent to the picking area, or it may be adjacent to other equipment or work areas. Furthermore, for example, the inbound / outbound section 9 can be configured to transport the container group 7 transferred from the container group support section 2 to the outside of the conveying equipment F.

[0060] [Lifting device] The lifting device 3 is mounted on the traveling body 1. The lifting device 3 is configured to lift the containers 70 of the container group 7 supported by the container group support 2, in other words, the containers 70 of the container group 7 arranged in the lamination region 2A.

[0061] The lifting device 3 includes a lifting mast 30 erected upwards from the traveling body 1, a lifting lifting body 30B connected to the lifting mast 30, and a lifting lifting body drive unit 30M that moves the lifting lifting body 30B up and down along the lifting mast 30. Detailed illustrations are omitted, but the lifting lifting body drive unit 30M, for example, includes an endless body such as a belt connected to the lifting lifting body 30B, a rotating body wound around the endless body, and a motor that drives the rotating body to rotate.

[0062] The lifting device 3 includes a first lifting mechanism 31 for lifting containers 70 of any height stacked in the stacking region 2A relative to containers 70 adjacent to it below, and a second lifting mechanism 32 for lifting containers 70 located below the containers 70 that are lifted by the first lifting mechanism 31 relative to containers 70 adjacent to it below. Furthermore, in this embodiment, the first lifting mechanism 31 and the second lifting mechanism 32 are arranged vertically apart.

[0063] In this embodiment, the lifting device 3 includes a first frame portion 31F and a second frame portion 32F protruding from the lifting lifting body 30B toward the stacking region 2A in the longitudinal direction L of the vehicle body, and a connecting frame portion 33F connecting the first frame portion 31F and the second frame portion 32F. The first frame portion 31F and the second frame portion 32F are arranged with a gap in the vertical direction. The first frame portion 31F is positioned above the second frame portion 32F. The connecting frame portion 33F connects the first frame portion 31F and the second frame portion 32F in the vertical direction. With this structure, the first frame portion 31F and the second frame portion 32F do not move relative to each other. The vertical gap between the first frame portion 31F and the second frame portion 32F is always constant. The first frame portion 31F, the second frame portion 32F, and the connecting frame portion 33F rise and fall together with the lifting lifting body 30B.

[0064] Detailed illustrations are omitted, but in this embodiment, the first frame portion 31F includes a pair of first frame members 31Fa arranged at intervals in the vehicle width direction W. The pair of first frame members 31Fa is arranged corresponding to the width (length in the vehicle width direction W) of the container 70 arranged in the lamination region 2A. The second frame portion 32F includes a pair of second frame members 32Fa arranged at intervals in the vehicle width direction W. The pair of second frame members 32Fa is arranged corresponding to the width of the container 70 arranged in the lamination region 2A. The connecting frame portion 33F includes a pair of connecting frame members 33Fa. Each of the pair of connecting frame members 33Fa connects to the first frame member 31Fa and the second frame member 32Fa arranged in the vertical direction.

[0065] For example Figure 7 As shown, the lifting device 3 can create a space in the vertical direction between the container 70 lifted by the first lifting mechanism 31 and the container 70 lifted by the second lifting mechanism 32. In addition, a vertical space can also be created below the container 70 lifted by the second lifting mechanism 32.

[0066] In this embodiment, the first lifting mechanism 31 includes a first lifting holding portion 31a that holds the container 70 and a first lifting drive portion (not shown) that changes the posture of the first lifting holding portion 31a. Detailed illustrations are omitted, but the first lifting drive portion is configured to change the posture of the first lifting holding portion 31a to a holding posture that holds the container 70 and a non-holding posture that does not hold the container 70. Figure 7 The first lifting holding part 31a is shown in a holding posture. In this embodiment, the first lifting holding part 31a holds the container 70 from below by the lifting rib 73 in a holding posture. Thus, the first lifting holding part 31a is configured to lift the container 70.

[0067] Similarly, the second lifting mechanism 32 includes a second lifting holding part 32a for holding the container 70 and a second lifting drive part (not shown) for changing the posture of the second lifting holding part 32a. Detailed illustrations are omitted, but the second lifting drive part is configured to change the posture of the second lifting holding part 32a to a holding posture for holding the container 70 and a non-holding posture for not holding the container 70. Figure 7 The second lifting holding part 32a is shown in a holding posture. In this embodiment, the second lifting holding part 32a holds the container 70 from below by the lifting rib 73 in a holding posture. Thus, the second lifting holding part 32a is configured to lift the container 70.

[0068] Here, in Figure 7 In the middle, each container 70 stacked in the stacking region 2A is assigned the number "1 to 5" sequentially from bottom to top. In addition, the container 70 held by the transfer device 4 is assigned the character "α".

[0069] When a space is formed between the container 70 lifted by the first lifting mechanism 31 and the container 70 lifted by the second lifting mechanism 32 in the vertical direction, other containers 70 can be unloaded into that space. That is, other containers 70 can be stacked on top of the container 70 lifted by the second lifting mechanism 32 using the transfer device 4. Figure 7 The example shown illustrates the situation where a container 70 (container "α") held by the transfer device 4 is unloaded into the space formed in the vertical direction between a container 70 (container "5") lifted by the first lifting mechanism 31 and a container 70 (container "4") lifted by the second lifting mechanism 32.

[0070] Furthermore, when a vertical space is formed below the container 70 lifted by the second lifting mechanism 32, the container 70 positioned below the container 70 lifted by the second lifting mechanism 32 can be picked up using this space. Figure 7The example shown illustrates the case where container 70 (container 3) is picked up from below container 70 (container 4) which is lifted by the second lifting mechanism 32. The unloading and picking operations of container 70 relative to the lamination region 2A will be described later.

[0071] like Figure 5 As shown, in this embodiment, a guide section 3G is provided in the second lifting mechanism 32 to guide the container 70 transferred by the transfer device 4. Detailed illustrations are omitted, but the guide section 3G includes a pair of guide members 3Ga arranged at intervals in the vehicle width direction W. The interval between the pair of guide members 3Ga in the vehicle width direction W corresponds to the width of the container 70. Here, the guide members 3Ga are provided on each of the pair of second frame members 32Fa. The guide members 3Ga are formed as plates that stand upright from the second frame members 32Fa, guiding the container 70 by means of the plate surface facing inwards in the vehicle width direction W.

[0072] [Transfer device] like Figure 5 As shown, the transfer device 4 is mounted on the traveling body 1. The transfer device 4 has a holding portion A for holding a container 70, configured to perform a transfer operation by moving the container 70 along a horizontal transfer direction X. The transfer operation includes an unloading operation of transferring the container 70 from the holding portion A to the transfer target portion T, and a picking operation of transferring the container 70 from the transfer target portion T to the holding portion A. In this embodiment, the transfer device 4 includes a transfer machine B, which performs the unloading and picking operations of the container 70 relative to the transfer target portion T. The transfer target portion T includes a shelf portion 80 comprising a stacking region 2A and a container shelf 8.

[0073] As described above, the direction of movement of the container 70 transferred by the transfer device 4 is defined as the transfer direction X. Furthermore, the side of the transfer direction X from the holding part A toward the transfer target part T is designated as the transfer direction unloading side X1, and the side of the transfer direction X from the transfer target part T toward the holding part A is designated as the transfer direction picking side X2. The transfer direction X is a horizontal direction. The transfer direction unloading side X1 is the side where the container 70 moves along the transfer direction X when it is unloaded. The transfer direction picking side X2 is the side where the container 70 moves along the transfer direction X when it is picked up.

[0074] In this embodiment, the conveying device 100 includes a rotary device 5 that rotates the transfer device 4 about an axis in the vertical direction. For example... Figure 6As shown, the rotating device 5 is configured to rotate the transfer device 4 about an axis along the vertical direction, changing the orientation of the transfer device 4 to a first posture P1 with the transfer direction X facing the lamination region 2A and a second posture P2 with the transfer direction X facing the container shelf 8. Thus, in this embodiment, the transfer direction X can be changed in the horizontal plane by means of the rotating device 5.

[0075] In this embodiment, the transfer device 4 changes its posture according to the position of the transfer target area T. Specifically, the transfer device 4 adopts a first posture P1 when the transfer target area T is the laminated region 2A, and a second posture P2 when the transfer target area T is the shelf section 80 (container shelf 8). Figure 8 As shown, in this example, the rotary device 5 includes a rotary table 50 that supports the transfer device 4, a rotary shaft 51 that rotatably supports the rotary table 50 relative to the transfer lifting body 40B described later, and a rotary drive unit 5M that drives the rotary shaft 51. Additionally, Figure 8 This indicates that the transfer device 4 is in the second posture P2.

[0076] like Figure 5 As shown, the transfer device 4 includes a transfer mast 40 erected upwards from the traveling body 1, a transfer lifting body 40B connected to the transfer mast 40, and a transfer lifting body drive unit 40M that moves the transfer lifting body 40B up and down along the transfer mast 40. Detailed illustrations are omitted, but the transfer lifting body drive unit 40M typically includes, for example, an endless body such as a belt connected to the transfer lifting body 40B, a rotating body wound around the endless body, and a motor that drives the rotating body to rotate.

[0077] like Figure 8 As shown, the transfer device 4 includes a pushing part Ba that pushes the container 70 during the unloading operation, a locking part Bb that locks the container 70 during the picking operation, and a transfer drive part Ms that reciprocates the pushing part Ba and the locking part Bb along the transfer direction X. In this embodiment, the transfer device 4 includes a support member Bs that supports the pushing part Ba and the locking part Bb. Moreover, the transfer drive part Ms is configured to reciprocate the support member Bs along the transfer direction X. In this example, the support member Bs is held by the holding part A, and the transfer drive part Ms moves the support member Bs relative to the holding part A along the transfer direction X. As the support member Bs is driven by the transfer drive part Ms and moves relative to the holding part A along the transfer direction X, the pushing part Ba and the locking part Bb also move relative to the holding part A along the transfer direction X. In this example, the transfer machine B is provided with the pushing part Ba, the locking part Bb, and the support member Bs.

[0078] In this embodiment, the transfer device 4 includes a first holding portion 41A holding the container 70, a second holding portion 42A disposed below the first holding portion 41A and holding the container 70, a first transfer machine 41B for transferring the container 70 between the first holding portion 41A and the transfer target portion T, and a second transfer machine 42B for transferring the container 70 between the second holding portion 42A and the transfer target portion T. That is, the holding portion A includes the first holding portion 41A and the second holding portion 42A. Furthermore, the transfer machine B includes the first transfer machine 41B and the second transfer machine 42B. Hereinafter, the first holding portion 41A and the second holding portion 42A will be collectively referred to as "holding portion A". Similarly, the first transfer machine 41B and the second transfer machine 42B will be collectively referred to as "transfer machine B".

[0079] As described above, the transfer target location T includes the stacking region 2A and the shelf portion 80 of the container shelf 8. That is, the first transfer machine 41B transfers the container 70 between the first holding portion 41A and the stacking region 2A or the shelf portion 80. Furthermore, the second transfer machine 42B transfers the container 70 between the second holding portion 42A and the stacking region 2A or the shelf portion 80. Figure 6 As shown, in this embodiment, the first transfer machine 41B transfers the container 70 between the first holding part 41A and the lamination region 2A in the first posture P1 state, and transfers the container 70 between the first holding part 41A and the shelf part 80 in the second posture P2 state. Similarly, the second transfer machine 42B transfers the container 70 between the second holding part 42A and the lamination region 2A in the first posture P1 state, and transfers the container 70 between the second holding part 42A and the shelf part 80 in the second posture P2 state.

[0080] like Figure 8 As shown, in this embodiment, the transfer device 4 includes a retaining connection portion 43 that connects the first retaining portion 41A and the second retaining portion 42A in the vertical direction. The retaining connection portion 43 connects the first retaining portion 41A and the second retaining portion 42A so that the vertical distance between them is constant.

[0081] The transfer device 4 includes a holding drive unit MA that moves the holding portion A along the transfer direction X. In this embodiment, the holding drive unit MA includes a first holding drive unit 41MA that moves the first holding portion 41A along the transfer direction X and a second holding drive unit 42MA that moves the second holding portion 42A along the transfer direction X. The first holding drive unit 41MA is configured to move the first holding portion 41A relative to the transfer lifting body 40B along the transfer direction X. The second holding drive unit 42MA is configured to move the second holding portion 42A relative to the transfer lifting body 40B along the transfer direction X. As described above, in this embodiment, the first holding portion 41A and the second holding portion 42A are connected by a holding connection portion 43. Therefore, the first holding portion 41A and the second holding portion 42A move integrally along the transfer direction X. In this example, the configuration is such that the first holding drive unit 41MA, which drives the first holding unit 41A, and the second holding drive unit 42MA, which drives the second holding unit 42A, are driven by a common drive source. Hereinafter, the first holding drive unit 41MA and the second holding drive unit 42MA will be collectively referred to as "holding drive unit MA".

[0082] In this embodiment, the pushing part Ba includes a first pushing part 41Ba and a second pushing part 42Ba. Furthermore, the locking part Bb includes a first locking part 41Bb and a second locking part 42Bb. In this example, the first transfer machine 41B includes a first pushing part 41Ba that pushes the container 70 toward the unloading side X1 in the transfer direction when the container 70 is unloaded, and a first locking part 41Bb that locks the container 70 in the transfer direction X when the container 70 is picked up. The first pushing part 41Ba and the first locking part 41Bb are each configured to be movable relative to the first holding part 41A along the transfer direction X. Furthermore, in this example, the second transfer machine 42B includes a second pushing part 42Ba that pushes the container 70 toward the unloading side X1 in the transfer direction when the container 70 is unloaded, and a second locking part 42Bb that locks the container 70 in the transfer direction X when the container 70 is picked up. The second pressing part 42Ba and the second locking part 42Bb are each configured to be movable relative to the second holding part 42A along the transfer direction X. Hereinafter, the first pressing part 41Ba and the second pressing part 42Ba are collectively referred to as "pressing part Ba". In addition, the first locking part 41Bb and the second locking part 42Bb are collectively referred to as "locking part Bb".

[0083] In this embodiment, the support member Bs includes a first support member 41Bs and a second support member 42Bs. Furthermore, the transfer drive unit Ms includes a first transfer drive unit 41Ms and a second transfer drive unit 42Ms. In this example, the first support member 41Bs is configured to be supported by the first holding part 41A and to support the first pressing part 41Ba and the first locking part 41Bb. Driven by the first transfer drive unit 41Ms, the first pressing part 41Ba and the first locking part 41Bb move relative to the first holding part 41A along the transfer direction X. Furthermore, in this example, the second support member 42Bs is configured to be supported by the second holding part 42A and to support the second pressing part 42Ba and the second locking part 42Bb. Driven by the second transfer drive unit 42Ms, the second pushing part 42Ba and the second locking part 42Bb move relative to the second holding part 42A along the transfer direction X. Hereinafter, the first support member 41Bs and the second support member 42Bs will be collectively referred to as "support member Bs". Furthermore, the first transfer drive unit 41Ms and the second transfer drive unit 42Ms will be collectively referred to as "transfer drive unit Ms".

[0084] In this embodiment, the first pressing part 41Ba and the first locking part 41Bb are configured to move integrally along the transfer direction X. Furthermore, the movable range of the first pressing part 41Ba and the first locking part 41Bb along the transfer direction X is larger than the movable range of the first holding part 41A along the transfer direction X. In this embodiment, when transferring the container 70 relative to the transfer target portion T (layered region 2A or shelf portion 80), the first pressing part 41Ba or the first locking part 41Bb is used to transfer the container 70 while the first holding part 41A is brought close to the transfer target portion T. This reduces the gap between the first holding part 41A and the transfer target portion T during the transfer operation, enabling stable transfer of the container 70 by the first transfer machine 41B.

[0085] Similarly, in this embodiment, the second pressing part 42Ba and the second locking part 42Bb are configured to move integrally along the transfer direction X. Furthermore, the movable range of the second pressing part 42Ba and the second locking part 42Bb along the transfer direction X is larger than the movable range of the second holding part 42A along the transfer direction X. In this embodiment, when transferring the container 70 relative to the transfer target portion T (laminar region 2A or shelf portion 80), the second pressing part 42Ba or the second locking part 42Bb is used to transfer the container 70 while the second holding part 42A is brought close to the transfer target portion T. This reduces the gap between the second holding part 42A and the transfer target portion T during the transfer operation, enabling stable transfer of the container 70 using the second transfer machine 42B.

[0086] The transfer device 4 includes a locking drive unit Mb that, along with the pushing unit Ba, drives the locking part Bb to change the posture of the locking part Bb. In this embodiment, the locking drive unit Mb is configured to cause the locking part Bb to rotate around a rotation axis Bxa (see reference) along the transfer direction X. Figure 9 ( ) Rotation. In this embodiment, the locking drive unit Mb includes a first locking drive unit 41Mb and a second locking drive unit 42Mb. In this example, the first transfer machine 41B includes the first locking drive unit 41Mb. The first locking drive unit 41Mb is configured to drive the first locking part 41Bb. Specifically, the first locking drive unit 41Mb drives the first locking part 41Bb to rotate about a rotation axis Bxa along the transfer direction X. Furthermore, in this example, the second transfer machine 42B includes a second locking drive unit 42Mb. The second locking drive unit 42Mb is configured to drive the second locking part 42Bb. Specifically, the second locking drive unit 42Mb drives the second locking part 42Bb to rotate about a rotation axis Bxa along the transfer direction X. Hereinafter, the first locking drive unit 41Mb and the second locking drive unit 42Mb will be collectively referred to as "locking drive unit Mb".

[0087] like Figure 8 As shown, in this embodiment, the transfer device 4 includes a reference position 80P for storing the container 70 in the detection shelf portion 80 (see reference). Figure 2 The reference position detection sensor Se1 and the storage container detection sensor Se2 detect the container 70 stored in the shelf section 80.

[0088] For reference Figure 2As described above, a target portion 82T is provided at the reference position 80P of the shelf section 80. In this embodiment, the reference position detection sensor Se1 is configured to detect the positional relationship between the transfer device 4 equipped with the reference position detection sensor Se1 and the reference position 80P of the shelf section 80 by detecting the target portion 82T. Furthermore, based on the detection result of the reference position detection sensor Se1 on the target portion 82T, the transfer lifting body drive unit 40M of the traveling body 1, the rotating device 5, and the transfer device 4 is controlled to perform the position correction operation of the transfer device 4, thereby enabling the appropriate transfer of the container 70 relative to the shelf section 80. In this example, the reference position detection sensor Se1 is configured as a camera. By means of image recognition of the reference position detection sensor Se1 configured as a camera, the positional relationship between the transfer device 4 and the target portion 82T provided on the beam member 82 can be detected. In addition, in this example, the reference position detection sensor Se1 also functions as a distance measuring sensor for detecting the distance to the object. When the transfer device 4 transfers the container 70 relative to the transfer target part T, the reference position detection sensor Se1 detects the distance between the container 70 and the transfer target part T. This enables a transfer operation with high reliability.

[0089] The container detection sensor Se2 detects the presence or absence of the container 70 in the shelf section 80 during the unloading operation of the transfer device 4, which transfers the container 70 to the shelf section 80. If the container detection sensor Se2 detects that there is no container 70 in the shelf section 80 that is the unloading destination, the transfer device 4 performs the unloading operation of the container 70 to that shelf section 80. If the container detection sensor Se2 detects that there is a container 70 in the shelf section 80 that is the unloading destination, the container 70 can be transferred to another empty shelf section 80, or the transfer can be stopped. In this example, the container detection sensor Se2 can also be configured as a distance sensor that detects the distance to the target. Therefore, the transfer operation can be performed while measuring the distance between the transfer device 4 and the transfer target section T. In this embodiment, the container detection sensor Se2 is configured as a light sensor that projects light onto the target. However, it is not limited to such a structure; the container detection sensor Se2 can also be constructed using well-known mechanisms such as ultrasonic sensors or cameras.

[0090] The reference position detection sensor Se1 is provided in one of the groups of the first holding part 41A and the first transfer machine 41B, or the group of the second holding part 42A and the second transfer machine 42B. Furthermore, the container detection sensor Se2 is provided in the other group of the groups of the first holding part 41A and the first transfer machine 41B, or the group of the second holding part 42A and the second transfer machine 42B, where the reference position detection sensor Se1 is not provided. In this embodiment, the reference position detection sensor Se1 is provided in the group of the first holding part 41A and the first transfer machine 41B. In this example, the reference position detection sensor Se1 is provided in the first holding part 41A. Alternatively, the reference position detection sensor Se1 may also be provided in the first transfer machine 41B. Furthermore, in this embodiment, the container detection sensor Se2 is provided in the group of the second holding part 42A and the second transfer machine 42B. In this example, the container detection sensor Se2 is provided in the second holding part 42A. Alternatively, the container detection sensor Se2 can also be installed on the second transfer machine 42B.

[0091] The following is for reference Figures 9-16 The structure of the transfer machine B and the transfer operation of container 70 performed by the transfer machine B are described in detail.

[0092] [Structure of the transfer machine] Figure 9 This is a perspective view showing the main part of the transfer machine B, the structure of which is common in the first transfer machine 41B and the second transfer machine 42B.

[0093] like Figure 9 As shown, the pressing part Ba and the locking part Bb are supported by the supporting member Bs. In this example, the supporting member Bs is a plate-shaped member having a main body part Bsp along a horizontal plane and side edge parts Bsb arranged to extend downward from both side edges in the width direction Y of the main body part Bsp.

[0094] In this embodiment, a cut-out portion Bsn is formed at the edge of the unloading side X1 in the transfer direction of the main body portion Bsp, which is cut out toward the copying side X2 in the transfer direction. In this example, the cut-out portion Bsn is formed to extend over a predetermined range in the width direction Y, centered on the center of the width direction Y of the main body portion Bsp. Here, the dimension of the cut-out portion Bsn in the width direction Y is larger than the dimension in the transfer direction X.

[0095] The portions of the main body Bsp that are on the outer sides in the width direction Y relative to the notched portion Bsn protrude toward the unloading side X1 in the transfer direction. These two protruding portions become support portions Bss that support the container 70 from below during the picking operation. The support portions Bss are configured to support the supported surface 74f formed on the transfer rib 74 from below during the picking operation (see reference). Figure 12Thus, in this embodiment, the transfer device 4 includes a support portion Bss that supports the supported surface 74f from below.

[0096] During the unloading action, the pushing part Ba pushes the container 70 toward the unloading side X1 in the transfer direction. The pushing part Ba is disposed at the center of the support member Bs in the width direction Y. In this embodiment, the pushing part Ba is disposed above the main body Bsp of the support member Bs. In the illustrated example, the pushing part Ba is supported by the support member Bs by connecting to the pushing connecting part Bac, which is formed in a way that rises upward from the main body Bsp. The pushing part Ba is disposed on the unloading side X1 in the transfer direction relative to the pushing connecting part Bac.

[0097] The pushing part Ba has an abutting surface Baaf that abuts against the central portion of the rear surface portion 70R of the container in the width direction Y during the unloading action. In this embodiment, the abutting surface Baaf is configured to abut against the locking wall portion 76 of the container 70 from the transfer direction picking side X2 during the unloading action (see reference). Figure 14 In this example, the contact surface Baf is formed as a curved surface that convexes towards the unloading side X1 in the transfer direction (see reference). Figure 15 More specifically, the contact surface Baf is preferably formed as a curved surface that convexes towards the unloading side X1 in the vertical direction when viewed vertically, and is a straight line in the vertical direction when viewed in the width direction Y. With this configuration, even if the container 70 is tilted in a direction of rotation about the axis in the vertical direction, the contact surface Baf can properly abut, and as in this example, even if the rear surface portion 70R of the container has irregularities, the contact surface Baf can hardly exert a vertical force on the container 70 during the pushing of the container 70 by the pushing portion Ba. In addition, in the illustrated example, the contact surface Baf is formed as a partial cylindrical shape that is part of a cylindrical surface along the vertical direction.

[0098] During the copying operation, the locking part Bb locks onto the container 70, pulling the container 70 towards the copying side X2 in the transfer direction. The locking part Bb is configured such that, driven by the rotation of the locking drive part Mb, its posture can be changed to a locking posture where it is inserted into the recess 75 of the container 70 (see reference). Figure 11 ) and the non-locking posture emerging from the recess 75 (refer to Figure 10 ).

[0099] In this embodiment, the locking part Bb is connected to a rotating shaft Bx disposed below the main body Bsp of the support member Bs. The rotating shaft Bx is disposed along the transfer direction X and is driven to rotate about an axis along the transfer direction X by the locking drive part Mb. The locking drive part Mb is disposed below the main body Bsp of the support member Bs and is fixed relative to the support member Bs. Thus, the locking part Bb is supported by the support member Bs via the rotating shaft Bx and the locking drive part Mb. Moreover, the locking part Bb rotates about an axis along the transfer direction X as the rotating shaft Bx rotates. Therefore, the axis of the rotating shaft Bx corresponds to the rotation axis Bxa of the locking part Bb.

[0100] In this embodiment, the locking part Bb rotates about the rotation axis Bxa, changing its posture to the locking posture and non-locking posture described above. In the locking posture, a portion of the locking part Bb protrudes upwards from the main body Bsp of the supporting member Bs (see reference). Figure 11 In the non-locking position, all of them are positioned below the main body Bsp of the support component Bs (see reference). Figure 10 ).

[0101] In this embodiment, the locking part Bb is positioned on the unloading side X1 in the transfer direction, closer to the pushing part Ba. Furthermore, the positional relationship between the locking part Bb and the pushing part Ba in the transfer direction X is fixed. In this example, a notch Bsn is provided so that the locking part Bb does not interfere with the support member Bs even if its posture changes to a locking posture or a non-locking posture. Here, the locking part Bb is positioned within the range of the notch Bsn when viewed vertically, thus ensuring that it does not overlap with the support member Bs when viewed vertically. By providing such a notch Bsn, the configuration of the locking part Bb relative to the support member Bs in the transfer direction X can be flexibly set. Therefore, the positional relationship between the locking part Bb and the pushing part Ba can be appropriately set.

[0102] In this embodiment, the locking portion Bb is formed as a rod or strip extending in a direction orthogonal to the rotation axis Bxa. In the illustrated example, the locking portion Bb is formed as a rod. In this example, the locking portion Bb is positioned at the center of the width direction Y of the container's rear surface portion 70R in the locking posture. Therefore, the locking portion Bb can be positioned appropriately relative to the recess 75 located at the center of the width direction Y of the container's rear surface portion 70R.

[0103] During the take-up action of the container 70 relative to the lamination region 2A, the transfer device 4 uses a locking part Bb and a supporting part Bss. As described above, the locking part Bb locks the container 70 during the take-up action, pulling the container 70 towards the take-up side X2 in the transfer direction. Furthermore, during the take-up action of the container 70 relative to the lamination region 2A, the supporting part Bss supports the supported surface 74f formed on the transfer rib 74 from below, lifting the rear surface portion 70R of the container (see reference). Figure 13 Therefore, the coupling between the container 70 of the copied object and the container 70 disposed in the lower layer of the container 70 of the copied object in the lamination region 2A can be released. In this embodiment, the transfer drive unit Ms (refer to...) Figure 8 The transfer device 4 is configured such that the locking part Bb and the supporting part Bss reciprocate integrally along the transfer direction X. Furthermore, the transfer device 4 includes a transfer lifting drive unit 40M (see reference) for raising and lowering the supporting part Bss. Figure 5 The transfer device 4 performs the action of picking up the container 70 relative to the lamination region 2A by means of the movement of the locking part Bb and the support part Bss along the transfer direction X by the transfer drive unit Ms and the lifting (rising) of the support part Bss by the transfer lifting body drive unit 40M (see reference). Figure 13 Additionally, as referenced... Figure 5 As described above, the transfer lifting body drive unit 40M raises and lowers the transfer lifting body 40B along the transfer mast 40, thereby raising and lowering the entire transfer machine B. In this way, the support part Bss rises and falls along with the overall raising and lowering of the transfer machine B. In this embodiment, the transfer lifting body drive unit 40M is equivalent to a "lifting drive unit".

[0104] During the unloading operation of the container 70 relative to the lamination region 2A, the transfer device 4 uses a pushing part Ba and a supporting part Bss. As described above, the pushing part Ba pushes the container 70 toward the unloading side X1 in the transfer direction during the unloading operation. Furthermore, during the unloading operation of the container 70 relative to the lamination region 2A, the supporting part Bss supports the supported surface 74f formed on the transfer rib 74 from below, and unloads the rear surface portion 70R of the container downwards (see reference). Figure 16 Therefore, the container 70 from which the object is unloaded can be fitted from above relative to the container 70 in the lamination region 2A. In this embodiment, the transfer drive unit Ms (refer to...) Figure 8 The configuration is such that the pushing part Ba and the supporting part Bss reciprocate integrally along the transfer direction X. The transfer device 4 performs the unloading operation of the container 70 relative to the stacking region 2A by means of the movement of the pushing part Ba and the supporting part Bss along the transfer direction X by the transfer drive unit Ms and the lifting (lowering) of the supporting part Bss by the transfer lifting body drive unit 40M (see reference). Figure 16Furthermore, as described above, the pressing part Ba and the locking part Bb are supported together by the supporting member Bs. Therefore, in this embodiment, the transfer drive unit Ms is configured to cause the pressing part Ba, the locking part Bb, and the supporting part Bss to reciprocate as a whole along the transfer direction X.

[0105] In this embodiment, a detector Se is provided on the support member Bs to detect the relative position of the locking part Bb with respect to the container 70. In this example, the detector Se is connected to the main body Bsp of the support member Bs below it via a connecting member such as a bracket. The detector Se is configured as a light sensor that projects light onto a target. However, it is not limited to this structure, and the detector Se may also be configured using known mechanisms such as ultrasonic sensors or cameras.

[0106] like Figure 10 As shown, the detector Se detects that the relative position of the locking part Bb with respect to the container 70 is within the locking range LR. The locking range LR is the range of the relative position of the locking part Bb with respect to the container 70 when the locking part Bb is in a locking position, such that the locking part Bb is located in the recess 75 formed by the locking wall 76 of the container 70 in the unloading side X1 of the transfer direction. Therefore, when the locking part Bb is in the locking range LR, if the locking part Bb is in a locking position, at least a portion of the locking part Bb is inserted into the recess 75, and if the locking part Bb is not in a locking position, the locking part Bb is located directly below the recess 75. That is, even if the locking part Bb is not inserted into the recess 75, as long as it is positioned directly below the recess 75, it is positioned within the locking range LR. Therefore, the locking range LR is set to be the range corresponding to the distance between the peripheral wall 72 of the container 70 and the locking wall 76 in the transfer direction X. In other words, the locking range LR is set to a range equivalent to the length of the recess 75 in the transfer direction X. Thus, the locking range LR is a range set along the transfer direction X. Furthermore, "directly below the recess 75" refers to the position below the recess 75 of the container 70 and overlapping with the recess 75 when viewed from above.

[0107] In this embodiment, when the detector Se detects that the locking part Bb is within the locking range LR, the locking part Bb changes from a non-locking posture to a locking posture. That is, the locking part Bb is configured such that, by being rotated and driven by the locking drive part Mb in a state where its relative position to the container 70 is within the predetermined locking range LR, its posture can change from a locking posture inserted into the recess 75 of the container 70 to a non-locking posture exiting the recess 75.

[0108] [Copying action] Next, refer to Figures 10-13The action of transferring the container 70 by the transfer device 4 will be explained. Additionally, in Figures 10-13 In the middle, it indicates the copying action of the stacked region 2A of multiple containers 70 relative to the stacked region 2A.

[0109] like Figure 10 As shown, when the transfer device 4 is performing a copying operation, the locking part Bb is positioned in the locking range LR in a non-locking state. In this embodiment, the transfer device 4 positions the locking part Bb in the locking range LR by moving the pushing part Ba, the locking part Bb, and the support part Bss together toward the unloading side X1 in the transfer direction. The transfer device 4 moves the pushing part Ba, the locking part Bb, and the support part Bs toward the unloading side X1 in the transfer direction by driving the support member Bs with the transfer drive part Ms. Whether the locking part Bb is positioned in the locking range LR is determined based on the detection result obtained by the detector Se. In addition, the support part Bss is positioned opposite the supported surface 74f of the transfer rib 74 from below when the locking part Bb is in the locking range LR.

[0110] like Figure 11 As shown, when the detector Se detects that the locking part Bb is positioned within the locking range LR, the transfer device 4 changes the locking part Bb from a non-locking posture to a locking posture. The transfer device 4 changes the posture of the locking part Bb by driving the locking part Bb through the locking drive unit Mb. Figure 11 As shown, if the locking part Bb is in a locking position, then the locking part Bb and the pushing part Ba clamp the locking wall part 76 of the container 70 and are arranged separately on both sides of the transfer direction X.

[0111] like Figure 12 As shown, the transfer device 4 lifts the transfer rib 74 by raising the support portion Bss, which is positioned opposite the supported surface 74f of the transfer rib 74 from below. Thus, as... Figure 13As shown, the rear surface 70R of the container is lifted, and the container 70 for copying is disengaged from the container 70 disposed below it. Specifically, the end of the copying side X2 of the fitting portion 77 of the container 70 for copying moves upward from the opening 71 of the container 70 disposed below it. Then, the transfer device 4 pulls the container 70 into the copying side X2 of the transfer direction by moving the locking portion Bb towards the copying side X2 of the transfer direction. In this embodiment, the transfer device 4 moves the locking portion Bb towards the copying side X2 of the transfer direction by moving the pushing portion Ba, the locking portion Bb, and the support portion Bss together. That is, the transfer device 4 performs the copying operation of the container 70 by moving the locking portion Bb in a locking position towards the copying side X2 of the transfer direction using the transfer drive portion Ms.

[0112] As described above, the copying operation of container 70 is performed. This copying operation is controlled by control device C (see reference). Figure 5 The control is performed by each functional unit of the conveying device 100. Furthermore, the description above pertains to the handling of the container 70 when the lamination region 2A is designated as the transfer target region T; however, the process is almost identical when the shelf section 80 of the container shelf 8 is designated as the transfer target region T. However, when handling the container 70 relative to the shelf section 80, since it is not necessary to disengage the containers 70 from each other, the raising and lowering of the support section Bss is not required.

[0113] [Unloading action] Next, refer to Figures 14-16 The unloading operation of container 70 performed by transfer device 4 will be explained. Additionally, in Figures 14-16 The text indicates the unloading action of container 70 relative to the stacked region 2A containing multiple containers 70.

[0114] like Figure 14 As shown, when the transfer device 4 is performing the unloading operation, the pushing part Ba abuts against the rear surface 70R of the container, and the pushing part pushes the container 70 toward the unloading side X1 in the transfer direction. In this example, the transfer device 4 pushes the pushing part Ba against the locking wall 76 of the container 70. Figure 15 As shown, in this example, the curved abutment surface Baf of the pressing part Ba abuts against the rear surface part 70R of the container, or more specifically, against the locking wall part 76.

[0115] Furthermore, as described above, in this embodiment, the positional relationship between the locking part Bb and the pushing part Ba in the transfer direction X is fixed. In this example, as... Figure 14As shown, the positional relationship between the locking part Bb and the pushing part Ba is set such that when the pushing part Ba abuts against the locking wall part 76 from the transfer direction picking side X2, the locking part Bb is located within the locking range LR. Furthermore, the support part Bss is positioned opposite the supported surface 74f of the transfer rib 74 from below, with the pushing part Ba abutting against the locking wall part 76 from the transfer direction picking side X2 and the locking part Bb located within the locking range LR.

[0116] like Figure 16 As shown, the transfer device 4 performs the unloading action of the container 70 by moving the pushing part Ba toward the unloading side X1 in the transfer direction using the transfer drive part Ms while the pushing part Ba is in contact with the locking wall part 76 (the rear surface part 70R of the container). In this embodiment, the transfer device 4 pushes the container 70 toward the unloading side X1 in the transfer direction by moving the pushing part Ba, the locking part Bb, and the support part Bss together. In this example, the transfer device 4 pushes the container 70 to be unloaded toward the unloading side X1 in the transfer direction at a position above the container 70 that is the unloading destination in the lamination region 2A. Moreover, if the container 70 to be unloaded protrudes toward the unloading side X1 in the transfer direction from the holding part A and loses the support provided by the holding part A, and descends in the lamination region 2A, the transfer device 4 is in a state where the supported surface 74f of the transfer rib 74 is supported by the support part Bss. Therefore, the rear surface 70R of the container 70 from which the object is to be unloaded is supported by the support portion Bss. Then, by lowering the support portion Bss, the container 70 from which the object is to be unloaded is fitted from above relative to the container 70 that becomes the unloading destination. As a result, the container 70 from which the object is to be unloaded is laminated in the lamination region 2A.

[0117] As described above, the container 70 is unloaded. This unloading action is controlled by control device C (see reference). Figure 5 The control is performed by each functional unit of the conveying device 100. Furthermore, the unloading operation of the container 70 when the lamination region 2A is designated as the transfer target region T has been described above, but the process is almost identical when the shelf portion 80 of the container shelf 8 is designated as the transfer target region T. However, when unloading the container 70 relative to the shelf portion 80, since it is not necessary for the containers 70 to fit together, the lifting and lowering of the support portion Bss is not required.

[0118] Next, refer to Figures 17-29 The transfer operation of container 70 performed by transfer device 4 will be described in detail. Furthermore, in Figures 17-29 In this document, only the elements required to describe the transfer action are simplified and presented.

[0119] [The action of picking up the container relative to the shelf] In this embodiment, the transfer device 4 is configured to perform a container 70 retrieval operation relative to the shelf portion 80 of the container shelf 8. Hereinafter, reference will be made to... Figures 17-22 The action of picking up the container 70 relative to the shelf section 80 will be explained. Figures 17-22 In the diagram, the first locking portion 41Bb or the second locking portion 42Bb in a locking posture is shown in gray, and the first locking portion 41Bb or the second locking portion 42Bb in a non-locking posture is shown in white. Here, the example of the first transfer machine 41B picking up the container 70 stored in the shelf section 80 will be described. The same applies when the second transfer machine 42B performs the picking operation.

[0120] like Figure 17 As shown, control device C (refer to) Figure 5 Based on the detection results of the reference position detection sensor Se1 for the target part 82T, the position of the first transfer machine 41B is aligned so that it is in an appropriate position relative to the reference position 80P of the shelf part 80. Alternatively, the conveying device 100 may also be equipped with an angle sensor that detects the angle of the first transfer machine 41B in the horizontal plane. In this case, the angle sensor detects the angle of the first transfer machine 41B relative to the shelf part 80. Then, based on the detection results of the angle sensor, the control device C aligns the angle of the first transfer machine 41B so that it is in an appropriate angle relative to the shelf part 80. The control device C adjusts the position and angle of the first transfer machine 41B by controlling the transfer lifting drive unit 40M of the traveling body 1, the rotating device 5, and the transfer device 4. Furthermore, when the first transfer machine 41B is in an appropriate position relative to the shelf part 80, the control device C initiates the scooping operation of the container 70 stored in the shelf part 80 from the first transfer machine 41B.

[0121] like Figure 18 As shown, the control device C moves the first holding part 41A and the second holding part 42A relative to the transfer lifting body 40B in the transfer direction towards the unloading side X1. This causes the first holding part 41A and the second holding part 42A, as well as the first transfer machine 41B and the second transfer machine 42B, to approach the shelf part 80. At this time, the approach distance to the shelf part 80 is detected by the reference position detection sensor Se1, which also functions as a distance measuring sensor. Therefore, the first holding part 41A and the second holding part 42A, as well as the first transfer machine 41B and the second transfer machine 42B, can be brought to an appropriate distance for performing the transfer operation relative to the shelf part 80.

[0122] Next, as Figure 19As shown, the control device C moves the first locking part 41Bb relative to the first holding part 41A in the transfer direction towards the unloading side X1. This positions the first locking part 41Bb directly below the recess 75 of the container 70. At this time, the first locking part 41Bb is in a non-locking position.

[0123] Then, as Figure 20 As shown, when the first locking part 41Bb is positioned directly below the recess 75, the control device C sets the first locking part 41Bb to a locking position. Thus, the first locking part 41Bb is inserted into the recess 75, and is positioned opposite the locking wall part 76 in the transfer direction, on the unloading side X1.

[0124] Then, as Figure 21 As shown, the control device C contacts the first locking part 41Bb in a locking posture with the locking wall part 76 while moving it relative to the first holding part 41A in the transfer direction towards the picking side X2. As a result, the first locking part 41Bb pulls the container 70 housed in the shelf part 80 toward the first holding part 41A.

[0125] Then, as Figure 22 As shown, when the container 70 picked up by the first transfer machine 41B is held by the first holding part 41A, the control device C moves the first holding part 41A and the second holding part 42A relative to the transfer lifting body 40B in the transfer direction picking side X2, returning them to their original positions. As a result, the first holding part 41A and the second holding part 42A, as well as the first transfer machine 41B and the second transfer machine 42B, disengage from the shelf part 80. Furthermore, in this example, the control device C maintains the locking posture of the first locking part 41Bb while the container 70 is held by the first holding part 41A. Similarly, the control device C maintains the locking posture of the second locking part 42Bb while the container 70 is held by the second holding part 42A. This allows for stable holding, preventing the container 70 from moving in the transfer direction X.

[0126] [The action of removing the container relative to the shelf] In this embodiment, the transfer device 4 is configured to perform the unloading operation of the container 70 relative to the shelf portion 80 of the container shelf 8. Hereinafter, refer to... Figures 23-25 The process of removing container 70 from shelf section 80 will be explained. Figures 23-25 In the diagram, the first locking part 41Bb or the second locking part 42Bb in a locking posture is shown in gray, and the first locking part 41Bb or the second locking part 42Bb in a non-locking posture is shown in white. Here, the example of the container 70 being unloaded onto the shelf section 80 by the second transfer machine 42B will be described. The same applies when the unloading operation is performed by the first transfer machine 41B.

[0127] In this embodiment, it is envisioned that immediately after the container 70 is picked up from the shelf section 80 by the first transfer machine 41B, the container 70 is unloaded by the second transfer machine 42B relative to the shelf section 80 directly below which the picking operation was performed. Therefore, the second transfer machine 42B is already in an appropriate position relative to the shelf section 80. Furthermore, similar to the container 70 picking operation relative to the shelf section 80, the control device C can also adjust the position of the second transfer machine 42B to ensure it is in an appropriate position relative to the shelf section 80 based on the detection results of the target section 82T by the reference position detection sensor Se1.

[0128] Then, as Figure 23 As shown, control device C (refer to) Figure 5 The first holding part 41A and the second holding part 42A are moved relative to the transfer lifting body 40B in the transfer direction unloading side X1. As a result, the first holding part 41A and the second holding part 42A, as well as the first transfer machine 41B and the second transfer machine 42B, come close to the shelf part 80.

[0129] Next, as Figure 24 As shown, the control device C moves the second pressing part 42Ba relative to the second holding part 42A toward the unloading side X1 in the transfer direction, pushing the container 70 toward the unloading side X1 in the transfer direction. As a result, the container 70, which is being unloaded and held by the second holding part 42A, moves from the second holding part 42A toward the shelf part 80. In this example, the second pressing part 42Ba pushes the container 70 toward the unloading side X1 in the transfer direction while it is in contact with the locking wall part 76 of the container 70 from the picking side X2 in the transfer direction. Furthermore, in this example, during the movement of the unloading container 70 toward the unloading side X1 in the transfer direction, the control device C changes the second locking part 42Bb, which moves together with the second pressing part 42Ba toward the unloading side X1 in the transfer direction, from a locking position to a non-locking position.

[0130] Then, as Figure 25 As shown, after the control device C unloads the container 70 containing the object to be unloaded onto the shelf section 80, it moves the second pushing part 42Ba relative to the second holding part 42A in the transfer direction towards the picking side X2, and moves the first holding part 41A and the second holding part 42A relative to the transfer lifting body 40B in the transfer direction towards the picking side X2, returning them to their original positions. Thus, the first holding part 41A and the second holding part 42A, as well as the first transfer machine 41B and the second transfer machine 42B, leave the shelf section 80.

[0131] [The parallel actions of copying and unloading the container relative to the stacked region] In this embodiment, as referred to Figure 7 As described above, by means of the lifting device 3, a space can be formed between the vertical directions of the multiple containers 70 stacked in the stacking region 2A. Moreover, the transfer device 4 uses these spaces to transfer the containers 70 relative to the stacking region 2A.

[0132] In this embodiment, the transfer device 4 is configured to perform both picking up and unloading operations of the container 70 relative to the lamination region 2A. Specifically, the transfer device 4 is configured to perform the picking up and unloading operations of the container 70 in parallel relative to the lamination region 2A. In this embodiment, the transfer device 4 operates in parallel while the first lifting mechanism 31 and the second lifting mechanism 32 each lift the container 70 in the lamination region 2A. However, the transfer device 4 can also perform the picking up and unloading operations relative to the lamination region 2A independently.

[0133] The following is for reference Figures 26-29 The parallel actions of container 70 in taking up and unloading laminations relative to lamination region 2A are described. Figures 26-29 In the diagram, the first locking portion 41Bb or the second locking portion 42Bb in a locking posture is shown in gray, and the first locking portion 41Bb or the second locking portion 42Bb in a non-locking posture is shown in white. Furthermore, the first lifting holding portion 31a of the first lifting mechanism 31 or the second lifting holding portion 32a of the second lifting mechanism 32 in a holding posture is shown in gray, and the first lifting holding portion 31a or the second lifting holding portion 32a in a non-holding posture is shown in white. Here, the case where the container 70 is unloaded from the lamination region 2A by the first transfer machine 41B and the container 70 is retrieved from the lamination region 2A by the second transfer machine 42B will be described.

[0134] exist Figures 26-29 The diagram illustrates an example where five layers of containers 70 are stacked in the stacking region 2A as container group 7. In the diagram, each stacked container 70 is assigned the numbers "1 to 5" sequentially from bottom to top. Furthermore, the container 70 to be unloaded, held by the first holding part 41A, is assigned the character "α". In the example shown below, the container 70 (container "α") is unloaded onto the fourth container 70 (container "4") using the space formed between the fifth container 70 (container "5") and the fourth container 70 (container "4") in the vertical direction using the lifting device 3. Simultaneously, the third container 70 (container "3") is retrieved using the space formed below the fourth container 70 (container "4") using the lifting device 3.

[0135] like Figure 26As shown, the control device C sets the second locking part 42Bb to a locking position, causing the first holding part 41A and the second holding part 42A to rise. As a result, the container 70 (container "3") containing the object to be copied is tilted upwards in a manner that aligns with the copying side X2 in the transfer direction, and the engagement between the container 70 (container "3") containing the object to be copied and the container 70 (container "2") adjacent below it is released. Furthermore, by raising the first holding part 41A and the second holding part 42A in this way, the first holding part 41A is positioned above the container 70 (container "4") which is lifted by the second lifting holding part 32a. In other words, the control device C positions the lower surface of the container 70 (container "α") containing the object to be unloaded, held by the first holding part 41A, above the upper surface of the container 70 (container "4") which is the destination for unloading.

[0136] Next, as Figure 27 As shown, the control device C moves the second locking part 42Bb relative to the second holding part 42A toward the transfer direction picking side X2, and moves the first pushing part 41Ba relative to the first holding part 41A toward the transfer direction unloading side X1. As a result, the second locking part 42Bb pulls the picking object container 70 (container "3") toward the transfer direction picking side X2, and the first pushing part 41Ba pushes the unloading object container 70 (container "α") toward the transfer direction unloading side X1. At this time, the unloading object container 70 (container "α") pushed by the first pushing part 41Ba is appropriately guided by the guide part 3G to move toward the transfer direction unloading side X1. In this example, the control device C, in parallel with the first pushing part 41Ba pushing the unloading object container 70 (container "α") toward the transfer direction unloading side X1, sets the first locking part 41Bb from a locking position to a non-locking position.

[0137] Then, as Figure 28 As shown, after the container 70 (container "3") of the object to be picked up, which is pulled in by the second locking part 42Bb, is placed on the second holding part 42A, and the container 70 (container "α") of the object to be unloaded, which is pushed by the first pressing part 41Ba, is placed above the container 70 (container "4") of the object to be lifted by the second lifting holding part 32a, the control device C lowers the first holding part 41A and the second holding part 42A. As a result, the container 70 (container "α") of the object to be unloaded, which is pushed by the first pressing part 41Ba toward the unloading side X1 in the transfer direction, approaches and engages with the container 70 (container "4") of the object to be lifted by the second lifting holding part 32a from above.

[0138] Then, the control device C lowers the first lifting holding part 31a and the second lifting holding part 32a, causing the container 70 (container "4") lifted by the second lifting holding part 32a to engage with the container 70 (container "2") disposed below it. Then, the control device C changes the second lifting holding part 32a from a holding position to a non-holding position. Then, the control device C further lowers the first lifting holding part 31a and the second lifting holding part 32a, causing the container 70 (container "5") lifted by the first lifting holding part 31a to engage with the container 70 (container "α") disposed below it. Thus, as... Figure 29 As shown, a portion of the containers 70 (container "3") configured in the stacking region 2A are replaced with a new container 70 (container "α").

[0139] [Other Implementation Methods] Next, other embodiments of the conveying device will be described.

[0140] (1) In the above embodiment, an example was described in which the locking drive unit Mb changes the posture of the locking part Bb to a locking posture and a non-locking posture by rotating the locking part Bb about the rotation axis Bxa along the transfer direction X. However, it is not limited to such an example. The locking drive unit Mb may also be configured to make the locking part Bb move linearly, or it may be configured to make the locking part Bb swing. The locking drive unit Mb can also change the posture of the locking part Bb by making the locking part Bb move as described above. In addition, when the locking part Bb moves linearly, it is preferable to use, for example, a linear motion motor, a cylinder, a cam mechanism, etc. In addition, when the locking part Bb swings, it is preferable to use, for example, a linkage mechanism, etc.

[0141] (2) In the above embodiment, the illustration shows an example where the contact surface Baf of the pressing part Ba is formed as a curved shape that convexes towards the unloading side X1 in the vertical direction when viewed along the vertical direction, and as a straight line in the vertical direction when viewed along the width direction Y. However, the shape of the contact surface Baf is not limited to this. Among the curved shapes that convex towards the unloading side X1 in the vertical direction, there are also hemispherical or partially spherical shapes that convex towards the unloading side X1 in the vertical direction. Furthermore, the shape of the contact surface Baf is not limited to a curved shape that convexes towards the unloading side X1 in the vertical direction; for example, it may be formed as a planar shape, a polygonal prism shape, etc., that convex towards the unloading side X1 in the vertical direction.

[0142] (3) In the above embodiment, an example was described in which a downward-facing supported surface 74f is formed on the rear surface portion 70R of the container, the transfer device 4 is equipped with a support portion Bss that supports the supported surface 74f from below, and the rear surface portion 70R of the container is lifted by the support portion Bss during the copying operation. However, this is not a limited example. The supported surface 74f may not be formed on the rear surface portion 70R of the container, and the transfer device 4 may not be equipped with the support portion Bss. In this case, the transfer device 4 may also be configured such that, during the copying operation, instead of lifting the rear surface portion 70R of the container, the container 70 is pulled in toward the copying side X2 in the transfer direction.

[0143] (4) In the above embodiment, an example was described in which the transfer drive unit Ms moves the locking part Bb and the support part Bss together in the transfer direction X. However, it is not limited to such an example. The transfer drive unit Ms may also be configured to move the locking part Bb and the support part Bss independently in the transfer direction X.

[0144] (5) In the above embodiment, an example of a detector Se that detects the relative position of the locking part Bb with respect to the container 70 being within the locking range LR has been described. However, this is not a limited example; the detector Se described above may also be provided in a part other than the support member Bs. Alternatively, the detector Se described above may not be provided in the support member Bs.

[0145] (6) In the above embodiment, an example was described in which the conveying device 100 includes a rotary device 5 that rotates the transfer device 4 about an axis in the vertical direction. However, the rotary device 5 is not an essential component. Therefore, the conveying device 100 may also be without the rotary device 5. In this case, the transfer direction X becomes a fixed direction relative to the conveying device 100.

[0146] (7) In the above embodiment, an example was described in which the reference position detection sensor Se1 is provided in the group of the first holding part 41A and the first transfer machine 41B, and the storage container detection sensor Se2 is provided in the group of the second holding part 42A and the second transfer machine 42B. However, the group in which the reference position detection sensor Se1 is provided and the group in which the storage container detection sensor Se2 is provided may be the opposite of the above, or both the reference position detection sensor Se1 and the storage container detection sensor Se2 may be provided in one of the groups, and further, the reference position detection sensor Se1 may be provided in one of the groups, and the storage container detection sensor Se2 may be provided in both of the groups.

[0147] (8) In the above embodiment, an example has been described in which the first transfer machine 41B is configured to move relative to the first holding part 41A in the transfer direction X, and the second transfer machine 42B is configured to move relative to the second holding part 42A in the transfer direction X. However, it is not limited to such an example. It is also possible for the first transfer machine 41B and the first holding part 41A to move integrally in the transfer direction X, and for the second transfer machine 42B and the second holding part 42A to move integrally in the transfer direction X.

[0148] (9) In the above embodiment, the structure of the container 70 was described with an example in which the lifting rib 73, which is lifted by the lifting device 3, is formed on the upper part of the peripheral wall portion 72. However, the lifting rib 73 can be formed at any part of the peripheral wall portion 72, for example, it can be formed at the central part or the lower part in the vertical direction. Furthermore, the part that the lifting device 3 is used to lift the container 70 is not limited to the lifting rib 73. The lifting device 3 can use any part of the container 70 as the part to be lifted. For example, the lifting device 3 can also be configured to lift the container 70 by clamping the non-protruding part of the peripheral wall portion 72 of the container 70.

[0149] (10) In the above embodiments, an example of the vehicle 1 traveling on the floor surface has been described. However, it is not limited to such an example; the vehicle 1 may also be configured to travel on a track provided near the floor or ceiling. That is, the conveying device 100 may be configured, for example, as a ground conveyor that travels along a track provided on the floor surface or as a ceiling conveyor that travels along a track suspended from the ceiling. Furthermore, the conveying device 100 may be configured, for example, as a stacker crane.

[0150] (11) Furthermore, the structures disclosed in the above embodiments can be combined with structures disclosed in other embodiments, provided that no contradictions arise. Regarding other structures, the embodiments disclosed in this specification are merely illustrative in all respects. Therefore, various modifications can be made appropriately without departing from the spirit of this disclosure.

[0151] [Summary of the above embodiments] The conveying device described above will now be explained.

[0152] A conveying device for conveying a container; comprising a transfer device having a holding portion for holding the container; the transfer device is configured to perform a transfer operation by moving the container along a transfer direction in a horizontal direction, the transfer operation including an unloading operation of transferring the container from the holding portion to a transfer target portion and a picking operation of transferring the container from the transfer target portion to the holding portion; the transfer device comprises a pushing portion for pushing the container during the unloading operation, a locking portion for locking the container during the picking operation, a transfer drive portion for reciprocating the pushing portion and the locking portion along the transfer direction, and a locking drive portion for separately driving the locking portion along the pushing portion to change the posture of the locking portion; the side in the transfer direction from the holding portion toward the transfer target portion is designated as the transfer direction unloading side, and the side in the transfer direction from the transfer target portion toward the holding portion is designated as the transfer direction unloading side. One side of the holding part is designated as the transfer direction picking side, the portion of the container facing the transfer direction unloading side is designated as the front surface portion of the container, and the portion of the container facing the transfer direction picking side is designated as the rear surface portion of the container; a recess is provided on the rear surface portion of the container, which opens in a direction orthogonal to the transfer direction; the locking part is driven by the locking drive unit in a state where its relative position to the container is within a predetermined locking range, and its posture can be changed to a locking posture inserted into the recess and a non-locking posture exiting the recess; the transfer device performs the unloading action by moving the pushing part toward the transfer direction unloading side by means of the transfer drive unit while the pushing part is in contact with the rear surface portion of the container; the transfer device performs the picking action by moving the locking part in the locking posture toward the transfer direction picking side by means of the transfer drive unit.

[0153] According to this structure, it includes a pushing part that pushes the container during the unloading operation, a locking part that locks the container during the picking operation, and a transfer drive part that reciprocates the pushing part and the locking part along the transfer direction; it also includes a locking drive part that drives the locking part separately from the pushing part to change the posture of the locking part. Therefore, when performing the picking operation, by driving the locking part to a locking posture, the locking part can lock the container and move the container toward the picking side in the transfer direction. When performing the unloading operation, the locking part used to lock the locking part can be driven, and the container can be pushed by the pushing part to move the container toward the unloading side in the transfer direction. Therefore, it is easy to shorten the time required for the unloading operation of the container. In addition, by including the pushing part and the locking part respectively, the pushing part can be made into a structure suitable for performing the unloading operation (pushing the container), and the locking part can be made into a structure suitable for performing the picking operation (pulling the container in). That is, based on this structure, it is easy to implement respective structures suitable for unloading and picking up containers.

[0154] Here, preferably, the direction orthogonal to the aforementioned transfer direction when viewed in the vertical direction is set as the width direction; the aforementioned pressing part has an abutting surface that abuts against the central part of the aforementioned container rear surface in the aforementioned width direction during the aforementioned unloading action; the aforementioned abutting surface is formed as a curved surface that convexes towards the aforementioned transfer direction.

[0155] According to this structure, even when the container is tilted relative to the transfer direction, the container can be moved by appropriately pushing it toward the unloading side in the transfer direction by having the curved pressing surface abut against the container.

[0156] Furthermore, preferably, the aforementioned locking drive unit is configured to rotate the aforementioned locking part about a rotation axis along the aforementioned transfer direction; the direction orthogonal to the aforementioned transfer direction when viewed in the vertical direction is set as the width direction; the aforementioned recess is provided at the center of the aforementioned width direction of the aforementioned container rear surface portion; the aforementioned locking part is formed as a rod-shaped or strip-shaped part extending along a direction orthogonal to the aforementioned rotation axis; and the aforementioned locking part is configured to be located at the center of the aforementioned width direction of the aforementioned container rear surface portion in the aforementioned locking posture.

[0157] According to this structure, the locking drive unit can change the posture of the locking part to a locking posture and a non-locking posture by rotating the locking part about a rotation axis along the transfer direction. Therefore, the posture change of the locking part can be achieved with a relatively simple structure. Furthermore, according to this structure, even when the container of the object to be copied is tilted relative to the transfer direction, it is possible to lock the container by means of the locking part located at the center in the width direction, and then appropriately pull it towards the copying side in the transfer direction to move it.

[0158] Furthermore, preferably, a downward-facing supported surface is formed on the rear surface of the aforementioned container; the aforementioned transfer device includes a support portion that supports the aforementioned supported surface from below and a lifting drive portion that raises and lowers the aforementioned support portion; the aforementioned transfer drive portion causes the aforementioned locking portion and the aforementioned support portion to reciprocate integrally along the aforementioned transfer direction.

[0159] According to this structure, by raising the support member while the supported surface of the container's rear surface is supported from below using the support member, the rear surface of the container can be lifted. Furthermore, by moving the locking part inserted into the recess and the support member that lifts the rear surface of the container toward the transfer direction of the transfer drive in this state, the container can be properly transferred. This structure is suitable for situations, for example, where the container being transferred moves toward the transfer direction of the transfer object over a step difference.

[0160] Furthermore, preferably, the aforementioned transfer direction picking side of the aforementioned recess is covered by the locking wall portion; the positional relationship between the aforementioned locking portion and the aforementioned pressing portion in the aforementioned transfer direction is fixed; the aforementioned locking range is the range of the relative position of the aforementioned locking portion relative to the aforementioned container when the aforementioned locking portion is in the aforementioned locking posture, such as the aforementioned recess formed by the aforementioned locking wall portion on the aforementioned transfer direction unloading side; the positional relationship between the aforementioned locking portion and the aforementioned pressing portion is set such that when the aforementioned pressing portion abuts against the aforementioned locking wall portion from the aforementioned transfer direction picking side, the aforementioned locking portion is located within the aforementioned locking range.

[0161] According to this structure, even when the pressing part is positioned on the unloading side closest to the transfer direction relative to the container, the locking part can be inserted into the recess to achieve a locking posture. This improves the reliability of posture changes when the locking part is in the locking posture. Furthermore, with the locking part within its locking range, the locking part and the pressing part are arranged in a positional relationship that clamps the locking wall part in the transfer direction. Therefore, during the copying operation, the locking wall part can be supported from both sides of the transfer direction by the locking part and the pressing part, enabling stable copying.

[0162] Furthermore, preferably, the aforementioned transfer device includes a support member that supports the aforementioned pushing part and the aforementioned locking part; the aforementioned transfer drive unit causes the aforementioned support member to reciprocate along the aforementioned transfer direction; and the aforementioned support member is provided with a detector that detects that the relative position of the aforementioned locking part with respect to the aforementioned container is within the aforementioned locking range.

[0163] According to this structure, since the locking part can be set to a locking posture based on the detection result obtained by the detector, the locking part can be appropriately positioned within the locking range when performing the copying operation.

[0164] Industrial availability The technology disclosed herein can be used in conveying devices for conveying containers.

[0165] Explanation of reference numerals in the attached figures 100: Conveying device 4: Transfer device A: Maintaining section Ba: Pushing section Baf: Contact surface Bb: Locking part Bs: Support components Bss: Support section Bx: Rotation axis Bxa: Rotation axis 70: Container 70F: Front surface of the container 70R: Rear surface of the container 74f: Supported surface 75: concave part 76: The wall part is used for locking. Mb: Locking drive unit Ms: Transfer Drive Unit Se: Detector LR: Ability to stop the range T: Location of the object being transferred X: Transfer direction X1: Transfer direction, unloading side X2: Transfer direction, copy side Y: Width direction.

Claims

1. A conveying device, a conveying container, characterized in that, A transfer device having a holding part for holding the aforementioned container; The aforementioned transfer device is configured to move the aforementioned container along a transfer direction in the horizontal direction to perform a transfer operation. The transfer operation includes an unloading operation that transfers the aforementioned container from the aforementioned holding part to the transfer target part and a picking operation that transfers the aforementioned container from the aforementioned transfer target part to the aforementioned holding part. The aforementioned transfer device includes a pushing part that pushes the aforementioned container during the aforementioned unloading action, a locking part that locks the aforementioned container during the aforementioned picking action, a transfer drive part that causes the aforementioned pushing part and the aforementioned locking part to reciprocate along the aforementioned transfer direction, and a locking drive part that drives the aforementioned locking part in addition to the aforementioned pushing part to change the posture of the locking part. The side of the aforementioned transfer direction from the aforementioned holding part toward the aforementioned transfer object part is designated as the transfer direction unloading side, the side of the aforementioned transfer direction from the aforementioned transfer object part toward the aforementioned holding part is designated as the transfer direction picking side, the portion of the aforementioned container toward the aforementioned transfer direction unloading side is designated as the container front surface portion, and the portion of the aforementioned container toward the aforementioned transfer direction picking side is designated as the container rear surface portion. A recess is provided on the rear surface of the aforementioned container, which opens in a direction orthogonal to the aforementioned transfer direction; The aforementioned locking part is driven by the aforementioned locking drive part in a state where its relative position to the aforementioned container is within a predetermined locking range, and its posture can be changed to a locking posture inserted into the aforementioned recess and a non-locking posture exiting the aforementioned recess. The aforementioned transfer device performs the aforementioned unloading action by moving the aforementioned pushing part toward the unloading side in the aforementioned transfer direction using the aforementioned transfer drive part while the aforementioned pushing part is in contact with the rear surface of the aforementioned container. The aforementioned transfer device performs the aforementioned copying action by moving the aforementioned locking part in the aforementioned locking posture toward the copying side in the aforementioned transfer direction using the aforementioned transfer drive unit.

2. The conveying device as described in claim 1, characterized in that, The direction orthogonal to the aforementioned transfer direction in the vertical direction of observation is defined as the width direction; The aforementioned pushing part has a contact surface that abuts against the central part of the rear surface of the aforementioned container in the aforementioned width direction during the aforementioned unloading action; The aforementioned contact surface is formed as a curved surface with a convex side facing the aforementioned transfer direction.

3. The conveying device as described in claim 1, characterized in that, The aforementioned locking drive unit is configured to rotate the aforementioned locking unit about a rotation axis along the aforementioned transfer direction; The direction orthogonal to the aforementioned transfer direction in the vertical direction of observation is defined as the width direction; The aforementioned recess is provided at the center of the aforementioned width direction of the rear surface portion of the aforementioned container; The aforementioned locking portion is formed in the shape of a rod or a strip extending in a direction orthogonal to the aforementioned rotation axis; The aforementioned locking portion is configured such that, in the aforementioned locking posture, it is located at the center of the aforementioned width direction of the aforementioned rear surface portion of the container.

4. The conveying device as described in claim 1, characterized in that, The aforementioned pushing part is positioned at a position that does not repeat when viewed along the aforementioned transfer direction, relative to the aforementioned locking part in the aforementioned non-locking posture, and is positioned on the copying side of the aforementioned transfer direction.

5. The conveying device as described in claim 1, characterized in that, A downward-facing supported surface is formed on the rear surface of the aforementioned container; The aforementioned transfer device includes a support portion that supports the aforementioned supported surface from below and a lifting drive portion that raises and lowers the aforementioned support portion. The aforementioned transfer drive unit causes the aforementioned locking part and the aforementioned support part to reciprocate as a whole along the aforementioned transfer direction.

6. The conveying device as claimed in claim 1, characterized in that, The aforementioned transfer device includes a support member that supports the aforementioned pushing part and the aforementioned locking part. The aforementioned transfer drive unit causes the aforementioned support member to reciprocate along the aforementioned transfer direction. The aforementioned pushing part is positioned at a non-repeating location relative to the aforementioned locking part in the aforementioned non-locking posture, and is positioned at a repeating location relative to the aforementioned locking posture in the aforementioned loading direction. The aforementioned recessed portion, on the transfer direction side, is covered by a locking wall portion provided in the aforementioned container. When the aforementioned transfer device is in a state where the aforementioned pushing part abuts against the aforementioned locking wall part from the aforementioned transfer direction picking side, the aforementioned support member is moved towards the aforementioned transfer direction unloading side by means of the aforementioned transfer drive part, thereby performing the aforementioned unloading action.

7. The conveying device as claimed in claim 1, characterized in that, The aforementioned pushing part is positioned at a position that does not repeat when viewed along the aforementioned transfer direction relative to the aforementioned non-locking posture of the aforementioned locking part, and is positioned at a position that repeats when viewed along the aforementioned transfer direction relative to the aforementioned locking posture of the aforementioned locking part.

8. The conveying device as claimed in claim 1, characterized in that, The aforementioned pushing part is positioned relative to the aforementioned locking part in the aforementioned non-locking posture at a position that does not repeat when viewed along the aforementioned transfer direction.

9. The conveying device according to any one of claims 1 to 8, characterized in that, The aforementioned recessed portion is covered by the wall portion in the aforementioned transfer direction. The positional relationship between the aforementioned locking part and the aforementioned pushing part in the aforementioned transfer direction is fixed; The aforementioned locking range is the range of the relative position of the locking part relative to the container when the locking part is in the aforementioned locking posture, such as the aforementioned recess formed on the unloading side of the aforementioned locking wall in the aforementioned transfer direction. The positional relationship between the aforementioned locking part and the aforementioned pushing part is set such that when the aforementioned pushing part abuts against the aforementioned locking wall part from the aforementioned transfer direction picking side, the aforementioned locking part is located within the aforementioned locking range.

10. The conveying device according to any one of claims 1 to 8, characterized in that, The aforementioned transfer device includes a support member that supports the aforementioned pushing part and the aforementioned locking part; The aforementioned transfer drive unit causes the aforementioned support component to reciprocate along the aforementioned transfer direction; The aforementioned support member is provided with a detector that detects whether the relative position of the aforementioned locking part with respect to the aforementioned container is within the aforementioned locking range.

11. The conveying device as claimed in claim 1, characterized in that, The aforementioned transfer device includes a support member that supports the aforementioned pushing part and the aforementioned locking part. The aforementioned transfer drive unit causes the aforementioned support member to reciprocate along the aforementioned transfer direction. The aforementioned pushing part is supported relative to the aforementioned supporting member so that it does not move in the vertical direction. The aforementioned locking portion is supported on the aforementioned support member in a manner that allows it to rotatably about a rotation axis along the aforementioned transfer direction. The aforementioned locking drive unit is configured to drive the aforementioned locking unit separately from the aforementioned pushing unit, causing the aforementioned locking unit to rotate about a rotation axis along the aforementioned transfer direction.

Images