Article containing device

Abstract

The present application relates to an article storage device in which a transfer machine elevates a support portion (40a) between a lower set position (Pd) set below a placement portion (A) relative to a transfer site (L) that is an object of a transfer operation and an upper set position (Pu) set above the placement portion (A) in the transfer operation, and a control device changes the setting of at least one of the lower set position (Pd) and the upper set position (Pu) to make the range from the lower set position (Pd) to the upper set position (Pu), that is, the elevation range (R) of the support portion (40a) different in the case of transferring an article to a transfer site (L) provided at a storage / retrieval portion (2) and in the case of transferring an article to a transfer site (L) provided at a storage portion (10).

Description

Technical Field

[0001] This invention relates to an article containing device. Background Technology

[0002] In an article-containing device, articles are stored and transported by means of an article-containing shelf for holding articles and a article-moving device for moving articles. An example of such an article-containing device is disclosed in Japanese Patent Application Publication No. 2007-126254 (Patent Document 1). In the following description of the background art, the reference numerals in parentheses are those of the reference numerals in Patent Document 1.

[0003] In the technology disclosed in Patent Document 1, a marking sensor (26, 27) is provided at the sliding fork (24) for transferring articles, and a mark (36) is provided at the shelf support (34) for holding articles. When transferring articles relative to the shelf support (34), the detection of the mark (36) based on the marking sensor (26, 27) determines whether the sliding fork (24) is in an appropriate position for transferring.

[0004] However, when using a fork configured to transfer an article from below to a transfer section such as the frame support (a pair of plates spaced apart from each other) described in Patent Document 1, the fork's extension, retraction, and raising / lowering are necessary. That is, by raising and lowering the fork, vertical alignment is achieved relative to the transfer section; by retracting the fork, horizontal alignment is achieved relative to the transfer section. Then, the fork is further raised and lowered relative to the transfer section, thereby receiving or transferring an article from or to the transfer section. Thus, the transfer of the article involves the fork's extension, retraction, and raising / lowering, and space is clearly needed at the transfer section for this. However, in cases where multiple transfer sections with different structures exist, the range of fork movement may be limited depending on the structure of the transfer section. Patent Document 1 does not specifically address this point. Summary of the Invention

[0005] In view of the above situation, it is desirable to realize a technology that can perform a transfer action appropriately corresponding to each of the multiple transfer parts with different structures.

[0006] The techniques used to solve the above problems are described below.

[0007] An item holding device includes an item holding rack, an inlet / outlet section, a conveying device, and a control device. The item holding rack has multiple holding sections for holding items. The inlet / outlet section handles the storage of items into and out of the item holding rack. The conveying device conveys the items. The control device controls the conveying device. The conveying device includes a transfer machine for transferring the items relative to transfer sections provided at each of the multiple holding sections and the inlet / outlet section. The transfer machine includes a fork, a retraction mechanism, and a lifting mechanism. The fork supports the items from below. The retraction mechanism causes the fork to retract along a horizontal retraction direction between a retracted position and a protruding position. The lifting mechanism raises and lowers the fork. The transfer mechanism is configured to both retract and raise / lower the fork. The aforementioned transfer machine performs a transfer operation between the aforementioned transfer part and the aforementioned transfer part. The portion of the aforementioned transfer part that holds the aforementioned items is called the placement part, and the portion of the aforementioned fork that supports the aforementioned items is called the support part. During the aforementioned transfer operation, the aforementioned transfer machine raises and lowers the aforementioned support part between a lower setting position set below the aforementioned placement part of the aforementioned transfer part that is the object of the transfer operation and an upper setting position set above the aforementioned placement part. The aforementioned control device changes the setting of at least one of the aforementioned lower setting position and the aforementioned upper setting position, so that the raising and lowering range of the aforementioned support part, which is the range from the aforementioned lower setting position to the aforementioned upper setting position, is different when the aforementioned items are transferred to the aforementioned transfer part set at the aforementioned inbound / outbound part and when the aforementioned items are transferred to the aforementioned transfer part set at the aforementioned receiving part.

[0008] According to this structure, even when the construction of the transfer part at the inlet / outlet section differs from that at the receiving section, or when the lifting range limitation of the support portion during the transfer operation differs from that of the transfer part, an appropriate lifting range can still be set corresponding to each transfer part to properly transfer the items. Therefore, according to this structure, even when there are multiple transfer parts with different constructions, a transfer operation can be performed appropriately corresponding to each transfer part.

[0009] Further features and advantages of the technology described in this application will become clearer from the following illustrative and non-limiting description of embodiments with reference to the accompanying drawings. Attached Figure Description

[0010] Figure 1 This is a side view of the device that holds the items.

[0011] Figure 2 It is a top view showing the container and the items contained in the container.

[0012] Figure 3It is a side view showing the receiving part and the items contained in the receiving part.

[0013] Figure 4 This is a top view showing the receiving part and the fork that transfers the load relative to the receiving part.

[0014] Figure 5 This is a top view showing the inbound / outbound section and the fork that performs the transfer relative to that section.

[0015] Figure 6 It is a diagram showing the upper and lower setting positions corresponding to each transfer part.

[0016] Figure 7 It is a control block diagram.

[0017] Figure 8 It is a flowchart representing the control process performed in the item containing device. Detailed Implementation

[0018] The following describes an embodiment of the article-containing device used in a semiconductor manufacturing plant. In this embodiment, the article is a container used to store items. Here, the article, as the stored item, is configured to store a semiconductor substrate made of semiconductor wafers or the like. An example of a container constituting the article is a front-opening box-type container called a front-opening unified pod. The article-containing device of this embodiment is used for storing and transporting such articles.

[0019] like Figure 1 As shown, the item holding device 100 includes an item holding rack 1, an inbound / outbound section 2, a conveying device 3, and a control device 6. The item holding rack 1 has multiple holding sections 10 for holding items W. The inbound / outbound section 2 handles the storage of items W into and out of the item holding rack 1. The conveying device 3 conveys items W, and the control device 6 controls the conveying device 3. The conveying device 3 has a transfer machine 4 that transfers items W to transfer parts L provided at each of the multiple holding sections 10 and the inbound / outbound section 2. Thus, the conveying device 3 can convey items W between each of the multiple holding sections 10 and between the inbound / outbound section 2. In addition, in this example, the item holding device 100 has an overall control device H for managing the entire device. According to the instructions issued from the overall control device H, each part and device of the item holding device 100 performs an action corresponding to the instruction.

[0020] In this embodiment, the item holding device 100 includes a holding chamber 9. The holding chamber 9 is a space surrounded by a floor 91, a peripheral wall 92, and a ceiling 93. In this example, the holding chamber 9 is kept in a clean environment, and an item holding rack 1 and a conveying device 3 are arranged inside the holding chamber 9. In the illustrated example, inside the holding chamber 9, a pair of item holding racks 1 are arranged to horizontally sandwich the conveying device 3. The conveying device 3 is configured to convey item W through the conveying space formed between the pair of item holding racks 1.

[0021] In this embodiment, the article containing device 100 includes a gas supply unit 5 for supplying gas to the interior of the article W. The gas supply unit 5 is provided relative to each of the plurality of containing portions 10 provided in the article containing rack 1, configured to supply gas to the interior of the article W contained in each of the respective containing portions 10. In this embodiment, one of a pair of article containing racks 1 is a "rinsing rack" provided with the gas supply unit 5, and the other is a "non-rinsing rack" without the gas supply unit 5. These racks are essentially identical in construction except for the presence or absence of the gas supply unit 5.

[0022] In this embodiment, a plurality of receiving portions 10 are provided on the article receiving rack 1, arranged in multiple layers and columns. In other words, the plurality of receiving portions 10 are arranged in both vertical and horizontal directions. Each of the plurality of receiving portions 10 is provided with a transfer part L for the transfer machine 4 of the conveying device 3 to transfer the article W. Hereinafter, the transfer part L of the receiving portion 10 provided in the above-mentioned "rinsing rack" of a pair of article receiving racks will be referred to as "first transfer part L1".

[0023] In this embodiment, the item receiving rack 1 includes a plurality of support columns 11 and a plurality of mounting plates 12. Each of the plurality of support columns 11 is arranged vertically and horizontally spaced apart from each other. Each of the plurality of mounting plates 12 is a component for holding an item W and is supported by a corresponding plurality of or a single support column 11. In this example, the end opposite to the transport space side is cantilevered by a pair of adjacent support columns 11, such that the end of the mounting plate 12 on the transport space side (the space where the transport device 3 is provided) is a free end, and the opposite side is a fixed end. Here, a receiving portion 10 is provided for each mounting plate 12. The item W is received in the receiving portion 10 while it is placed on the mounting plate 12.

[0024] In this embodiment, the inbound / outbound unit 2 is configured to transport items W throughout the exterior and interior of the storage chamber 9. The inbound / outbound unit 2 performs the storage of items W into the item storage rack 1 by transporting items W from the exterior to the interior of the storage chamber 9, and performs the retrieval of items W from the item storage rack 1 by transporting items W from the interior to the exterior of the storage chamber 9. In this example, the inbound / outbound unit 2 is configured as a conveyor to transport items W in a loaded state. Furthermore, the inbound / outbound unit 2 is configured to have a horizontally extending peripheral wall 92. In the portion of the inbound / outbound unit 2 located inside the storage chamber 9, a transfer section L for the transfer machine 4 of the transport device 3 to transfer items W is provided. Hereinafter, the transfer section L provided at the inbound / outbound unit 2 will be referred to as "second transfer section L2".

[0025] In this embodiment, the item holding device 100 includes an external transport device 8 for transporting items W outside the holding chamber 9. The external transport device 8 transfers items W between itself and a portion of the inlet / outlet section 2 that is disposed outside the holding chamber 9. In the illustrated example, the external transport device 8 is configured as a roof transport vehicle that transports items W near the ceiling, transferring items W from above relative to the inlet / outlet section 2.

[0026] The transport device 3 is configured to transport items W between the inbound / outbound section 2 and one of the plurality of receiving sections 10, and between one of the plurality of receiving sections 10 and another receiving section 10. In this embodiment, the transport device 3 includes a travel track 30 arranged horizontally along the item receiving rack 1, a travel section 31 driven by a travel motor 31m to travel along the travel track 30, a rod 32 extending upward from the travel section 31, and a lifting body 33 that moves up and down along the rod 32. In this example, a transfer machine 4 is provided on the lifting body 33. The transfer machine 4 and the lifting body 33 move freely together in the horizontal direction along the travel track 30 and in the vertical direction along the rod 32. Thus, the transfer machine 4 can transfer items W to each of the plurality of receiving sections 10 (first transfer sections L1) arranged side by side in the vertical and horizontal directions. In addition, the transfer machine 4 can also transfer items W to the second transfer section L2 of the inbound / outbound section 2, which is arranged within the transport range of the transport device 3 in the vertical and horizontal directions.

[0027] The transfer machine 4 is equipped with a fork 40 that supports the item W from below, and forks 40 are positioned in a retracted position Px1 and a protruding position Px2 along a horizontally projecting retracting direction X (see reference). Figure 4 and Figure 5 The fork 40 is configured to retract and extend between the fork 40 and the transfer part L by means of retracting and extending the fork 40. Figure 1 The middle indicates that fork 40 is in the retracted position Px1.

[0028] In this embodiment, the protrusion retraction mechanism 41 includes a linkage mechanism that supports the fork 40 at its end portion and a protrusion retraction motor that drives the linkage mechanism. In this example, the fork 40 is configured as part of a so-called Selective Compliance Assembly Robot Arm (SCARA).

[0029] In this embodiment, the lifting mechanism 42 includes a ring-shaped body, a pulley wound around the ring-shaped body, and a lifting motor that drives the rotating body to rotate. In this example, the lifting of the fork 40 is achieved by the lifting of the lifting body 33. That is, the fork 40 supported by the lifting body 33 is raised and lowered as the lifting body 33 is raised and lowered.

[0030] As described above, the article receiving device 100 is provided with a first transfer part L1 and a second transfer part L2 as transfer parts L for transferring articles W by means of the transfer machine 4. The first transfer part L1 is provided in each of the plurality of receiving parts 10 (in this example, the plurality of receiving parts 10 of the washing rack). The second transfer part L2 is provided in the part of the inlet / outlet section 2 disposed inside the receiving chamber 9. Hereinafter, without particularly distinguishing between the first transfer part L1 and the second transfer part L2, they will be collectively referred to as "transfer part L".

[0031] Figures 2-4 This indicates the first transfer location, L1. In detail, Figure 2 and Figure 3 This indicates the relationship between the receiving part 10, which is provided with the first transfer part L1, and the article W contained in the receiving part 10. Figure 4 This indicates the relationship between the receiving part 10 and the fork 40. Furthermore, hereinafter, the side of the fork 40 that retracts in the protruding retraction direction X is designated as "retraction side X1," and the side of the fork 40 that protrudes is designated as "protruding side X2." Additionally, the direction orthogonal to the protruding retraction direction X when viewed vertically is designated as "width direction Y."

[0032] like Figure 2 and Figure 3 As shown, the item W has a main body Wa, a retaining part Wb, and a locking groove Wc. The main body Wa is the part that stores the stored item and is formed in a box shape. The retaining part Wb is formed to protrude upward from the main body Wa, and in this example, it is formed in a flange shape. The retaining part Wb is an external conveying device 8 (see reference). Figure 1 The part held by the external conveying device 8 when the item W is being transferred. A locking groove Wc is formed on the bottom surface of the main body Wa, recessed upwards from the bottom surface. As described later, the locking groove Wc engages with the support pin 40a of the fork 40 and the first mounting pin 121 of the receiving portion 10. The locking groove Wc engages with these pins, thereby positioning the item W in the horizontal direction.

[0033] In this embodiment, the article W is configured to receive gas from the gas supply unit 5. The bottom surface of the main body Wa has a gas inlet Wi for injecting gas supplied from the gas supply unit 5 and a gas outlet Wo for discharging gas present in the internal space of the article W. For example, by supplying an inert gas (an example of a gas) into the interior of the article W, a process is performed to remove oxygen and other substances that easily cause material aging due to oxidation from the interior of the article W. This process is called a rinsing process.

[0034] A mounting plate 12 is placed at the receiving portion 10. The article W is contained within the receiving portion 10 while mounted on the mounting plate 12. Furthermore, a gas supply unit 5 is provided at the receiving portion 10. The gas supply unit 5 is configured to supply gas to the interior of the article W contained within the receiving portion 10. The gas supplied by the gas supply unit 5 is, for example, an inert gas such as nitrogen, to keep the interior of the article W clean and inhibit aging of the semiconductor substrate (the contained object) stored inside the article W. The main components of the gas supply unit 5 (gas generating unit, control unit, etc.) are positioned on the protruding side X2 relative to the mounting plate 12.

[0035] At 12 locations on the mounting plate, allowable forks 40 are formed (refer to...) Figure 4 The mounting plate 12 has a passage 120 that passes through in the vertical direction. The central part of the plate 12 in the width direction Y is formed to open toward the retraction side X1, and it is roughly U-shaped when viewed in the vertical direction.

[0036] Furthermore, a first mounting pin 121 protruding upward is provided on the upper surface of the mounting plate 12. The first mounting pin 121 positions the article W in the horizontal direction when the article W is mounted on it. To explain, the first mounting pin 121 engages with an engagement groove Wc formed at the bottom surface of the main body Wa of the article W, thereby placing the article W on the first mounting pin 121 and positioning it in the horizontal direction.

[0037] In this embodiment, a plurality of first mounting pins 121 are provided around the passage portion 120 of the mounting plate 12. Figure 2 In the example shown, the three first mounting pins 121 are configured such that the lines connecting them form a triangle when viewed vertically. Two of the three first mounting pins 121 are configured to separate in the width direction Y from the same position in the retraction direction X. The remaining one of the three first mounting pins 121 is positioned at the midpoint of the other two first mounting pins 121 in the width direction Y on the protruding side X2. In this embodiment, the first mounting pin 121 corresponds to the "mounting part," which is the part where the article W is mounted at the transfer part L. Here, the mounting part A provided at the first transfer part L1 of the transfer part L is designated as the "first mounting part A1." That is, the first mounting pin 121 corresponds to the first mounting part A1.

[0038] In this embodiment, the mounting plate 12 is provided with a bulge 122 that bulges inward in the width direction Y (to one side of the through portion 120). In this example, a pair of bulges 122 are arranged apart in the width direction Y at the same position in the retraction direction X. That is, in this example, each of the pair of bulges 122 is arranged at a position corresponding to a pair of first mounting pins 121 arranged apart in the width direction Y at the same position in the retraction direction X. Each of the pair of bulges 122 bulges inward in the width direction Y compared to the corresponding first mounting pin 121. Furthermore, each of the pair of bulges 122 is arranged closer to the retraction side X1 than the corresponding first mounting pin 121. In addition, the "inner side" mentioned above refers to the side of the receiving portion 10 facing the center position in the width direction Y.

[0039] In this embodiment, the gas supply unit 5 includes a gas flow pipe 50 and a nozzle 51 connecting the article W housed in the receiving part 10 to the pipe 50. In this embodiment, the gas supply unit 5 includes multiple nozzles 51. The multiple nozzles 51 include a gas supply nozzle 51a connected to the gas supply port Wi of the article W, and an exhaust nozzle 51b connected to the exhaust port Wo of the article W. In the illustrated example, three gas supply nozzles 51a and one exhaust nozzle 51b are disposed in the receiving part 10. Hereinafter, without specifically distinguishing between the gas supply nozzles 51a and the exhaust nozzle 51b, they will be collectively referred to as "nozzle 51".

[0040] In this embodiment, a portion of the plurality of nozzles 51 are disposed on the bulge 122. In the illustrated example, one of the pair of bulges 122 is provided with an air supply nozzle 51a and the other with an exhaust nozzle 51b.

[0041] Piping 50 protrudes downward from each of the plurality of nozzles 51 and extends downward along the extending direction of the mounting plate 12 compared to the mounting plate 12. In this example, piping 50 is arranged in a manner that overlaps when viewed vertically relative to the mounting plate 12. Furthermore, as... Figure 4 As shown, at least a portion of the piping 50, namely the target portion 50T, is positioned in the receiving portion 10 below the first mounting portion A1 (first mounting pin 121) and overlaps with the movement trajectory 40M of the fork 40 when viewed vertically. In this example, the target portion 50T of the piping 50 is the portion that overlaps with the bulge 122 when viewed vertically. In other words, the target portion 50T is the portion of the piping 50 that protrudes downward from the nozzle 51 (air supply nozzle 51a or exhaust nozzle 51b) positioned at the bulge 122. Furthermore, the aforementioned movement trajectory 40M of the fork 40 is the movement trajectory of the fork 40 when it protrudes and retracts along the protrusion retraction direction X.

[0042] like Figure 4As shown, in this embodiment, a support pin 40a protruding upward is provided on the upper surface of the fork 40. The support pin 40a supports the article W from below and positions the article W in the horizontal direction. To explain, the engagement groove Wc formed between the support pin 40a and the bottom surface of the main body Wa of the article W (see reference...) Figure 2 The item W is engaged, thereby being supported by the support pin 40a and positioned in the horizontal direction.

[0043] In this embodiment, a plurality of support pins 40a are disposed on the upper surface of the fork 40. Figure 4 In the example shown, the three support pins 40a are arranged such that the lines connecting them form a triangle when viewed vertically. Two of the three support pins 40a are positioned at the same location in the retraction direction X, separated in the width direction Y. The remaining one of the three support pins 40a is positioned at the midpoint of the width direction Y of the other two support pins 40a on the protruding side X2. In this embodiment, the support pin 40a corresponds to a "support portion," which is the part of the fork 40 that supports the article W.

[0044] In this embodiment, a cutout 40b is formed at the fork 40. The cutout 40b is formed in the portion of the object portion 50T, which is positioned at the protruding position Px2 for transferring the fork 40 relative to the receiving portion 10, and overlaps when viewed vertically. In this example, the fork 40 is positioned in the passage portion 120 of the mounting plate 12, and the cutout 40b is positioned facing the bulge 122 in the horizontal direction. In this state, the fork 40 has a portion positioned outside the bulge 122 in the width direction Y, but due to the presence of the cutout 40b, it does not interfere with the bulge 122. As described above, the object portion 50T of the pipe 50 is positioned overlapping the bulge 122 when viewed vertically, so even if the fork 40, positioned at the protruding position Px2, moves up or down in that position, it does not interfere with the bulge 122, nor with the object portion 50T. Therefore, when the fork 40, positioned at the protruding location Px2, is raised or lowered, interference with the mounting plate 12 can be avoided, and the passage portion 120 can pass through in the vertical direction. With the fork 40 supporting the article W, the passage portion 120 passes through from top to bottom, thereby transferring the article W to the mounting plate 12 (receiving portion 10). Conversely, with the article W placed on the mounting plate 12, the fork 40 passes through from bottom to top, thereby receiving the article W from the mounting plate 12 (receiving portion 10).

[0045] In this embodiment, the cut portion 40b is shaped as a cut on a portion of the end edge of the fork 40 in the width direction Y toward the center side in the width direction Y. In this example, a pair of cut portions 40b are formed at the fork 40. The pair of cut portions 40b are formed on both sides of the fork 40 at the same position in the protrusion-retraction direction X. That is, in this example, the fork 40 is shaped such that a portion in the protrusion-retraction direction X narrows in the width direction Y due to the pair of cut portions 40b.

[0046] Figure 5 This indicates the transfer point L2, located at the second location of the inbound / outbound section. In detail... Figure 5 This indicates the relationship between the inbound / outbound section 2, the item W, and the fork 40, which has the second transfer section L2.

[0047] like Figure 5 As shown, the inbound / outbound section 2 includes a pair of mounting members 21 arranged apart along the width direction Y. The distance between the pair of mounting members 21 in the width direction Y is shorter than the width direction Y dimension of the item W. Therefore, the pair of mounting members 21 are configured to mount the item W. The portion of the pair of mounting members 21 that mounts the item W is equivalent to a "mounting section", which is the portion of the transfer section L that mounts the item W. Here, the mounting section A provided at the second transfer section L2 of the transfer section L is designated as the "second mounting section A2". That is, the portion of the pair of mounting members 21 that mounts the item W is equivalent to the second mounting section A2.

[0048] The width Y-direction spacing of the pair of mounting members 21 is larger than the width Y-direction dimension of the fork 40. Therefore, the fork 40 can pass through the pair of mounting members 21 in a vertical direction. With the item W supported by the fork 40, it passes between the pair of mounting members 21 from top to bottom, thereby transferring the item W to the pair of mounting members 21 (entry / exit section 2). Conversely, with the item W placed on the pair of mounting members 21, the fork 40 passes between the pair of mounting members 21 from bottom to top, thereby receiving the item W from the pair of mounting members 21 (entry / exit section 2).

[0049] Figure 6 This indicates that fork 40 is in the ready position before the transfer operation, i.e., the transfer ready position Pt. In detail, Figure 6 The left figure shows the state in which the fork 40 is in the transfer preparation position Pt relative to the first transfer part L1 (accommodation part 10). Figure 6 The right figure shows the fork 40 in the transfer preparation position Pt relative to the second transfer part L2 (inbound / outbound section 2). The fork 40 protrudes from the transfer preparation position Pt toward the transfer part L, which is the object of the transfer operation, and is located in the protruding position Px2 (see reference). Figure 4 and Figure 5The transfer machine 4 moves its support pin 40a between a lower set position Pd relative to the loading part L and the loading part L, thereby transferring the article W between the loading part L and the loading part L. During the transfer operation, the support pin 40a moves between a lower set position Pd relative to the loading part A (the object of the transfer operation) and an upper set position Pu relative to the loading part A. Thus, the article W is transferred between the loading part L and the loading part L. Furthermore, Figure 6 In order to avoid clutter in the diagram, item W is omitted.

[0050] In this embodiment, the transfer machine 4 includes a position detection unit S, which detects whether the fork 40 is located at a transfer preparation position Pt relative to the transfer part L, which is the object of the transfer operation. Furthermore, each of the plurality of receiving parts 10 and the in / out storage part 2 is provided with a detection part M that is detected by the position detection unit S when the fork 40 is located at the transfer preparation position Pt. The position detection unit S can also be a known detection mechanism such as a light sensor, an ultrasonic sensor, or a camera. The detection part M can also be a reflector, a reflective label, a mark, or part of a component provided at the transfer part L.

[0051] Here, the detection unit M provided at each of the plurality of receiving portions 10 is designated as the first detection unit M1, and the detection unit M provided at the inbound / outbound portion 2 is designated as the second detection unit M2. In this embodiment, the position detection unit S includes a first sensor S1 and a second sensor S2. The first sensor S1 detects the first detection unit M1 when the fork 40 is in the transfer preparation position Pt relative to the receiving portion 10, and the second sensor S2 detects the second detection unit M2 when the fork 40 is in the transfer preparation position Pt relative to the inbound / outbound portion 2.

[0052] Also Figure 4 As shown, in this embodiment, the first detection part M1 is provided on the mounting plate 12 of the receiving part 10. The first detection part M1 is preferably provided on the surface of the mounting plate 12 facing the retraction side X1. Figure 4 In the example shown, the first detected part M1 is located on the portion of the bulge 122 (one of a pair of bulges 122) facing the retraction side X1.

[0053] Also Figure 5 As shown in the figure, in this embodiment, the second detection unit M2 is provided on the loading member 21 (one of a pair of loading members 21) of the inlet / outlet section 2. The second detection unit M2 is preferably provided on the surface of the loading member 21 facing the return side X1.

[0054] like Figure 6As shown, in this embodiment, a first sensor S1 and a second sensor S2 are disposed on the fork 40. The first sensor S1 and the second sensor S2 have different detection ranges. In this example, the first sensor S1 and the second sensor S2 face the protruding side X2 and are fixed to the fork 40 in a manner where at least one of their positions and orientations is different. Therefore, the detection range of the first sensor S1 and the detection range of the second sensor S2, based on the position of the fork 40, are different ranges. Furthermore, Figure 4 and Figure 5 In this text, the first sensor S1, the second sensor S2, and the third sensor S3 (described later) are omitted.

[0055] like Figure 6 As shown, with the fork 40 in the transfer preparation position Pt, the support pin 40a is located at either the lower setting position Pd or the upper setting position Pu. In this embodiment, the transfer operation includes a picking-up operation of receiving the item W from the transfer part L and an unloading operation of transferring the item W to the transfer part L. When the transfer machine 4 performs the picking-up operation, with the fork 40 in the transfer preparation position Pt, the support pin 40a is positioned at the lower setting position Pd. When the transfer machine 4 performs the unloading operation, with the fork 40 in the transfer preparation position Pt, the support pin 40a is positioned at the upper setting position Pu.

[0056] During the copying operation, the transfer machine 4 raises the support pin 40a from the lower set position Pd to the upper set position Pu relative to the loading part A of the transfer section L, which is the object of the copying operation. This allows the support pin 40a to receive the article W placed on the loading part A. Furthermore, during the unloading operation, the transfer machine 4 lowers the support pin 40a from the upper set position Pu to the lower set position Pd relative to the loading part A of the transfer section L, which is the object of the unloading operation. This transfers the article W supported on the support pin 40a to the loading part A.

[0057] In this embodiment, a first lower setting position Pd1 (refer to) is provided as a lower setting position Pd relative to the support pin 40a of the first transfer part L1. Figure 6 (See the left figure). Furthermore, a second lower setting position Pd2 is provided as a lower setting position Pd relative to the support pin 40a of the second transfer portion L2 (see the left figure). Figure 6 (See right figure). Furthermore, an upper setting position Pu is set relative to both the first transfer part L1 and the second transfer part L2.

[0058] Thus, in this embodiment, the support pin 40a, which is used to transfer the item W by the transfer machine 4, is provided with a first lower setting position Pd1, a second lower setting position Pd2, and an upper setting position Pu.

[0059] like Figure 6 As shown in the left figure, when the fork 40 is in the transfer preparation position Pt during the picking operation relative to the receiving part 10, the support pin 40a is positioned at the first lower setting position Pd1. In this example, the first sensor S1 is configured to detect the first detected part M1 when the support pin 40a is positioned at the first lower setting position Pd1. Furthermore, when the fork 40 is in the transfer preparation position Pt during the unloading operation relative to the receiving part 10, the support pin 40a is positioned at the upper setting position Pu. In this example, the position detection unit S also includes a third sensor S3, which is configured to detect the first detected part M1 when the support pin 40a is positioned at the upper setting position Pu.

[0060] like Figure 6 As shown in the right figure, when the fork 40 is in the transfer preparation position Pt relative to the in-and-out unit 2 for a copying operation, the support pin 40a is positioned at the second lower setting position Pd2. In this example, the second sensor S2 is configured to detect the second detected part M2 when the support pin 40a is positioned at the second lower setting position Pd2. Furthermore, when the fork 40 is in the transfer preparation position Pt relative to the in-and-out unit 2 for an unloading operation, the support pin 40a is positioned at the upper setting position Pu. In this example, the third sensor S3 is configured to detect the second detected part M2 when the support pin 40a is positioned at the upper setting position Pu. That is, in this example, the position detection unit S includes the first sensor S1, the second sensor S2, and the third sensor S3. Furthermore, the first sensor S1 is configured to detect only the first detected part M1, the second sensor S2 is configured to detect only the second detected part M2, and the third sensor S3 is configured to detect both the first detected part M1 and the second detected part M2.

[0061] In this embodiment, when the transfer machine 4 transfers an article W to the first placement part A1 relative to the first transfer part L1, it moves the support pin 40a up and down between the first lower setting position Pd1 and the upper setting position Pu. Based on the detection results of the first sensor S1 and the third sensor S3, it determines whether the support pin 40a is correctly located at each of the first lower setting position Pd1 and the upper setting position Pu. Furthermore, when the transfer machine 4 transfers an article W to the second placement part A2 relative to the second transfer part L2, it moves the support pin 40a up and down between the second lower setting position Pd2 and the upper setting position Pu. Based on the detection results of the second sensor S2 and the third sensor S3, it determines whether the support pin 40a is correctly located at each of the second lower setting position Pd2 and the upper setting position Pu.

[0062] Next, the control structure of the item containing device 100 will be explained.

[0063] like Figure 7 As shown, the goods-containing equipment 100 includes a comprehensive control device H for managing the entire equipment and a control and handling device 3 (see reference). Figure 1 The control device 6 is an integrated control device. The integrated control device H and the control device 6 are configured to communicate with each other. The integrated control device H is configured to transmit handling instructions Cm related to the handling of item W to the control device 6. The handling instructions Cm include information about the transfer point L of the handling source and destination. Furthermore, the control device 6 is configured to control each part of the handling device 3 based on the handling instructions Cm. The integrated control device H and the control device 6 include, for example, a processor such as a microcomputer, peripheral circuits such as memory, etc. Furthermore, each function is realized through the coordinated operation of this hardware and the program executed on the processor such as the computer.

[0064] In this embodiment, the control device 6 is configured to control the traveling part 31, the protruding retraction mechanism 41, and the lifting mechanism 42 based on the transport command Cm transmitted from the overall control device H. Thus, the control device 6 performs three-dimensional alignment of the item W relative to the transfer part L contained in the transport command Cm.

[0065] In this embodiment, the control device 6 is configured to acquire detection results of the detected part M using the first sensor S1, the second sensor S2, and the third sensor S3. Based on the detection results of these sensors, the control device 6 causes the transfer machine 4 to transfer the article W relative to the object transfer part L.

[0066] The control device 6, by changing at least one of the lower setting position Pd and the upper setting position Pu, adjusts the range of movement R of the support pin 40a from the lower setting position Pd to the upper setting position Pu (refer to the lifting range R of the support pin 40a) when the item W is being transferred to the transfer part L (second transfer part L2) provided at the inlet / outlet section 2 and when the item W is being transferred to the transfer part L (first transfer part L1) provided at the receiving section 10. Figure 6 The lifting range R is different from that of the transfer part L, without changing the setting of the upper setting position Pu.

[0067] like Figure 6As shown in the left figure, in this embodiment, when the transfer machine 4 performs a transfer operation relative to the receiving portion 10, the control device 6 sets the lower setting position Pd below the target portion 50T of the piping 50. Therefore, when the fork 40 protrudes and retracts for the transfer operation, the fork 40 can be prevented from interfering with the target portion 50T of the piping 50. In this embodiment, when the transfer machine 4 performs a picking and unloading operation relative to the receiving portion 10, i.e., relative to the first transfer portion L1, the control device 6 sets the first lower setting position Pd1 to the lower setting position Pd.

[0068] like Figure 6 As shown in the right figure, in this embodiment, when the transfer machine 4 performs a transfer operation relative to the inbound / outbound section 2, the control device 6 sets the lower setting position Pd below the second placement section A2. In this example, when the control device 6 performs a picking and unloading operation on the transfer machine 4 relative to the inbound / outbound section 2, i.e., relative to the second transfer section L2, the second lower setting position Pd2 is set to the lower setting position Pd. The lower setting position Pd (second lower setting position Pd2) relative to the placement section A (second placement section A2) of the inbound / outbound section 2 is set above the lower setting position Pd (first lower setting position Pd1) relative to the placement section A (first placement section A1) of the receiving section 10. Furthermore, in this example, the upper setting position Pu relative to the loading section A (second loading section A2) of the loading section 2 and the upper setting position Pu relative to the loading section A (first loading section A1) of the receiving section 10 are the same. Therefore, the lifting range R of the support pin 40a when the transfer machine 4 performs a transfer operation relative to the loading section 2 (second transfer section L2) is set to be shorter than the lifting range R of the support pin 40a when the transfer machine 4 performs a transfer operation relative to the receiving section 10 (first transfer section L1). With this structure, the lifting range R of the support pin 40a when the transfer machine 4 performs a transfer operation relative to the loading section 2 (second transfer section L2) can be made smaller, and the time required for the transfer operation can be shortened.

[0069] like Figure 7As shown, in this embodiment, the control device 6 includes a storage unit 61 and a setting change unit 62. The storage unit 61 stores the lower setting position Pd and upper setting position Pu of the fork 40 when transferring the article W relative to each of the plurality of transfer positions L. The setting change unit 62 changes the setting of at least one of the lower setting position Pd and the upper setting position Pu. In this example, the setting change unit 62 changes the setting of the lower setting position Pd without changing the setting of the upper setting position Pu. The aforementioned transport command Cm includes information about the transfer position L to which the transfer is to be performed, information about the transfer operation to be performed at that transfer position L, i.e., information about whether a picking operation or an unloading operation should be performed. Based on the information contained in the transport command Cm, the setting change unit 62 obtains the information about the lower setting position Pd and upper setting position Pu for each of the transfer positions L from the storage unit 61 and performs the aforementioned setting change.

[0070] In this embodiment, when the transfer machine 4 performs a copying operation, the control device 6 performs detection of the detected part M based on the position detection unit S, with the support pin 40a positioned at a predetermined position Pd below the transfer part L, which is the target of the copying operation. After performing this detection, the control device 6 initiates the copying operation on the transfer machine 4. Therefore, when the transfer machine 4 performs the copying operation, the fork 40 can be appropriately positioned at the transfer preparation position Pt before the copying operation begins. Thus, the copying operation can be performed easily and appropriately.

[0071] In this embodiment, when the transfer machine 4 is subjected to an unloading operation, the control device 6 performs detection of the detected part M based on the position detection unit S, with the support pin 40a positioned at a predetermined position Pu above the transfer part L, which is the target of the unloading operation. After performing this detection, the control device 6 performs the unloading operation on the transfer machine 4. Therefore, when the transfer machine 4 is subjected to an unloading operation, the fork 40 can be appropriately positioned at the transfer preparation position Pt before the unloading operation begins. Thus, the unloading operation can be performed easily and appropriately.

[0072] Next, refer to Figure 8 The flowchart illustrates the control process performed in the item containing device 100.

[0073] The control device 6 determines, based on the transport command Cm, whether the transfer part L to be transferred is the first transfer part L1 or the second transfer part L2 (step #1). If the control device 6 determines that the transfer part L to be transferred is the first transfer part L1 (step #1: yes), it sets the lower setting position Pd to the first lower setting position Pd1 (step #11).

[0074] Next, the control device 6 determines, based on the transport command Cm, whether the transfer action to be performed at the first transfer position L1 is a picking action or an unloading action (step #12). If the control device 6 determines that the transfer action to be performed at the first transfer position L1 is a picking action (step #12: Yes), the control device 6 activates the transport device 3 to position the support pin 40a at the first lower setting position Pd1 (step #13). Then, in order to determine whether the support pin 40a is positioned at the first lower setting position Pd1, the first detected part M1 is detected by means of the first sensor S1 (step #14). And, if the first detected part M1 can be detected by means of the first sensor S1 (step #15: Yes), the control device 6 raises the support pin 40a at the first transfer position L1 from the first lower setting position Pd1 to the upper setting position Pu, and performs the picking action (step #16). On the other hand, if the first detected part M1 cannot be detected by the first sensor S1 (step #15: No), the process returns to step #13, causing the transfer device 3 to operate again to perform the operation of placing the support pin 40a at the first lower set position Pd1 (retry operation). As a result of this retry operation, if the first detected part M1 can be detected by the first sensor S1 (step #15: Yes), the copying operation is performed (step #16). In addition, although the illustration is omitted, if the first detected part M1 cannot be detected by the first sensor S1 after performing this retry operation a predetermined number of times, the control device 6 stops the transfer operation and notifies the overall control device H of an error.

[0075] In step #12, if the control device 6 determines that the transfer operation to be performed at the first transfer position L1 is an unloading operation (step #12: No), it activates the transport device 3 to position the support pin 40a at the upper set position Pu (step #17). Next, to determine whether the support pin 40a is positioned at the upper set position Pu, the control device 6 detects the first detected part M1 using the third sensor S3 (step #18). If the third sensor S3 can detect the first detected part M1 (step #19: Yes), the control device 6 lowers the support pin 40a at the first transfer position L1 from the upper set position Pu to the first lower set position Pd1, performing the unloading operation (step #20). On the other hand, if the third sensor S3 cannot detect the first detected part M1 (step #19: No), the control device returns to step #17, activating the transport device 3 again to perform the operation of positioning the support pin 40a at the upper set position Pu (retry operation). As a result of this retry operation, if the first detected unit M1 can be detected by means of the third sensor S3 (step #19: Yes), the unloading operation is performed (step #20). In addition, although the illustration is omitted, if the first detected unit M1 cannot be detected by means of the third sensor S3 after performing this retry operation a predetermined number of times, the control device 6 stops the transfer operation and notifies the overall control device H of an error.

[0076] If the control device 6 determines in step #1 that the transfer part L, which is the object to be transferred, is the second transfer part L2 (step #1: no), it sets the lower setting position Pd to the second lower setting position Pd2 (step #21).

[0077] Next, the control device 6 determines, based on the transport command Cm, whether the transfer action to be performed at the second transfer location L2 is a picking action or an unloading action (step #22). If the control device 6 determines that the transfer action to be performed at the second transfer location L2 is a picking action (step #22: Yes), the control device 6 activates the transport device 3 to position the support pin 40a at the second lower set position Pd2 (step #23). Then, in order to determine whether the support pin 40a is positioned at the second lower set position Pd2, the second detected part M2 is detected by means of the second sensor S2 (step #24). Furthermore, if the second detected part M2 can be detected by means of the second sensor S2 (step #25: Yes), the control device 6 raises the support pin 40a at the second transfer location L2 from the second lower set position Pd2 to the upper set position Pu, and performs the picking action (step #26). On the other hand, if the second detected part M2 cannot be detected by the second sensor S2 (step #25: No), the process returns to step #23, causing the transport device 3 to operate again to perform the operation of placing the support pin 40a at the second lower set position Pd2 (retry operation). As a result of this retry operation, if the second detected part M2 can be detected by the second sensor S2 (step #25: Yes), the copying operation is performed (step #26). In addition, although the illustration is omitted, if the second detected part M2 cannot be detected by the second sensor S2 after performing this retry operation a predetermined number of times, the control device 6 stops the transfer operation and notifies the overall control device H of an error.

[0078] In step #22, if the control device 6 determines that the transfer operation to be performed at the second transfer position L2 is an unloading operation (step #22: No), it activates the transport device 3 to position the support pin 40a at the upper set position Pu (step #27). Next, to determine whether the support pin 40a is positioned at the upper set position Pu, the control device 6 detects the second detected part M2 using the third sensor S3 (step #28). If the second detected part M2 can be detected using the third sensor S3 (step #29: Yes), the control device 6 lowers the support pin 40a at the second transfer position L2 from the upper set position Pu to the second lower set position Pd2, performing the unloading operation (step #30). On the other hand, if the second detected part M2 cannot be detected using the third sensor S3 (step #29: No), the control device returns to step #27, activating the transport device 3 again to perform the operation of positioning the support pin 40a at the upper set position Pu (retry operation). As a result of this retry operation, if the second detected unit M2 can be detected by the third sensor S3 (step #29: Yes), the unloading operation is performed (step #30). Furthermore, although the illustration is omitted, if the second detected unit M2 cannot be detected by the third sensor S3 after performing this retry operation a predetermined number of times, the control device 6 stops the transfer operation and notifies the overall control device H of an error.

[0079] According to the above description of the item holding device 100, even if the structure of the second transfer part L2 provided at the inlet / outlet section 2 is different from that of the first transfer part L1 provided at the holding section 10, and the limitation of the lifting range R of the support pin 40a (support part) in the transfer operation corresponding to the transfer part L is different, an appropriate lifting range R can still be set corresponding to each transfer part L, so that the item W can be transferred appropriately. Therefore, even when there are multiple transfer parts L with different structures, the transfer operation can be performed appropriately corresponding to each transfer part L.

[0080] [Other Implementation Methods] Next, other embodiments of the item-containing device will be described.

[0081] (1) In the above embodiment, an example has been described in which the control device 6 can change the setting of the lower setting position Pd to make the lifting range R different from that of the transfer part L without changing the setting of the upper setting position Pu. However, it is not limited to this example. It is also possible that the control device 6 changes only the setting of the upper setting position Pu, or changes the settings of both the upper setting position Pu and the lower setting position Pd, thereby making the lifting range R different from that of the transfer part L.

[0082] (2) In the above embodiment, an example has been described in which the lower setting position Pd (second lower setting position Pd2) of the storage section A (second storage section A2) relative to the storage section 2 is set above the lower setting position Pd (first lower setting position Pd1) of the storage section A (first storage section A1) relative to the receiving section 10. However, this is not limited to such an example. It is also possible that the second lower setting position Pd2 is set below the first lower setting position Pd1, or that these lower setting positions Pd are set at the same position.

[0083] (3) In the above embodiments, an example of a transfer action including a copying action of receiving the article W from the transfer location L and an unloading action of transferring the article W to the transfer location L has been described. However, it is not limited to such an example, and the transfer action may include at least one of the copying action and the unloading action.

[0084] (4) In the above embodiments, the following example is described: the position detection unit S includes a third sensor S3 in addition to the first sensor S1 and the second sensor S2. The third sensor S3 is configured to detect the first detected part M1 or the second detected part M2 when the support pin 40a is positioned at the upper set position Pu. However, it is not limited to this example. It is also possible that a third detected part is provided in addition to the first detected part M1 and the second detected part M2, and the third sensor S3 is configured to detect the third detected part. Furthermore, it is also possible to determine that the support pin 40a is positioned at the upper set position Pu based on the detection of the third detected part by means of the third sensor S3.

[0085] (5) In the above embodiment, an example was described in which the transfer machine 4 is equipped with a position detection unit S, and the position detection unit S detects whether the fork 40 is located at the transfer preparation position Pt relative to the transfer part L, which is the object of the transfer operation. However, it is not limited to this example, and the transfer machine 4 may not be equipped with such a position detection unit S. As such, it is also possible not to provide a detected part M, which is the object of detection of the position detection unit S, in each of the plurality of receiving parts 10 and the inbound / outbound part 2.

[0086] (6) In the above embodiments, an example of an item being a container for storing an item has been described. However, it is not limited to such an example. It is also possible that the item is not a container for storing an item, but is itself an object to be transported or stored.

[0087] (7) In the above embodiments, an example of an article containing device 100 having a gas supply unit 5 for supplying gas to the interior of article W has been described. However, it is not limited to such an example, and the article containing device 100 may not have a gas supply unit 5.

[0088] (8) Furthermore, the structures disclosed in the above embodiments can be combined with structures disclosed in other embodiments as long as they do not contradict each other. Regarding other structures, the embodiments disclosed in this specification are merely illustrative in all respects. Therefore, various changes can be appropriately made without departing from the spirit of this application.

[0089] [Summary of the above embodiments] The following is a description of the item-containing device already described above.

[0090] An item holding device includes an item holding rack, an inlet / outlet section, a conveying device, and a control device. The item holding rack has multiple holding sections for holding items. The inlet / outlet section handles the storage of items into and out of the item holding rack. The conveying device conveys the items. The control device controls the conveying device. The conveying device is characterized by having a transfer machine for transferring items relative to transfer sections provided at each of the multiple holding sections and the inlet / outlet section. The transfer machine includes a fork, a retraction mechanism, and a lifting mechanism. The fork supports the items from below. The retraction mechanism causes the fork to retract along a horizontal retraction direction between a retracted position and a protruding position. The lifting mechanism raises and lowers the fork. The transfer mechanism is configured to both retract and raise / lower the fork, thereby enabling the conveying device to handle the items. The transfer operation of transferring the aforementioned items between transfer parts, wherein the portion of the aforementioned transfer part that holds the aforementioned items is designated as a placement part, and the portion of the aforementioned fork that supports the aforementioned items is designated as a support part, wherein the aforementioned transfer machine causes the aforementioned support part to rise and fall between a lower set position and an upper set position during the aforementioned transfer operation, wherein the aforementioned lower set position is set below the aforementioned placement part of the aforementioned transfer part that is the object of the transfer operation, and the aforementioned upper set position is set above the aforementioned placement part, wherein the aforementioned control device changes the setting of at least one of the aforementioned lower set position and the aforementioned upper set position, so that the rising and falling range of the aforementioned support part, which is the range from the aforementioned lower set position to the aforementioned upper set position, is different when the aforementioned items are transferred to the aforementioned transfer part provided at the aforementioned inbound / outbound part and when the aforementioned items are transferred to the aforementioned transfer part provided at the aforementioned receiving part.

[0091] According to this structure, even when the construction of the transfer part at the inlet / outlet section differs from that at the receiving section, or when the lifting range limitation of the support portion during the transfer operation differs from that of the transfer part, an appropriate lifting range can still be set corresponding to each transfer part to properly transfer the items. Therefore, according to this structure, even when there are multiple transfer parts with different constructions, a transfer operation can be performed appropriately corresponding to each transfer part.

[0092] Preferably, the aforementioned transfer machine further includes a position detection unit, which detects whether the fork is in a preparatory position before the aforementioned transfer operation, i.e., a transfer preparation position, relative to the aforementioned transfer part which is the object of the aforementioned transfer operation. When the fork is in the aforementioned transfer preparation position, the aforementioned support part is in the aforementioned lower setting position or the aforementioned upper setting position. In each of the plurality of aforementioned receiving parts and the aforementioned inbound / outbound parts, the detected part that is set when the fork is in the aforementioned transfer preparation position is designated as the first detected part in each of the plurality of aforementioned receiving parts, and the detected part that is set in the aforementioned inbound / outbound part is designated as the second detected part. The aforementioned position detection unit includes a first sensor and a second sensor. The first sensor detects the first detected part when the fork is in the aforementioned transfer preparation position relative to the aforementioned receiving part, and the second sensor detects the second detected part when the fork is in the aforementioned transfer preparation position relative to the aforementioned inbound / outbound part.

[0093] According to this structure, the position detection unit individually includes a first sensor for detecting a first detected part and a second sensor for detecting a second detected part. Therefore, according to this structure, it is possible to appropriately detect whether the fork is located at each transfer preparation position corresponding to different transfer parts using the two sensors.

[0094] Furthermore, in the above structure, preferably, the aforementioned transfer action includes a picking action of receiving the aforementioned article from the aforementioned transfer location and an unloading action of transferring the aforementioned article to the aforementioned transfer location. When the aforementioned transfer machine performs the aforementioned picking action, the aforementioned support portion is positioned at the aforementioned lower setting position when the aforementioned fork is in the aforementioned transfer preparation position. When the aforementioned transfer machine performs the aforementioned unloading action, the aforementioned support portion is positioned at the aforementioned upper setting position when the aforementioned fork is in the aforementioned transfer preparation position. During the aforementioned picking action, the aforementioned transfer machine raises the aforementioned support portion from the aforementioned lower setting position to the aforementioned upper setting position relative to the aforementioned placement portion of the aforementioned transfer location, which is the object of the picking action. Thus, the aforementioned article placed on the aforementioned placement portion is received by the aforementioned support portion. In the unloading operation, the support portion is lowered from the aforementioned upper set position to the aforementioned lower set position relative to the aforementioned placement portion of the aforementioned transfer part, which is the object of the unloading operation. As a result, the aforementioned article supported on the aforementioned support portion is transferred to the aforementioned placement portion. When the aforementioned transfer machine performs the aforementioned picking operation, the aforementioned control device performs the detection of the aforementioned detected portion based on the aforementioned position detection unit when the aforementioned support portion is positioned at the aforementioned lower set position relative to the aforementioned transfer part, which is the object of the picking operation. When the aforementioned transfer machine performs the aforementioned unloading operation, the aforementioned detected portion performs the detection of the aforementioned detected portion based on the aforementioned position detection unit when the aforementioned support portion is positioned at the aforementioned upper set position relative to the aforementioned transfer part, which is the object of the unloading operation.

[0095] According to this structure, when the transfer machine performs a picking operation and when it performs an unloading operation, the forks can be appropriately positioned in the transfer preparation position before each operation. Therefore, each of the picking and unloading operations can be performed easily and appropriately.

[0096] Furthermore, preferably, the aforementioned article is a container for storing the stored item, and has a gas supply unit for supplying gas to the interior of the aforementioned article. The aforementioned gas supply unit has a pipe for gas flow and a nozzle for connecting the aforementioned article, which is housed in the aforementioned housing, to the aforementioned pipe. The object portion, which is at least a part of the aforementioned pipe, is positioned in the aforementioned housing at a position lower than the aforementioned placement portion, and is positioned at a position that overlaps with the movement trajectory of the aforementioned fork when viewed in the vertical direction. When the aforementioned control device causes the aforementioned transfer machine to perform the aforementioned transfer operation relative to the aforementioned housing, the aforementioned lower setting position is set lower than the aforementioned object portion, and the aforementioned lower setting position relative to the aforementioned placement portion of the aforementioned storage unit is set higher than the aforementioned lower setting position relative to the aforementioned placement portion of the aforementioned housing.

[0097] According to this structure, the target portion of the piping is positioned below the receiving portion of the receiving section and overlaps with the movement trajectory of the fork when viewed vertically. Therefore, before the fork protrudes into the receiving section, the vertical position of the fork needs to be set so that the fork does not interfere with the target portion of the piping. According to this structure, when the control device performs a transfer operation relative to the receiving section, the lower setting position is set below the target portion of the piping, thus preventing the fork from interfering with the target portion of the piping. Furthermore, according to this structure, when performing a transfer operation relative to the in / out section, interference between the fork and the target portion of the piping can be considered without considering the above-mentioned interference. Accordingly, the lower setting position of the receiving section relative to the in / out section is set above the lower setting position of the receiving section's receiving section, thereby reducing the lifting range of the support section and shortening the time required for the transfer operation.

[0098] Furthermore, in the above structure, preferably, a cutout is formed at the fork, and the cutout is formed when the fork is positioned in the protruding position for the purpose of performing the transfer operation relative to the receiving portion, and overlaps with the object portion corresponding to the receiving portion when viewed in the above vertical direction.

[0099] According to this structure, with the fork positioned in the protruding position, even if the support is raised and lowered throughout the lifting range to perform a transfer operation relative to the receiving part, the part of the pipe to be transferred can pass through the cut-out part, thus avoiding interference between the part of the pipe to be transferred and the fork. Therefore, according to this structure, a transfer operation relative to the receiving part can be performed appropriately.

[0100] Industrial availability The technology of this application can be used in articles containing devices.

[0101] Explanation of reference numerals in the attached figures 100: Item storage equipment 1: Item storage rack 10: Reception Department 2: Inbound and Outbound Department 3: Handling device 4: Transfer machine 40: Fork 40M: Movement Track 40a: Support pin (support part) 40b: Incision area 41: Highlight the return agency 42: Lifting mechanism 5: Gas Supply Department 50: Piping 50T: Object Section 51: Nozzle 6: Control device W: Items A: Carrier section L: Transfer location S: Position Detection Department S1: First sensor S2: Second sensor M: The part being tested M1: The first section to be inspected M2: The second inspected section Px1: Return to position Px2: Prominent Position Pt: Transfer preparation position Pd: Setting position below Pu: Setting position above R: Lifting / Locking Range X: Highlights the direction of retreat.

Claims

1. A goods storage device, comprising a goods storage rack, an inlet / outlet section, a handling device, and a control device. The aforementioned item storage rack has multiple storage sections for storing items. The aforementioned inbound / outbound section performs the storage of the aforementioned items into the aforementioned item storage rack and the removal of the aforementioned items from the aforementioned item storage rack. The aforementioned conveying device moves the aforementioned items, and the aforementioned control device controls the aforementioned conveying device. Its features are, The aforementioned handling device includes a transfer machine that transfers the aforementioned items relative to a transfer unit provided at each of the aforementioned receiving sections and the aforementioned inbound / outbound sections. The aforementioned transfer machine includes a fork, a protrusion and retraction mechanism, and a lifting mechanism. The fork supports the aforementioned item from below. The protrusion and retraction mechanism causes the fork to protrude and retract along a horizontal protrusion and retraction direction between a retracted position and a protruding position. The lifting mechanism raises and lowers the fork. The transfer mechanism performs a transfer action by causing the fork to protrude, retract, raise, and lower, thereby transferring the aforementioned item between itself and the aforementioned transfer part. The portion of the aforementioned transfer section that holds the aforementioned item is designated as the placement section, and the portion of the aforementioned fork that supports the aforementioned item is designated as the support section. During the aforementioned transfer operation, the aforementioned transfer machine moves the aforementioned support portion up and down between a lower predetermined position and an upper predetermined position. The lower predetermined position is set below the aforementioned placement portion of the aforementioned transfer part, which is the object of the transfer operation, and the upper predetermined position is set above the placement portion. The aforementioned control device, by changing the setting of at least one of the aforementioned lower setting position and the aforementioned upper setting position, makes the lifting range of the aforementioned support portion, which is the range from the aforementioned lower setting position to the aforementioned upper setting position, different when the aforementioned item is transferred to the aforementioned transfer part provided at the aforementioned inlet / outlet section and when the aforementioned item is transferred to the aforementioned transfer part provided at the aforementioned receiving section. The aforementioned lower position of the aforementioned placement part relative to the aforementioned entry / exit section is set to be higher than the aforementioned lower position of the aforementioned placement part relative to the aforementioned receiving section.

2. The article containing device as described in claim 1, characterized in that, The aforementioned transfer machine also includes a position detection unit, which detects whether the aforementioned fork is in a preparatory position, i.e., a transfer preparation position, relative to the aforementioned transfer part, which is the object of the aforementioned transfer operation. With the fork in the aforementioned transfer preparation position, the aforementioned support portion is located in either the aforementioned lower or the aforementioned upper position. In each of the aforementioned receiving sections and the aforementioned inbound / outbound sections, a section is provided that is detected by the aforementioned position detection unit when the aforementioned fork is in the aforementioned transfer preparation position. The aforementioned inspected part installed in each of the plurality of aforementioned receiving sections is designated as the first inspected part, and the aforementioned inspected part installed in the aforementioned inbound / outbound section is designated as the second inspected part. The aforementioned position detection unit includes a first sensor and a second sensor. The first sensor detects the first detected part when the fork is in the aforementioned transfer preparation position relative to the aforementioned receiving part, and the second sensor detects the second detected part when the fork is in the aforementioned transfer preparation position relative to the aforementioned in-and-out storage part.

3. The article containing device as described in claim 2, characterized in that, The aforementioned transfer action includes the action of receiving the aforementioned item from the aforementioned transfer location and the action of unloading the aforementioned item back to the aforementioned transfer location. When the aforementioned transfer machine performs the aforementioned picking action, with the aforementioned fork in the aforementioned transfer preparation position, the aforementioned support portion is positioned at the aforementioned lower predetermined position. When the aforementioned transfer machine performs the aforementioned unloading operation, with the aforementioned fork in the aforementioned transfer preparation position, the aforementioned support portion is positioned at the aforementioned upper predetermined position. In the aforementioned copying operation, the aforementioned transfer machine raises the aforementioned support portion from the aforementioned lower predetermined position to the aforementioned upper predetermined position relative to the aforementioned placement portion of the aforementioned transfer part, which is the object of the copying operation, thereby receiving the aforementioned article placed on the aforementioned placement portion by means of the aforementioned support portion. In the aforementioned unloading operation, the aforementioned support portion is lowered from the aforementioned upper set position to the aforementioned lower set position relative to the aforementioned transfer portion, which is the object of the unloading operation, thereby transferring the aforementioned article supported on the aforementioned support portion to the aforementioned placement portion. When the aforementioned control device causes the aforementioned transfer machine to perform the aforementioned copying operation, and with the aforementioned support portion positioned at a predetermined position below the aforementioned transfer part that is the object of the copying operation, the aforementioned control device performs detection of the aforementioned detected portion based on the aforementioned position detection unit. When the aforementioned transfer machine performs the aforementioned unloading operation, with the aforementioned support portion positioned above the aforementioned transfer part that is the object of the unloading operation, the aforementioned detected portion is detected based on the aforementioned position detection unit.

4. The article-containing device as described in any one of claims 1 to 3, characterized in that, The aforementioned items are containers used to store items. Equipped with a gas supply unit that supplies gas to the interior of the aforementioned items, The aforementioned gas supply unit includes the aforementioned gas flow piping and a nozzle that connects the aforementioned article housed in the aforementioned receiving section to the aforementioned piping. The object portion, which is at least a part of the aforementioned piping, is positioned below the aforementioned mounting portion in the aforementioned receiving portion, and is positioned at a position that overlaps with the movement trajectory of the aforementioned fork when viewed in the vertical direction. When the aforementioned control device causes the aforementioned transfer machine to perform the aforementioned transfer operation relative to the aforementioned receiving portion, the aforementioned lower setting position is set lower than the aforementioned object portion.

5. The article-containing device as described in claim 4, characterized in that, The aforementioned fork forms a cut. The aforementioned cut is formed when the fork is positioned in the aforementioned protruding position in order to perform the aforementioned transfer action relative to the aforementioned receiving portion, and overlaps with the aforementioned object portion positioned corresponding to the receiving portion when viewed in the aforementioned vertical direction.

Images