Transfer device

Abstract

The present application provides a kind of transfer device.The transfer drive part (440) is equipped with the transfer drive transmission mechanism (441) being drivenly connected with contact part (C), and the transfer drive source (442) driven transfer drive transmission mechanism (441).Guiding drive part (450) is equipped with the guiding drive transmission mechanism (451) being drivenly connected with a pair of guide (4G), and the guiding drive source (452) driven guiding drive transmission mechanism (451).Transfer drive source (442) and guiding drive source (452) are arranged in the direction of transfer direction pick-up side (X2) relative to holding part;Transfer drive transmission mechanism (441) and guiding drive transmission mechanism (451) have the intersection part (Z) in the up and down direction, and are arranged adjacent in the up and down direction at the intersection part (Z).

Description

Technical Field

[0001] The present invention relates to a transfer device, which includes a holding part for holding an article and performs a transfer operation, the transfer operation including an unloading operation for transferring the article from the holding part to a transfer target part and a scooping operation for transferring the article from the transfer target part to the holding part. Background Technology

[0002] An example of such a transfer device is disclosed in Japanese Patent Application Publication No. 2000-118620 (Patent Document 1). Hereinafter, the reference numerals indicated in parentheses in the background description are those of Patent Document 1.

[0003] The transfer device (14) disclosed in Patent Document 1 includes a holding part (21) for holding an article (W) and an extension / retraction member consisting of multiple forks. The transfer device (14) is configured to use the extension / retraction member to transfer the article (W) between the transfer object parts such as the inlet (6), the outlet (7), and the storage part (3) and the holding part (21).

[0004] In the technology disclosed in Patent Document 1, by adjusting the arrangement of the various functional parts of the transfer device (14) that perform different functions for transferring the article (W), there is room for improvement in miniaturization of the transfer device (14) in the vertical direction. For example, in the transfer device (14) disclosed in Patent Document 1, since the motor (M) used to extend and retract the extension and retraction moving part is set at a position that overlaps with the holding part (21) in the vertical direction, the transfer device (14) as a whole tends to be larger in the vertical direction. Summary of the Invention

[0005] In view of the above actual situation, it is desirable to realize a miniaturized transfer device that can achieve vertical movement.

[0006] A transfer device includes a holding part for holding an article, and performs a transfer operation, the transfer operation including an unloading operation of transferring the article from the holding part to a transfer target part and a picking operation of transferring the article from the transfer target part to the holding part; the transfer device includes: a transfer unit for moving the article between the holding part and the transfer target part along a transfer direction in the horizontal direction; a guide unit for guiding the article moving between the holding part and the transfer target part along the transfer direction; and a main body for supporting the transfer unit and the guide unit; the transfer unit includes a contact part that contacts the article during the transfer operation to move the article along the transfer direction, and a transfer drive part that reciprocates the contact part along the transfer direction; the width direction is defined as the direction orthogonal to the transfer direction when viewed in the vertical direction; the guide unit includes a portion relative to the article held by the holding part. The article comprises a pair of guide portions arranged on both sides of the aforementioned width direction, and a guide drive portion that changes the spacing between the pair of aforementioned guide portions in the aforementioned width direction; the aforementioned transfer drive portion includes a transfer drive transmission mechanism that is driven connected to the aforementioned contact portion, and a transfer drive source that drives the aforementioned transfer drive transmission mechanism; the aforementioned guide drive portion includes a guide drive transmission mechanism that is driven connected to the pair of aforementioned guide portions, and a guide drive source that drives the aforementioned guide drive transmission mechanism; the side in the aforementioned transfer direction from the aforementioned holding portion toward the aforementioned transfer object portion is designated as the transfer direction unloading side, and the side in the aforementioned transfer direction from the aforementioned transfer object portion toward the aforementioned holding portion is designated as the transfer direction picking side; the aforementioned transfer drive source and the aforementioned guide drive source are arranged relative to the aforementioned holding portion on the aforementioned transfer direction picking side; the aforementioned transfer drive transmission mechanism and the aforementioned guide drive transmission mechanism have an intersection portion that intersects in the aforementioned vertical direction, and are arranged adjacent to each other in the aforementioned vertical direction at the intersection portion.

[0007] According to this structure, the transfer drive source and the guide drive source are arranged on the copying side of the transfer direction relative to the holding part. Therefore, compared with the case where the transfer drive source and the guide drive source are arranged to overlap with the holding part in the vertical direction, the vertical dimension of the transfer device can be reduced to a smaller size. Furthermore, compared with the case where the transfer drive source and the guide drive source are arranged on the unloading side of the transfer direction relative to the holding part, the presence of these drive sources is less likely to hinder the transfer of the article. In addition, in this structure, since the moving direction of the contact part intersects with the moving direction of the guide part, and the contact part and the guide part are arranged with the holding part as a reference, the transfer drive transmission mechanism and the guide drive transmission mechanism must have an overlapping portion in the vertical direction. However, the transfer drive transmission mechanism and the guide drive transmission mechanism are arranged adjacent to each other in the vertical direction at this overlapping portion. Therefore, even with a structure where the transfer drive transmission mechanism and the guide drive transmission mechanism have an overlapping portion, the vertical dimension of the transfer device can be easily reduced to a smaller size. Through the above, according to this structure, miniaturization of the vertical dimension of the transfer device can be achieved.

[0008] 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

[0009] Figure 1 This is a top view of the conveying equipment.

[0010] Figure 2 This is the front view of the container shelf.

[0011] Figure 3 This is a view of the width of the transport vehicle.

[0012] Figure 4 This is a top view showing the first and second positions of the transfer device.

[0013] Figure 5 This is a width-oriented view showing the main part of the transfer device.

[0014] Figure 6 This is a top view showing the main parts of the transfer device.

[0015] Figure 7 This is a top view showing the transfer drive transmission mechanism and the guide drive transmission mechanism.

[0016] Figure 8 This is an explanatory diagram showing the action of picking up a container relative to the shelf.

[0017] Figure 9 This is an explanatory diagram showing the action of picking up a container relative to the shelf.

[0018] Figure 10 This is an explanatory diagram showing the action of removing the container relative to the shelf.

[0019] Figure 11 This is an illustration of the parallel actions of copying and unloading containers relative to the stacked region.

[0020] Figure 12 This is an illustration of the parallel actions of copying and unloading containers relative to the stacked region.

[0021] Figure 13 This is an illustration of the parallel actions of copying and unloading containers relative to the stacked region. Detailed Implementation

[0022] A transfer device is a device used to transfer articles. Hereinafter, an example will be given of a transfer device configured as part of a transport vehicle included in a container transport system, to illustrate an implementation of the transfer device. That is, in this embodiment, the container is equivalent to an "article," and the transfer device is configured to transfer the container.

[0023] like Figure 1 As shown, the conveying equipment F has a receiving container 70 (refer to...) Figure 2 The container shelf 8 and the inbound / outbound section 9 for transporting in and out of containers 70. The transport vehicle 100 transports containers 70 into the inbound / outbound section 9 to the container shelf 8, or transports containers 70 stored in the container shelf 8 to the inbound / outbound section 9 for outbound purposes.

[0024] In this embodiment, a plurality of container shelves 8 are arranged parallel to each other while being spaced apart by a predetermined interval. Each of the plurality of container shelves 8 has an opening at least on its front side, through which containers 70 are placed and removed. Furthermore, a portion of the travel path R of the traveling vehicle 1 (conveyor 100) is provided between a pair of container shelves 8 facing each other. In other words, adjacent pairs of container shelves 8 are arranged parallel to each other with a gap, and a portion of the travel path R is provided between the pair of container shelves 8. In addition, the container shelf 8 located at the far end of the plurality of container shelves 8 provided in the conveying device F is arranged with its front side 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.

[0025] 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 located outside the configuration area of ​​the container shelf 8. The inner shelf path Ra is configured corresponding to each of the plurality of container shelves 8. In this embodiment, a portion of the travel path R located between a pair of container shelves 8 facing each other, and a portion of the travel path R located along the front of the container shelf 8 configured with its front facing outwards, corresponds to the inner shelf path Ra. Furthermore, the outer shelf path Rb is configured to connect the plurality of inner shelf paths Ra. Additionally, the outer shelf path Rb is configured 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.

[0026] [Container Shelves] like Figure 2 As shown, the container shelf 8 has a shelf section 80 for storing multiple layers of containers 70 in the vertical direction. In this embodiment, the container shelf 8 has a plurality of beam members 82 extending horizontally along the front side of the container shelf 8, and a plurality of support members 81 extending vertically and connected to each of the plurality of beam members 82. That is, the container shelf 8 is constructed by combining the plurality of support members 81 and the plurality of beam members 82 into a support frame.

[0027] Multiple beam members 82 are arranged apart from each other in the vertical direction. Furthermore, each of the multiple beam members 82 is connected to a mounting member 83 for holding a container 70. In this example, the container 70 is stored in the shelf section 80 by being placed on a pair of mounting members 83. Moreover, multiple sets of pairs of mounting members 83 are arranged in the shelf section 80, allowing multiple containers 70 to be stored in one shelf section 80. Additionally, in this example, in… Figure 2 In the frontal view shown, the area between a pair of adjacent support members 81 in the width direction (left-right direction) and between a pair of adjacent beam members 82 in the vertical direction corresponds to the opening of the container shelf 8.

[0028] 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.

[0029] 〔container〕 Container 70 is the object transported by the conveyor 100. Detailed illustrations are omitted, but container 70 is formed as a box with an upward-opening portion. In this example, the container's shape is rectangular when viewed vertically. Inside container 70, a specified item can be contained. The contained item may include, for example, various commodities such as food and daily necessities, or parts and work-in-process used in factory production lines.

[0030] In this embodiment, the container 70 is configured to be stackable with another container 70 while containing the contained object. That is, the container 70 is configured to be stackable in the vertical direction (see reference). Figure 3 In this example, the two containers 70 are stacked vertically by fitting their bottoms together from above with the openings of the other container 70.

[0031] [Conveyor vehicle] like Figure 3 As shown, the transport vehicle 100 is equipped to travel along a predetermined path R (refer to...). Figure 1 The vehicle 100 comprises a traveling vehicle 1, a transfer device 4 for transferring containers 70, and a control unit 6 for controlling the transfer device 4. In this embodiment, the transport vehicle 100 includes a container group support 2 that supports a stacked group 7 of multiple containers 70 within a defined stacking region 2A, and a lifting device 3 that lifts the containers 70 of the container group 7 supported by the container group support 2. Furthermore, the control unit 6 controls the traveling vehicle 1, the container group support 2, and the lifting device 3, in addition to the transfer device 4.

[0032] The container support 2, lifting device 3, and transfer device 4 are mounted on the traveling body 1. If the direction of travel of the traveling body 1 is defined as "the front-to-back direction L", then the container support 2 and transfer device 4 are arranged on the traveling body 1 in the front-to-back direction L. In addition, the direction orthogonal to the front-to-back direction L in the vertical direction will be defined as "the width direction W".

[0033] The control unit 6 controls the various functional units of the transport vehicle 100. In this example, the control unit 6 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 transporting and transferring the containers 70 are realized by controlling the various functional units through the control unit 6. The control unit 6 may include, for example, a processor such as a microcomputer, peripheral circuits such as memory, etc. Moreover, each function is realized through the cooperation of this hardware and the program executing on the processor such as the computer.

[0034] [Driving Body] The driving body 1 is configured to travel along a specified driving path R (refer to...) Figure 1 The vehicle 1 is configured to travel along the inner shelf path Ra and the outer shelf path Rb. Specifically, when traveling along the inner shelf path Ra, the vehicle 1 travels along the container shelf 8; more specifically, it travels along the front of the container shelf 8. In this embodiment, the vehicle 1 is configured to travel on the floor surface.

[0035] The vehicle body 1 includes a plurality of driving wheels 10 and a driving drive unit 10M that drives at least one of the plurality of 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.

[0036] [Container Group Support Section] like Figure 3 As shown, 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.

[0037] 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 perform 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 goods and other contained 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 contained items are removed from the container 70 in the picking area adjacent to the inbound / outbound section 9. After some or all of the contained items in the container 70 have been removed, 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.

[0038] [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, to lift the containers 70 of the container group 7 arranged in the lamination region 2A.

[0039] 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.

[0040] The lifting device 3 includes a first lifting mechanism 31 for lifting containers 70 of arbitrary 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 lower than those 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 apart in the vertical direction. Thus, for example... Figure 11 As shown, a space can be 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. In addition, a space in the vertical direction can also be formed below the container 70 lifted by the second lifting mechanism 32.

[0041] 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, and 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.

[0042] 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 connecting frame member 33Fa. The connecting frame member 33Fa connects the first frame members 31Fa and the second frame members 32Fa arranged in the vertical direction.

[0043] like Figure 11 As shown, in this embodiment, the first lifting mechanism 31 includes a first lifting and holding portion 31a that holds the container 70, and a first lifting drive portion (not shown) that changes the posture of the first lifting and holding portion 31a. Detailed illustrations are omitted, but the first lifting drive portion is configured to change the posture of the first lifting and 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 11 In the middle, the first raised holding part 31a becomes a holding posture.

[0044] Similarly, the second lifting mechanism 32 includes a second lifting holding portion 32a for holding the container 70, and a second lifting drive portion (not shown) for changing the posture of the second lifting holding portion 32a. Detailed illustrations are omitted, but the second lifting drive portion is configured to change the posture of the second lifting holding portion 32a to a holding posture for holding the container 70 and a non-holding posture for not holding the container 70. Figure 11 In the middle, the second lifting and holding part 32a becomes the holding posture.

[0045] Here, in Figure 11 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".

[0046] 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 this space. That is, other containers 70 can be stacked on top of the container 70 lifted by the second lifting mechanism 32 by the transfer device 4. Figure 12 The example shown illustrates a 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.

[0047] 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 12 The 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.

[0048] [Transfer device] like Figure 3 As shown, the transfer device 4 is mounted on the vehicle 1. The transfer device 4 includes a holding portion H for holding the container 70, and is configured to perform a transfer operation, which includes an unloading operation to transfer the container 70 from the holding portion H to the transfer target portion T, and a picking operation to transfer the container 70 from the transfer target portion T to the holding portion H. In this embodiment, the transfer target portion T includes a stacking region 2A and a shelf portion 80 of a container shelf 8.

[0049] Here, the direction of movement of the container 70 transferred by the transfer device 4 is defined as the "transfer direction X", and the direction orthogonal to the transfer direction X when viewed in the vertical direction is defined as the "width direction Y". Furthermore, the side of the transfer direction X from the holding part H toward the transfer target part T is defined 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 H is defined as the "transfer direction picking side X2". The transfer direction X is a horizontal direction. In this example, the width direction Y is also 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.

[0050] In this embodiment, the transport vehicle 100 includes a rotary device 5 that rotates the transfer device 4 about an axis in the vertical direction. For example... Figure 4 As 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 unloading side X1 facing the stacking region 2A and a second posture P2 with the transfer direction unloading side X1 facing the container shelf 8. Thus, in this embodiment, the transfer direction X can be changed by the rotating device 5 in the horizontal plane.

[0051] 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 container shelf 8 (shelf part 80). Figure 3 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, and a rotary drive unit (not shown) that drives the rotary shaft 51.

[0052] like Figure 3 As shown, the transfer device 4 includes a holding part H for holding the container 70, a transfer unit 44U for moving the container 70 between the holding part H and the transfer target part T along the transfer direction X, a guide unit 45U for guiding the container 70 moving between the holding part H and the transfer target part T along the transfer direction X, and a main body B for supporting the transfer unit 44U, the guide unit 45U and the holding part H.

[0053] In this embodiment, the transfer device 4 includes a transfer mast 40 fixed to the traveling body 1 and arranged vertically, a transfer lifting body 40B that moves up and down along 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. Furthermore, the main body B supporting the transfer unit 44U, the guide unit 45U, and the holding part H is connected to the transfer lifting body 40B. With this structure, the transfer device 4 can move the transfer unit 44U, the guide unit 45U, and the holding part H vertically, and can move the container 70 relative to the multi-layer shelf section 80 (see reference 80). Figure 2 Each of them is transferred.

[0054] In this embodiment, a pair of main body parts B, arranged vertically apart, are connected to the transfer lifting body 40B. Each of the pair of main body parts B supports a transfer unit 44U, a guide unit 45U, and a holding part H. That is, in this embodiment, the transfer device 4 includes multiple (two in this example) units U comprising a main body part B, a transfer unit 44U, a guide unit 45U, and a holding part H. This unit U includes a first unit U1 and a second unit U2 disposed below the first unit U1. The first unit U1 and the second unit U2 have the same structure. Hereinafter, the first unit U1 and the second unit will be collectively referred to as "unit U".

[0055] In this embodiment, the transfer device 4 includes a retaining connection portion 43 that connects the first unit U1 and the second unit U2 in the vertical direction. The retaining connection portion 43 connects the first unit U1 and the second unit U2 so that the vertical distance between them is constant. In the illustrated example, the retaining connection portion 43 connects the retaining portion H of the first unit U1 to the retaining portion H of the second unit U2. Thus, in this embodiment, the transfer device 4 includes a plurality of units U arranged in the vertical direction.

[0056] The following is mainly based on Figures 5-7 The structure of the unit U, which includes the main body B, the transfer unit 44U, the guide unit 45U, and the holding part H, will be described in detail.

[0057] Figure 5 This is the Y-view of the width direction of cell U. Figure 6 This is a top view of unit U. Furthermore, Figure 7 This is a diagram used to illustrate the main parts of the transfer drive transmission mechanism 441 and the guide drive transmission mechanism 451, which will be described later. Figure 6 The element U shown has been removed from the description as it is not needed.

[0058] As described above, unit U is composed of main body B, transfer unit 44U, guide unit 45U and holding part H.

[0059] The retaining part H is supported by the main body part B. In this embodiment, the retaining part H includes a pair of retaining plates Ha arranged apart in the width direction Y. Between the pair of retaining plates Ha in the width direction Y, a space is formed for the contact part C, described later, to move along the transfer direction X. The retaining part H is configured to hold the container 70 by supporting it from below by the pair of retaining plates Ha. Detailed illustrations are omitted, but in this example, with the two side portions of the container 70 in the width direction Y supported by the pair of retaining plates Ha, the central portion of the container 70 in the width direction Y is in a floating state.

[0060] The transfer unit 44U includes a contact portion C that contacts the container 70 during the transfer operation and causes the container 70 to move along the transfer direction X, and a transfer drive portion 440 that causes the contact portion C to reciprocate along the transfer direction X.

[0061] The contact portion C is positioned above the holding portion H and is configured to be movable relative to the holding portion H along the transfer direction X. In this embodiment, the contact portion C is supported by the main body portion B via a support member S. The main body portion B has a transfer track Ba arranged along the transfer direction X, and the support member S is configured to be movable along the transfer track Ba. In this example, the support member S is configured to reciprocate along the transfer track Ba by being driven by the transfer drive unit 440. The contact portion C moves along the transfer direction X as the support member S moves along the transfer track Ba. In this example, the transfer track Ba is arranged between the width direction Y of a pair of holding plates Ha when viewed in the vertical direction. Moreover, the contact portion C is configured to reciprocate between the width direction Y of the pair of holding plates Ha along the transfer direction X.

[0062] In this embodiment, the contact part C includes a pushing part Ca that pushes the container 70 toward the unloading side X1 in the transfer direction when the container 70 is unloaded, and a locking part Cb that locks the container 70 and pulls the container 70 toward the loading side X2 in the transfer direction when the container 70 is picked up.

[0063] The pushing part Ca moves relative to the holding part H towards the unloading side X1 in the transfer direction, pushing the container 70 of the object to be unloaded towards the unloading side X1 in the transfer direction. In this embodiment, the pushing part Ca is supported by the supporting member S and is located above the locking part Cb.

[0064] The locking part Cb moves relative to the holding part H towards the copying side X2 in the transfer direction, pulling the container 70 of the copying object into the copying side X2 in the transfer direction. The locking part Cb is supported by the supporting member S and is located below the pushing part Ca. Hereinafter, the pushing part Ca and the locking part Cb will be collectively referred to as "contact part C".

[0065] The transfer drive unit 440 includes a transfer drive transmission mechanism 441 that is connected to the contact unit C and a transfer drive source 442 that drives the transfer drive transmission mechanism 441.

[0066] like Figure 7 As shown, in this embodiment, the transfer drive transmission mechanism 441 includes a plurality of transfer rotating bodies 441a rotatably supported relative to the main body B, and an endless transfer transmission member 441b wound around the plurality of transfer rotating bodies 441a. In this example, the transfer rotating bodies 441a are configured as pulleys. Moreover, the transfer transmission member 441b is configured as a belt. Furthermore, the rotation axes of the plurality of transfer rotating bodies 441a are arranged along the vertical direction.

[0067] A portion of the multiple transfer rotating bodies 441a are driven to rotate by the transfer drive source 442. In this example, one transfer rotating body 441a is driven to rotate by the transfer drive source 442, while the other transfer rotating bodies 441a are driven to rotate by the driving force transmitted by the transfer transmission member 441b.

[0068] At least one of the plurality of transfer rotating bodies 441a is configured to be located in the holding part H (see reference). Figure 6 The central portion of the transfer direction X is near the unloading side X1 of the transfer direction rotating body 441a1. In this example, the unloading side rotating body 441a1 is disposed in the region of the transfer direction X corresponding to the end region of the unloading side X1 of the transfer direction of the holding part H.

[0069] Furthermore, at least one of the plurality of transfer rotating bodies 441a is configured as a copying-side transfer rotating body 441a2 located on the copying side X2 of the transfer direction relative to the central portion of the holding part H in the transfer direction X. In this example, the copying-side transfer rotating body 441a2 is configured on the copying side X2 of the transfer direction relative to the holding part H.

[0070] In this embodiment, the transfer rotating body 441a driven by the transfer drive source 442 is one of the transfer rotating bodies 441a other than the unloading side transfer rotating body 441a1 and the copying side transfer rotating body 441a2. Furthermore, in this example, one of the multiple transfer rotating bodies 441a functions to adjust the placement position and tension of the transfer transmission member 441b. Moreover, the transfer drive transmission mechanism 441 includes a tension adjusting section 441d that adjusts the tension of the transfer transmission member 441b by changing the position of the transfer rotating body 441a. In the illustrated example, the tension adjusting section 441d is configured such that by changing the position of one of the multiple transfer rotating bodies 441a, the pushing force of that transfer rotating body 441a onto the transfer transmission member 441b can be varied. In the illustrated example, the transfer rotating body 441a that is moved by the tension adjustment unit 441d is different from the transfer rotating body 441a that is driven by the transfer drive source 442, the unloading side transfer rotating body 441a1, and the copying side transfer rotating body 441a2.

[0071] In this embodiment, a transfer direction configuration region 44X is provided in a portion of the transfer transmission member 441b, arranged along the transfer direction X, and the contact portion C is connected to the transfer direction configuration region 44X. In this example, the unloading side transfer rotating body 441a1 and the picking side transfer rotating body 441a2 are separated in the transfer direction X and arranged at the same position in the width direction Y. Moreover, the area of ​​the transfer transmission member 441b arranged across the unloading side transfer rotating body 441a1 and the picking side transfer rotating body 441a2 is designated as the transfer direction configuration region 44X. Furthermore, a transfer connecting portion 441c for connecting the contact portion C is provided in this transfer direction configuration region 44X. The transfer connecting portion 441c moves reciprocally along the transfer direction X together with the contact portion C by means of the drive of the transfer transmission member 441b.

[0072] like Figure 5 and Figure 6 As shown, the guide unit 45U includes a pair of guide portions 4G arranged on both sides of the container 70 held by the holding portion H in the width direction Y, and a guide drive portion 450 that changes the interval between the pair of guide portions 4G in the width direction Y.

[0073] A pair of guide portions 4G have a pair of retaining plates Ha that protrude upwards from the supporting surface of the supporting container 70. Thus, the pair of guide portions 4G are arranged on opposite sides of the container 70 supported by the pair of retaining plates Ha in the width direction Y. In other words, the pair of guide portions 4G are arranged opposite each other in the width direction Y to the outer surfaces of the container 70 facing the width direction Y.

[0074] like Figure 7 As shown, in this embodiment, the guide portion 4G is rotatably connected to the main body portion B about an axis in the vertical direction. In this example, the guide portion 4G has a fulcrum portion 4Ga that serves as the center of rotation, and the fulcrum portion 4Ga is connected to the main body portion B. Furthermore, the guide portion 4G has a force point portion 4Gb disposed radially outward from the fulcrum portion 4Ga with respect to the center of rotation. The force point portion 4Gb is supplied with a force by the guide drive portion 450 to rotate the guide portion 4G.

[0075] As described above, the guide drive unit 450 is configured to vary the spacing in the width direction Y of the pair of guide units 4G. Strictly speaking, in this example, the spacing in the width direction Y of the pair of guide units 4G does not change at the fulcrum portion 4Ga, which serves as the rotation center of each pair of guide units 4G, but varies in a portion radially outward from the fulcrum portion 4Ga. However, the following definition of "spacing variation in the width direction Y of the pair of guide units 4G" refers to the situation where the spacing in the width direction Y of the pair of guide units 4G varies in a portion radially outward from the fulcrum portion 4Ga.

[0076] In this embodiment, the guide drive unit 450 is configured such that the spacing in the width direction Y of a pair of guide units 4G varies between a reference spacing Ds and a wide spacing Dw, which is wider than the reference spacing Ds, when each of the pair of guide units 4G is arranged along the transfer direction X. In this example, the guide drive unit 450 causes the spacing in the width direction Y of the pair of guide units 4G to vary between the reference spacing Ds and the wide spacing Dw by rotating the pair of guide units 4G synchronously.

[0077] The guidance drive unit 450 includes a guidance drive transmission mechanism 451 that is connected to a pair of guidance units 4G, and a guidance drive source 452 that drives the guidance drive transmission mechanism 451.

[0078] like Figure 7 As shown, in this embodiment, the guide drive transmission mechanism 451 includes a plurality of guide rotating bodies 451a rotatably supported relative to the main body B, and an endless guide transmission member 451b wound around the plurality of guide rotating bodies 451a. In this example, the guide rotating bodies 451a are configured as pulleys. Moreover, the guide transmission member 451b is configured as a belt. Furthermore, the rotation axis of each of the plurality of guide rotating bodies 451a is arranged along the vertical direction.

[0079] A portion of the plurality of guide rotating bodies 451a are driven to rotate by the guide drive source 452. In this example, one guide rotating body 451a is driven to rotate by the guide drive source 452, while the other guide rotating bodies 451a are driven to rotate by means of the driving force transmitted by the guide transmission member 451b.

[0080] At least one of the plurality of guide rotating bodies 451a is configured to be located in the ratio holding part H (see reference). Figure 6 The central portion of the transfer direction X is a copying-side guide rotary body 451a2 located on the copying side X2 of the transfer direction. In this example, the copying-side guide rotary body 451a2 is positioned on the copying side X2 of the transfer direction, relative to the holding part H.

[0081] At least two of the plurality of guide rotors 451a are configured as a discharge-side guide rotor 451a1, which is positioned on the discharge-side X1 in the transfer direction, relative to the copy-side guide rotor 451a2. In this example, three of the plurality of guide rotors 451a are configured as discharge-side guide rotors 451a1.

[0082] In this embodiment, one of the plurality of guide rotating bodies 451a functions to adjust the placement position and tension of the guide transmission member 451b. Furthermore, the guide drive transmission mechanism 451 includes a tension adjusting section 451d that adjusts the tension of the guide transmission member 451b by changing the position of the guide rotating body 451a. In the illustrated example, the tension adjusting section 451d is configured such that changing the position of one of the plurality of guide rotating bodies 451a allows the pushing force of that guide rotating body 451a on the guide transmission member 451b to change. In the illustrated example, the guide rotating body 451a moved by the tension adjusting section 451d is the detached-side guide rotating body 451a1 located at the folded-back end of the guide transmission member 451b among the plurality of detached-side guide rotating bodies 451a1. With this structure, the tension of the guide drive component 451b can be well adjusted so that the width direction configuration area 45Y (described later) of the guide drive component 451b is properly configured along the width direction Y.

[0083] Two of the plurality of unloading side guide rotators 451a1 are separated in the width direction Y but arranged at the same position in the transfer direction X. Furthermore, the area of ​​the guide transmission member 451b arranged across these two unloading side guide rotators 451a1 is designated as a width direction arrangement region 45Y. Thus, in this embodiment, a width direction arrangement region 45Y is provided along the width direction Y in a portion of the guide transmission member 451b. In this example, by means of three unloading side guide rotators 451a1, the guide transmission member 451b is bent relative to the portion arranged along the transfer direction X, forming a region arranged along the width direction Y.

[0084] The width-direction configuration region 45Y includes a first portion 45Ya and a second portion 45Yb, wherein the second portion 45Yb is configured parallel to the first portion 45Ya and is folded back in the width-direction Y by means of a detachable side guide rotator 451a1. The configuration is such that when the guide drive member 451b is driven by the guide drive source 452, the first portion 45Ya and the second portion 45Yb move to opposite sides in the width-direction Y.

[0085] In the width-direction arrangement region 45Y, each of a pair of guide portions 4G is connected. In this embodiment, a guide connecting portion 451c for connecting each of the pair of guide portions 4G is provided in the width-direction arrangement region 45Y. Each guide connecting portion 451c is a connecting portion of the guide portion 4G in the width-direction arrangement region 45Y. Specifically, each guide connecting portion 451c is connected to the force point portion 4Gb of the guide portion 4G via a connecting member 451c1.

[0086] In this embodiment, guide connecting portions 451c are provided in the first portion 45Ya and the second portion 45Yb of the width-direction arrangement region 45Y. Driven by the guide transmission member 451b, the guide portion 4G connected to the guide connecting portion 451c in the first portion 45Ya and the guide portion 4G connected to the guide connecting portion 451c in the second portion 45Yb move in a manner that brings them closer to or separates from each other. In the illustrated example, the connecting member 451c1 that connects the guide connecting portion 451c to the guide portion 4G is constructed using a rod arranged along the width direction Y. Moreover, one end of the connecting member 451c1 is connected to the force point portion 4Gb of the guide portion 4G, and the other end of the connecting member 451c1 is connected to the guide connecting portion 451c provided in the width-direction arrangement region 45Y of the guide transmission member 451b. As a result, the force used to rotate the guide 4G is applied to the force point 4Gb via the connecting member 451c1.

[0087] The transfer drive transmission mechanism 441 and the guide drive transmission mechanism 451 have an intersection portion Z that intersects when viewed in the vertical direction, and are arranged adjacent to each other in the vertical direction at this intersection portion Z. In this embodiment, the transfer transmission member 441b and the guide transmission member 451b have the intersection portion Z. Specifically, the intersection portion Z is formed by a portion of the transfer direction arrangement region 44X of the transfer transmission member 441b and a portion of the width direction arrangement region 45Y of the guide transmission member 451b. Thus, the respective components of the transfer drive transmission mechanism 441 and the guide drive transmission mechanism 451 arranged at the intersection portion Z can be set as only endless transmission members (transfer transmission member 441b and guide transmission member 451b). Therefore, according to this structure, it is easy to reduce the vertical dimension of the intersection portion Z, and thus it is easy to suppress the vertical dimension of the transfer device 4 to a smaller size.

[0088] In this embodiment, the contact portion C, which is connected to the transfer direction configuration region 44X of the transfer transmission member 441b, is positioned above the transfer transmission member 441b and reciprocates along the extending direction (transfer direction X) of the transfer direction configuration region 44X. That is, the contact portion C reciprocates along the transfer direction X above the transfer transmission member 441b. In this embodiment, the transfer transmission member 441b is positioned above the guide transmission member 451b. Therefore, the presence of the guide transmission member 451b does not obstruct the movement of the contact portion C along the transfer direction X above the transfer transmission member 441b. Therefore, according to the above structure, while arranging the transfer transmission member 441b and the guide transmission member 451b in an appropriate positional relationship, the movement range of the contact portion C moving along the transfer transmission member 441b can be ensured to be large. Therefore, the movement range of the container 70 moving along the transfer direction X by means of the contact portion C can be ensured to be large. In other words, the movement range of the container 70 along the transfer direction X can be flexibly set according to the layout of the equipment.

[0089] Here, as Figure 5 and Figure 6 As shown, the transfer drive source 442 and the guide drive source 452 are arranged on the transfer direction picking side X2 relative to the holding part H. Therefore, compared with the case where the transfer drive source 442 and the guide drive source 452 are arranged to overlap with the holding part H in the vertical direction, the vertical dimension of the transfer device 4 can be reduced to a smaller size. Furthermore, compared with the case where the transfer drive source 442 and the guide drive source 452 are arranged on the transfer direction unloading side X1 relative to the holding part H, the presence of these drive sources 442 and 452 is less likely to hinder the transfer of the container 70. In addition, in this embodiment, the transfer drive source 442 and the guide drive source 452 are arranged so as not to interfere with the movement trajectory of the contact part C. More specifically, the transfer drive source 442 and the guide drive source 452 are arranged separately on both sides of the width direction Y relative to the movement trajectory of the contact part C. Therefore, while minimizing the expansion of the size of the transfer direction X of the transfer device 4, the movement range of the contact part C in the transfer direction X is ensured to be large.

[0090] In this embodiment, the transfer drive source 442 and the guide drive source 452 each have rotation axes 442a and 452a (see reference). Figure 6 The electric motor is used. Furthermore, the rotation shafts 442a and 452a of the transfer drive source 442 and the guide drive source 452 are arranged in a vertical direction. This facilitates miniaturization of the horizontal dimensions of the transfer device 4.

[0091] like Figure 5As shown, in this embodiment, the vertical arrangement regions 4R (hereinafter referred to as "drive source arrangement regions 4R") of both the transfer drive source 442 and the guide drive source 452 overlap with the vertical arrangement region 70R (hereinafter referred to as "container arrangement region 70R") of the container 70 held by the holding part H. This facilitates miniaturization of the vertical dimensions of the transfer device 4. Furthermore, the term "overlap" here also includes the concept of partial overlap between the drive source arrangement region 4R and the container arrangement region 70R.

[0092] In this embodiment, the drive source configuration region 4R is a vertically oriented region from the lowermost lower end of the transfer drive source 442 and the lower end of the guide drive source 452, to the uppermost upper end of the transfer drive source 442 and the upper end of the guide drive source 452. Figure 5 In the example shown, the vertical region from the lower end of the guide drive source 452 to the upper end of the transfer drive source 442 is called the drive source configuration region 4R. In this embodiment, the container configuration region 70R is the vertical region of the container 70 held by the holding part H from the lower end to the upper end. In the illustrated example, the container configuration region 70R is smaller than the drive source configuration region 4R, but the relationship between the two may vary depending on the vertical dimension of the container 70 being processed.

[0093] [Transfer Action] Next, the transfer operation of container 70 performed by transfer device 4 will be described. Figures 8 to 13 This is an explanatory diagram showing the situation where the transfer device 4 performs a transfer operation (unloading operation or picking operation) of the container 70 relative to the transfer target part T.

[0094] Figure 8 and Figure 9 This describes the transfer operation (removal operation) of container 70 relative to shelf section 80, exemplified by the case where container 70 stored in shelf section 80 is transferred to holding section H using transfer unit 44U of first unit U1. In this case, control unit 6 (see reference) Figure 3 Align the position of the transfer unit 44U with the reference position 80P of the shelf section 80 (refer to...). Figure 2 Afterwards, the container 70 is pulled towards the transfer direction copying side X2 by means of the locking part Cb. Specifically, the control unit 6 sets the locking part Cb of the first unit U1 to a locking position, and moves it relative to the holding part H towards the transfer direction copying side X2 while locking it with the container 70. As a result, the container 70 of the copying object is pulled towards the holding part H.

[0095] In this embodiment, the transfer device 4 includes a reference position 80P for detecting the shelf section 80 (see reference). Figure 2The reference position detection sensor Se1 is used. As described above, the reference position 80P is the reference position of the shelf section 80 for storing the container 70.

[0096] 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 section 82T provided on the beam member 82. Furthermore, based on the detection result of the reference position detection sensor Se1 on the target section 82T, the traveling body 1, the rotating device 5, and the transfer lifting body drive unit 40M are controlled to perform position correction operations on the transfer device 4, thereby enabling 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 using image recognition of the image captured by the reference position detection sensor Se1, which is configured as a camera, the positional relationship between the transfer device 4 and the target section 82T provided on the beam member 82 can be detected. For example, the reference position detection sensor Se1 may also function as a distance measuring sensor for detecting the distance to an object.

[0097] like Figure 9 As shown, in this embodiment, when the transfer unit 44U performs the container 70 picking operation, the guide unit 45U brings a pair of guide parts 4G closer to each other in the width direction Y. In other words, the guide unit 45U and the container 70 picking operation performed by the transfer unit 44U are parallel, and the distance between the pair of guide parts 4G is set from the wide distance Dw to the reference distance Ds. As a result, the container 70, which moves from the unloading side X1 in the transfer direction toward the picking side X2 in the transfer direction by means of the picking operation, can be properly guided toward the holding part H.

[0098] Figure 10 This describes the unloading (transfer) operation of container 70 relative to shelf section 80, exemplified by the case where container 70, held by holding section H, is unloaded onto shelf section 80 using transfer unit 44U of second unit U2. In this case, control unit 6 (see reference) Figure 3 If it is determined that the shelf section 80, which is the object to be unloaded from, does not contain another container 70, the container 70 is pushed toward the unloading side X1 in the transfer direction by means of the pushing part Ca. Specifically, the control unit 6 moves the pushing part Ca of the second unit U2 relative to the holding part H toward the unloading side X1 in the transfer direction while in contact with the container 70. As a result, the container 70 to be unloaded is pushed into the shelf section 80 (the transfer object section T).

[0099] Furthermore, in this embodiment, the transfer device 4 is equipped with a storage container detection sensor Se2 for detecting the container 70 stored in the shelf section 80.

[0100] The container detection sensor Se2 detects the presence or absence of the container 70 in the shelf section 80 to be transferred when the transfer device 4 performs the unloading operation of 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 to which the unloading is to be performed, 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 to which the unloading is to be performed, the container 70 can be transferred to another empty shelf section 80, or the transfer can be stopped. For example, the container detection sensor Se2 can also be configured as a distance sensor that detects the distance to the target. Thus, 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.

[0101] Furthermore, in this embodiment, when the transfer unit 44U performs the unloading operation of the container 70, the guide unit 45U maintains the interval between the pair of guide parts 4G at a reference interval Ds. This allows the container 70 to be unloaded to be properly guided relative to the shelf part 80 (transfer object part T).

[0102] Figures 11-13 This refers to the transfer operation of container 70 relative to the stacking region 2A. As described above, in this embodiment, a space can be formed in the vertical direction between the multiple containers 70 stacked in the stacking region 2A by means of the lifting device 3. Moreover, the transfer device 4 uses these spaces to transfer the containers 70 relative to the stacking region 2A. In this embodiment, the transfer device 4 is configured to perform the picking-up and unloading operations of containers 70 relative to the stacking region 2A. Specifically, the transfer device 4 is configured to perform the picking-up and unloading operations of containers 70 in parallel relative to the stacking region 2A.

[0103] exist Figures 11-13The 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 of the stacked containers 70 is assigned the numbers "1 to 5" sequentially from bottom to top. Furthermore, the container 70 to be unloaded, held by the holding part H of the first unit U1, 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 vertically between the fifth container 70 (container "5") and the fourth container 70 (container "4") 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.

[0104] like Figure 12 As shown, control unit 6 (refer to) Figure 3 The locking part Cb of the second unit U2 is set to a locking position, so that it moves relative to the holding part H toward the transfer direction copying side X2 while locked to the container 70 (container "3"). Simultaneously, the control unit 6, while the container 70 (container "α") held by the holding part H of the first unit U1 is being pushed by the pushing part Ca, moves relative to the holding part H toward the transfer direction unloading side X1. Thus, the locking part Cb of the second unit U2 pulls the container 70 (container "3") to be copied toward the transfer direction copying side X2, and the pushing part Ca of the first unit U1 pushes the container 70 (container "α") to be unloaded toward the transfer direction unloading side X1.

[0105] Then, the control unit 6 places the container 70 (container "3") of the copied object, which is pulled in by the locking part Cb of the second unit U2, onto the holding part H of the second unit U2, and places the container 70 (container "α") of the unloaded object, which is pushed by the pushing part Ca of the first unit U1, above the container 70 (container "4") lifted by the second lifting holding part 32a, so that it fits into the container 70 (container "4"). Thus, the container group 7 of the lamination region 2A becomes Figure 13 The state is as shown. That is, a portion of the containers 70 (container "3") configured in the stacking region 2A are replaced with a new container 70 (container "α").

[0106] [Other Implementation Methods] Next, other embodiments of the transfer device will be described.

[0107] (1) In the above embodiment, an example in which the transfer rotating body 441a is configured as a pulley and the transfer transmission member 441b is configured as a belt has been described. However, this is not a limitation; for example, the transfer rotating body 441a may be configured as a sprocket and the transfer transmission member 441b may be configured as a chain. Similarly, the guide rotating body 451a may be configured as a sprocket instead of a pulley, and the guide transmission member 451b may be configured as a chain instead of a belt. Furthermore, the transfer drive transmission mechanism 441 is not limited to having a transfer rotating body 441a and a transfer transmission member 441b, and the guide drive transmission mechanism 451 may have a guide rotating body 451a and a guide transmission member 451b. For example, the transfer drive transmission mechanism 441 may be configured using a ball screw mechanism, and the transfer drive source 442 may be configured as an electric motor that drives the screw shaft of the ball screw mechanism. Similarly, the guide drive transmission mechanism 451 can be constructed using a ball screw mechanism, and the guide drive source 452 can be made into an electric motor that drives the screw shaft of the ball screw mechanism. In either case, the rotation shaft of the electric motor can be configured either vertically, horizontally, or inclined in these directions.

[0108] (2) In the above embodiment, an example in which the transfer transmission member 441b is arranged above the guide transmission member 451b has been described. However, it is not limited to such an example, and the transfer transmission member 441b may also be arranged below the guide transmission member 451b.

[0109] (3) In the above embodiment, an example was described in which the vertical arrangement region 4R (drive source arrangement region 4R) of both the transfer drive source 442 and the guide drive source 452 overlaps with the vertical arrangement region 70R (container arrangement region 70R) of the container 70 held by the holding part H. However, this is not a limitation, and the drive source arrangement region 4R and the container arrangement region 70R may not overlap.

[0110] (4) In the above embodiment, an example was described in which the interval between the two guide parts 4G changes by rotating around the pivot part 4Ga as the rotation center. However, it is not limited to such an example. It is also possible to configure the interval between the two guide parts 4G to change by moving parallel to each other in the width direction Y while each of the two guide parts 4G is in its original position parallel to the transfer direction X.

[0111] (5) The arrangement of the plurality of transfer rotating bodies 441a described in the above embodiment is only one example and can be appropriately changed according to the construction of the transfer device 4. Similarly, the arrangement of the plurality of guide rotating bodies 451a can also be appropriately changed according to the construction of the transfer device 4.

[0112] (6) In the above embodiments, an example has been described in which the transfer device 4 has multiple (two in the above embodiments) units U consisting of a main body B, a transfer unit 44U, a guide unit 45U and a holding part H. However, it is not limited to such an example, and the transfer device 4 may also have only one unit U.

[0113] (7) In the above embodiments, an example of the transfer device 4 being configured as part of a transport vehicle 100 that travels on the floor has been described. However, it is not limited to such an example, and the transfer device 4 may also be configured as part of other well-known transport devices such as a stacker crane.

[0114] (8) 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.

[0115] [Summary of the above embodiments] The transfer device described above will now be explained.

[0116] A transfer device includes a holding part for holding an article, and performs a transfer operation, the transfer operation including an unloading operation of transferring the article from the holding part to a transfer target part and a picking operation of transferring the article from the transfer target part to the holding part; the transfer device includes: a transfer unit for moving the article between the holding part and the transfer target part along a transfer direction in the horizontal direction; a guide unit for guiding the article moving between the holding part and the transfer target part along the transfer direction; and a main body for supporting the transfer unit and the guide unit; the transfer unit includes a contact part that contacts the article during the transfer operation to move the article along the transfer direction, and a transfer drive part that reciprocates the contact part along the transfer direction; the width direction is defined as the direction orthogonal to the transfer direction when viewed in the vertical direction; the guide unit includes a portion relative to the article held by the holding part. The article comprises a pair of guide portions arranged on both sides of the aforementioned width direction, and a guide drive portion that changes the spacing between the pair of aforementioned guide portions in the aforementioned width direction; the aforementioned transfer drive portion includes a transfer drive transmission mechanism that is driven connected to the aforementioned contact portion, and a transfer drive source that drives the aforementioned transfer drive transmission mechanism; the aforementioned guide drive portion includes a guide drive transmission mechanism that is driven connected to the pair of aforementioned guide portions, and a guide drive source that drives the aforementioned guide drive transmission mechanism; the side in the aforementioned transfer direction from the aforementioned holding portion toward the aforementioned transfer object portion is designated as the transfer direction unloading side, and the side in the aforementioned transfer direction from the aforementioned transfer object portion toward the aforementioned holding portion is designated as the transfer direction picking side; the aforementioned transfer drive source and the aforementioned guide drive source are arranged relative to the aforementioned holding portion on the aforementioned transfer direction picking side; the aforementioned transfer drive transmission mechanism and the aforementioned guide drive transmission mechanism have an intersection portion that intersects in the aforementioned vertical direction, and are arranged adjacent to each other in the aforementioned vertical direction at the intersection portion.

[0117] According to this structure, the transfer drive source and the guide drive source are arranged on the copying side of the transfer direction relative to the holding part. Therefore, compared with the case where the transfer drive source and the guide drive source are arranged to overlap with the holding part in the vertical direction, the vertical dimension of the transfer device can be reduced to a smaller size. Furthermore, compared with the case where the transfer drive source and the guide drive source are arranged on the unloading side of the transfer direction relative to the holding part, the presence of these drive sources is less likely to hinder the transfer of the article. In addition, in this structure, since the moving direction of the contact part intersects with the moving direction of the guide part, and the contact part and the guide part are arranged with the holding part as a reference, the transfer drive transmission mechanism and the guide drive transmission mechanism must have an overlapping portion in the vertical direction. However, the transfer drive transmission mechanism and the guide drive transmission mechanism are arranged adjacent to each other in the vertical direction at this overlapping portion. Therefore, even with a structure where the transfer drive transmission mechanism and the guide drive transmission mechanism have an overlapping portion, the vertical dimension of the transfer device can be easily reduced to a smaller size. Through the above, according to this structure, miniaturization of the vertical dimension of the transfer device can be achieved.

[0118] Preferably, the aforementioned transfer drive transmission mechanism includes a plurality of transfer rotating bodies rotatably supported relative to the aforementioned main body, and an endless transfer transmission member wound around the plurality of the aforementioned transfer rotating bodies; a portion of the plurality of the aforementioned transfer rotating bodies is rotated and driven by the aforementioned transfer drive source; a portion of the aforementioned transfer transmission member is provided with a transfer direction configuration region arranged along the aforementioned transfer direction, and the aforementioned contact portion is connected to the aforementioned transfer direction configuration region; the aforementioned guide drive transmission mechanism includes a plurality of guide rotating bodies rotatably supported relative to the aforementioned main body, and an endless guide transmission member wound around the plurality of the aforementioned guide rotating bodies; a portion of the plurality of the aforementioned guide rotating bodies is rotated and driven by the aforementioned guide drive source; a portion of the aforementioned guide transmission member is provided with a width direction configuration region arranged along the aforementioned width direction, and each of the pair of the aforementioned guide portions is connected to the aforementioned width direction configuration region; the aforementioned intersection portion is composed of a portion of the aforementioned transfer direction configuration region and a portion of the aforementioned width direction configuration region.

[0119] According to this structure, the components of the transfer drive transmission mechanism and the guide drive transmission mechanism respectively located in the intersection can be set as only endless transmission components (transfer transmission component and guide transmission component). Therefore, according to this structure, the vertical dimension of the intersection can be easily reduced, thereby enabling the vertical dimension of the transfer device to be kept small.

[0120] Furthermore, it is preferable that the aforementioned transfer transmission component is positioned higher than the aforementioned guide transmission component.

[0121] According to this structure, while arranging the transfer drive component and the guide drive component in an appropriate positional relationship, the movement range of the contact portion moving along the transfer drive component can be ensured to be large. Therefore, the movement range of the article moving along the transfer direction via the contact portion can be ensured to be large. Consequently, the movement range of the article along the transfer direction can be flexibly set according to the layout of the equipment.

[0122] Furthermore, preferably, each of the aforementioned transfer drive source and the aforementioned guide drive source is an electric motor having a rotating shaft; the aforementioned rotating shafts of the aforementioned transfer drive source and the aforementioned guide drive source are arranged in a manner along the aforementioned vertical direction; the aforementioned vertical arrangement area of ​​the aforementioned transfer drive source and the aforementioned guide drive source overlaps with the aforementioned vertical arrangement area of ​​the aforementioned article held by the aforementioned holding part.

[0123] According to this structure, since the rotation axes of the transfer drive source and the guide drive source are arranged along the vertical direction, it is easy to miniaturize the horizontal dimension of the transfer device. Furthermore, in this structure, since the vertical arrangement areas of both the transfer drive source and the guide drive source overlap with the vertical arrangement area of ​​the item held by the holding part, it is also easy to miniaturize the vertical dimension of the transfer device.

[0124] Industrial availability The technology disclosed herein can be used in a transfer device that has a holding part for holding articles and performs a transfer operation including an unloading operation that transfers the articles from the holding part to a transfer target part and a picking operation that transfers the articles from the transfer target part to the holding part.

[0125] Explanation of reference numerals in the attached figures 4: Transfer device U: Unit B: Main body C: Contact area H: Retention section 4G: Guidance Unit 4R: Driver Source Configuration Area 44U: Transfer Unit 440: Transfer Drive Unit 441: Transfer drive transmission mechanism 441a: Transfer Rotating Body 441b: Transfer transmission components 442: Transfer driver source 442a: Rotation axis 44X: Transfer direction configuration area 45U: Guidance Unit 450: Guidance and Drive Unit 451: Guiding and driving transmission mechanism 451a: Guiding Rotor 451b: Guiding and transmission components 452: Guiding Driver Source 452a: Rotation axis 45Y: Width direction configuration area 70: Container (item) 70R: Container Configuration Area T: Location of the object being transferred X: Transfer direction X1: Transfer direction, unloading side X2: Transfer direction, copy side Y: Width direction Z: Intersection.

Claims

1. A transfer device comprising a holding portion for holding an article, and performing a transfer operation, the transfer operation including an unloading operation of transferring the article from the holding portion to a transfer target portion and a picking operation of transferring the article from the transfer target portion to the holding portion, characterized in that... have: The transfer unit moves the aforementioned article between the aforementioned holding part and the aforementioned transfer target part along a transfer direction in the horizontal direction; The guiding unit guides the aforementioned article moving between the aforementioned holding part and the aforementioned transfer object part along the aforementioned transfer direction; and The main body supports the aforementioned transfer unit and the aforementioned guide unit; The aforementioned transfer unit includes a contact portion that contacts the aforementioned article during the aforementioned transfer operation and causes the article to move along the aforementioned transfer direction, and a transfer drive portion that causes the aforementioned contact portion to reciprocate 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 guide unit includes a pair of guide portions arranged on both sides of the aforementioned article held by the aforementioned holding portion in the aforementioned width direction, and a guide drive portion that changes the spacing between the pair of aforementioned guide portions in the aforementioned width direction. The aforementioned transfer drive unit includes a transfer drive transmission mechanism that is drivenly connected to the aforementioned contact portion, and a transfer drive source that drives the aforementioned transfer drive transmission mechanism. The aforementioned guidance drive unit includes a guidance drive transmission mechanism that is drivenly connected to a pair of the aforementioned guidance units, and a guidance drive source that drives the aforementioned guidance drive transmission mechanism. 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, and the side of the aforementioned transfer direction from the aforementioned transfer object part toward the aforementioned holding part is designated as the transfer direction copying side. The aforementioned transfer drive source and the aforementioned guide drive source are configured on the copying side of the aforementioned transfer direction relative to the aforementioned holding part; The aforementioned transfer drive transmission mechanism and the aforementioned guide drive transmission mechanism have intersecting portions that intersect in the aforementioned vertical direction, and are arranged adjacent to each other in the aforementioned vertical direction at the intersecting portions.

2. The transfer device as described in claim 1, characterized in that, The aforementioned transfer drive source and the aforementioned guide drive source are separately configured on one side and the other side of the aforementioned width direction relative to the aforementioned contact portion.

3. The transfer device as described in claim 1 or 2, characterized in that, The aforementioned transfer drive transmission mechanism includes a plurality of transfer rotating bodies that are rotatably supported relative to the aforementioned main body, and an endless transfer transmission component that is wound around the plurality of aforementioned transfer rotating bodies. A portion of the aforementioned transfer rotating bodies is driven to rotate by the aforementioned transfer drive source; A portion of the aforementioned transfer transmission component is provided with a transfer direction configuration area arranged along the aforementioned transfer direction, and the aforementioned contact portion is connected to the aforementioned transfer direction configuration area; The aforementioned guide drive transmission mechanism includes a plurality of guide rotating bodies that are rotatably supported relative to the aforementioned main body, and an endless guide transmission component that is wound around the plurality of the aforementioned guide rotating bodies. A portion of the aforementioned guiding rotating bodies is driven to rotate by the aforementioned guiding drive source; A portion of the aforementioned guiding and transmission component is provided with a width direction configuration region arranged along the aforementioned width direction, and each of the aforementioned guiding parts is connected to the aforementioned width direction configuration region; The aforementioned intersection is composed of a portion of the aforementioned transfer direction configuration area and a portion of the aforementioned width direction configuration area.

4. The transfer device as described in claim 3, characterized in that, The aforementioned transfer transmission component is positioned above the aforementioned guide transmission component.

5. The transfer device as described in any one of claims 4, characterized in that, The aforementioned transfer drive source and the aforementioned guide drive source are each electric motors with rotating shafts; The aforementioned rotation axes of the aforementioned transfer drive source and the aforementioned guide drive source are configured along the aforementioned vertical direction; The vertical arrangement areas of the aforementioned transfer drive source and the aforementioned guide drive source overlap with the vertical arrangement area of ​​the aforementioned article held by the aforementioned holding part.

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