Article storage device

Abstract

The control section, in a case where the unloading operation of the two articles is performed from a state where the two articles are arranged in the holding section (31), performs the unloading operation of the large article (WL) first, and then performs the unloading operation of the small article (WS). The control section, in a case where the picking operation of the two articles is performed from a state where no article is held in the holding section (31), performs the picking operation of the small article (WS) first, and then performs the picking operation of the large article (WL).

Description

TECHNICAL FIELD

[0001] The present application relates to an article storage facility including: a first shelf unit including a first storage section; a second shelf unit including a second storage section and disposed opposite the first shelf unit; a mobile body that moves between the first shelf unit and the second shelf unit; and a transfer device mounted on the mobile body, including a holding section that holds an article that is a transport target, and capable of transferring the article between the respective first and second storage sections and the holding section. BACKGROUND

[0002] One example of the above-described article storage facility is disclosed in Japanese Patent Application Publication No. 2016-113241 (Patent Literature 1). Hereinafter, in the description of the background art, the reference numerals indicated in parentheses are those of Patent Literature 1. An automated warehouse (1) of the article storage facility disclosed in Patent Literature 1 includes: a front rack (2a) including a goods storage shelf (11); a rear rack (2b) including a goods storage shelf (11) and disposed opposite the front rack (2a) in the front-rear direction (X); and a stacker crane (3) that travels in the left-right direction (Y) between the front rack (2a) and the rear rack (2b). The stacker crane (3) includes a side-arm type transfer device (29) that takes and places goods (W) that are articles with respect to the goods storage shelf (11).

[0003] The side-arm type transfer device (29) includes a plurality of arms (100, 110, 120) that are capable of extending and retracting in the front-rear direction (X), and takes and places the goods (W) with respect to the goods storage shelf (11) by extending and retracting the arms of an adjacent pair of arms in the front-rear direction (X) in a state in which the interval between the arms of the pair of arms matches the width of the goods (W), as shown in FIGS. 16 and 17 of Patent Literature 1. The goods storage shelf (11) is configured to be capable of storing two goods (W) side by side in the front-rear direction (X); and the side-arm type transfer device (29) is configured to be capable of holding two goods (W) side by side in the front-rear direction (X) (and further, two goods (W) side by side in the left-right direction (Y)).

[0004] PRIOR ART DOCUMENTS

[0005] PATENT LITERATURE

[0006] Patent Literature 1: Japanese Patent Application Publication No. 2016-113241 SUMMARY

[0007] PROBLEMS TO BE SOLVED BY THE INVENTION

[0008] The lateral direction of the shelf (the left-right direction in Patent Document 1) is set as the first direction, and the depth direction of the shelf (the front-rear direction in Patent Document 1) is set as the second direction. In the article storage apparatus of Patent Document 1, as described above, the transfer device is configured to be capable of holding two articles side by side in the second direction. Therefore, compared with a case where the transfer device is not capable of holding multiple articles side by side in the second direction, it is possible to move the articles together by means of the moving body (in Patent Document 1, the stacker crane) while the transfer device is holding a larger number of articles, and it is possible to achieve an improvement in the processing efficiency of the articles in the article storage apparatus.

[0009] However, in the article storage apparatus of Patent Document 1, articles having mutually different sizes in the first direction are handled. Therefore, in the article storage apparatus of Patent Document 1, two articles having mutually equal sizes in the first direction are held side by side in the second direction in the transfer device as shown in Figs. 16 and 17 of the document, and it is possible to transfer the two articles held side by side in the second direction by the transfer device to the storage section (in Patent Document 1, the cargo storage shelf), or the transfer device receives the two articles from the storage section in a manner in which the two articles are held side by side in the second direction by the transfer device. Therefore, in the article storage apparatus of Patent Document 1, there is a constraint that two articles having mutually equal sizes in the first direction are held side by side in the second direction in the transfer device. In order to satisfy this constraint, for example, it is possible to consider providing a sequence changing device that changes the sequence of articles so as to become a state in which two articles having mutually equal sizes (specifically, sizes in the direction of the first direction) are adjacent in a conveyance path (for example, a conveyer line) that supplies articles stored in the storage section to the moving body (specifically, the transfer device). However, in this case, it is possible that the overall structure of the article storage apparatus is complicated or enlarged, and it is possible that the cost is increased.

[0010] Therefore, in a case where articles having mutually different sizes in the first direction are handled, it is desirable to achieve a technique that makes it possible to appropriately perform the transfer of articles between a transfer device that is capable of holding two articles side by side in the second direction and a storage section that is capable of storing two articles side by side in the second direction, even if two articles having mutually equal sizes in the first direction are not held side by side in the second direction in the transfer device.

[0011] Means for solving the problem

[0012] The article storage apparatus according to the present disclosure includes: a first shelf unit including a plurality of first storage portions arranged in a first direction along a horizontal plane; a second shelf unit including a plurality of second storage portions arranged in the first direction, and disposed opposite to the first shelf unit in a second direction orthogonal to the first direction in a vertical direction view along the vertical direction; a moving body moving in the first direction between the first shelf unit and the second shelf unit in the second direction; a transfer device carried on the moving body, including a holding portion holding an article to be transported, and capable of transferring the article between the first storage portion and the second storage portion and the holding portion; and a control portion controlling the moving body and the transfer device. Each of the plurality of first storage portions and each of the plurality of second storage portions can store two articles side by side in the second direction. The holding portion can hold two articles side by side in the second direction. The transfer device includes a pair of arms capable of changing the interval in the first direction and extending and retracting in the second direction. The transfer device performs a transfer operation of the article between the first storage portion or the second storage portion and the holding portion by extending and retracting the pair of arms in the second direction in a state where the article is disposed between the pair of arms in the first direction. In the transfer operation, an operation of transferring the article from the holding portion to the first storage portion or the second storage portion is an unloading operation, and an operation of receiving the article from the first storage portion or the second storage portion to the holding portion is a pick-up operation. In a state where two articles are disposed side by side in the second direction in the holding portion, one of the articles disposed on one side in the second direction is a first article, and the other of the articles disposed on the other side in the second direction is a second article. The control portion performs the unloading operation of the first article and the second article in the order of a large article having a larger size in the first direction and a small article having a smaller size in the first direction. The control portion performs the pick-up operation of the first article and the second article in the order of the small article and the large article.

[0013] According to the present structure, in a case where the unloading operation of the two articles is performed from a state where the two articles are arranged in the holding section, even in a case where the sizes of the two articles in the first direction are different from each other, by performing the unloading operation in the order of the large article and the small article, the unloading operation of the small article can be performed in a state where the large article is not present in the holding section. Thus, at the time of performing the unloading operation of the small article, it is possible to avoid a situation where the interval of the pair of arms in the first direction cannot be narrowed to an interval appropriate for the unloading operation of the small article due to the presence of the large article, and it is possible to appropriately hand over both the large article and the small article to the storage section (the first storage section or the second storage section, the same applies here) using the pair of arms.

[0014] Further, according to the present structure, in a case where the picking operation of the two articles which are the first article and the second article is performed from a state where no article is held in the holding section, even in a case where the sizes of the two articles in the first direction are different from each other, by performing the picking operation in the order of the small article and the large article, the picking operation of the small article can be performed in a state where the large article is not present in the holding section. Thus, at the time of performing the picking operation of the small article, it is possible to avoid a situation where the interval of the pair of arms in the first direction cannot be narrowed to an interval appropriate for the picking operation of the small article due to the presence of the large article, and it is possible to appropriately receive both the large article and the small article from the storage section using the pair of arms.

[0015] As described above, according to the present structure, even if the two articles whose sizes in the first direction are not equal are not arranged side by side in the second direction in the transfer device, it is possible to appropriately perform the transfer of the articles between the transfer device which can hold the two articles side by side in the second direction and the storage section which can store the two articles side by side in the second direction.

[0016] Further features and advantages of the article storage apparatus will become apparent from the following description of an embodiment with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a perspective view of a part of the article storage apparatus.

[0018] Figure 2 is a control block diagram.

[0019] Figure 3 is a view showing a situation in the warehouse-in control.

[0020] Figure 4 is a view showing a situation in the warehouse-in control at a later point in time. Figure 3

[0021] Figure 5 is a view showing a situation in the warehouse-in control at a later point in time. Figure 4 ​​

[0022] Figure 6 It represents the ratio in the warehouse entry control. Figure 5 A diagram showing the situation at a later point in time.

[0023] Figure 7 It represents the ratio in the warehouse entry control. Figure 6 A diagram showing the situation at a later point in time.

[0024] Figure 8 It represents the ratio in the warehouse entry control. Figure 7 A diagram showing the situation at a later point in time.

[0025] Figure 9 This is a diagram showing a situation of outbound control.

[0026] Figure 10 It represents the ratio in the warehouse entry control. Figure 9 A diagram showing the situation at a later point in time.

[0027] Figure 11 It represents the ratio in the warehouse entry control. Figure 10 A diagram showing the situation at a later point in time.

[0028] Figure 12 This diagram illustrates another aspect of warehouse entry control.

[0029] Figure 13 This diagram illustrates another aspect of warehouse outbound control. Detailed Implementation

[0030] The implementation method of the item containment device is described with reference to the accompanying drawings.

[0031] like Figure 1 and Figure 3 As shown, the item storage device 1 includes a first shelf unit 10A, a second shelf unit 10B, a movable body 20, and a transfer device 30 mounted on the movable body 20. The first shelf unit 10A has a plurality of first storage sections 11A arranged in the first direction X, and the second shelf unit 10B has a plurality of second storage sections 11B arranged in the first direction X. The second shelf unit 10B and the first shelf unit 10A are arranged opposite each other in the second direction Y. The second shelf unit 10B and the first shelf unit 10A are arranged with a gap between them in the second direction Y. Hereinafter, when describing the common features of the first shelf unit 10A and the second shelf unit 10B, they will be collectively referred to as shelf unit 10, and when describing the common features of the first storage sections 11A and the second storage sections 11B, they will be collectively referred to as storage section 11.

[0032] The first direction X is a direction along a horizontal plane. One side in the first direction X is set as a first direction first side XI, and the other side (the side opposite the first direction first side XI) in the first direction X is set as a first direction second side X2. The second direction Y is a direction orthogonal to the first direction X in an up-down direction view taken along an up-down direction Z (a vertical direction). Here, the second direction Y is set as a direction along a horizontal plane. One side in the second direction Y is set as a second direction first side Yl, and the other side in the second direction Y is set as a second direction second side Y2. The first shelf unit 10A is disposed on the second direction first side Yl with respect to the second shelf unit 10B.

[0033] As shown in Figure 1 , the shelf unit 10 has a support shelf 12 that supports (specifically, supports from the lower side Z2) the articles W. The support shelf 12 is fixed to a support post 13 that stands on the floor portion. The articles W are housed in the shelf unit 10 in a state of being supported by the support shelf 12. That is, the housing portion 11 is formed by the support shelf 12, and the size of the housing portion 11 in the second direction Y is determined in accordance with the size of the support shelf 12 in the second direction Y. The support shelf 12 is formed in a plate shape (including a case where it is formed in a plate shape as a whole by the collection of a plurality of members), and in the present embodiment, as shown in Figure 1 , a plurality of articles W are supported side by side in the first direction X on one support shelf 12. The articles W are, for example, cardboard cases, container cases, or the like.

[0034] Each of the plurality of housing portions 11 (specifically, each of the plurality of first housing portions 11A and each of the plurality of second housing portions 11B) can house two articles W side by side in the second direction Y. In other words, among the articles W handled by the article housing apparatus 1, there are articles W that can be housed in the housing portion 11 with two articles W side by side in the second direction Y. Among the articles W handled by the article housing apparatus 1, there can also be articles W whose size is so large that they occupy the housing portion 11 by one article W as described above. In a case where two articles W are housed side by side in the second direction Y in the housing portion 11, as shown in Figure 3 , the article W on the front side (the side on which the articles W are picked up and placed by the moving body 20) of the two articles W is housed in the first housing position PI, and the article W on the back side (the side opposite the front side in the second direction Y) of the two articles W is housed in the second housing position P2 on the back side from the first housing position PI.

[0035] As shown in Figure 1As shown, in this embodiment, the shelf unit 10 includes a plurality of receiving portions 11 arranged in the vertical direction Z. Specifically, a plurality of support shelves 12 are fixed at intervals in the vertical direction Z on the support column 13, and each of the plurality of layers (shelf layers) arranged in the vertical direction Z contains an article W in a state supported by the support shelf 12.

[0036] The mobile body 20 moves along the first direction X between the first shelf unit 10A and the second shelf unit 10B in the second direction Y. In this embodiment, the mobile body 20 is a stacker crane. Specifically, the mobile body 20 includes a traveling section 21 that travels along the first direction X, a mast 22 erected on the traveling section 21, and a lifting section 23 that is guided by the mast 22 to rise and fall (move along the vertical direction Z). The transfer device 30 is supported by the lifting section 23. The traveling path of the traveling section 21 is formed by a track 6 arranged in the first direction X. The mobile body 20 moves along the first direction X by traveling along the first direction X via the traveling section 21. The transfer device 30 is moved to a position corresponding to the transfer target part (receiving part 11, and the in / out storage part 3 described later) of the article W by means of the moving action of the mobile body 20 (here, the traveling action of the traveling section 21) and the rising and falling action of the lifting section 23.

[0037] The moving body 20 transports items W between the inbound / outbound section 3 and the shelf unit 10 (specifically, the receiving section 11). Items W entering the shelf unit 10 are transported from the inbound line to the inbound / outbound section 3 by the moving body 20 and received in the receiving section 11. Items W exiting the shelf unit 10 are removed from the receiving section 11 by the moving body 20 and transported to the inbound / outbound section 3, and then transported from the inbound / outbound section 3 to the outbound line. The moving body 20 picks up and places items W from the second direction to the second side Y2 for the first shelf unit 10A (specifically, the first receiving section 11A), and picks up and places items W from the second direction to the first side Y1 for the second shelf unit 10B (specifically, the second receiving section 11B).

[0038] like Figure 1 As shown, in this embodiment, a first conveyor 4A and a second conveyor 4B are provided in the inbound / outbound section 3. The first conveyor 4A is an inbound conveyor (e.g., a conveyor forming an inbound line) used to transport items W into the inbound / outbound section 3, and the second conveyor 4B is an outbound conveyor (e.g., a conveyor forming an outbound line) used to transport items W out of the inbound / outbound section 3. Figure 3 and Figure 11As shown, the first conveyor 4A and the second conveyor 4B are configured to be able to arrange the four articles W in the storage and retrieval section 3 in a state of two side-by-side in both the first direction X and the second direction Y. The first conveyor 4A is configured to be able to arrange the four articles W transported into the storage and retrieval section 3 in the storage and retrieval section 3 as described above, and the second conveyor 4B is configured to be able to transport the four articles W arranged in the storage and retrieval section 3 as described above out of the storage and retrieval section 3. The portions of the first conveyor 4A and the second conveyor 4B arranged in the storage and retrieval section 3 are configured, for example, using a roller conveyor and a chain conveyor (chain conveyor) that is able to be arranged in a gap of a plurality of rollers that configure the roller conveyor so as to be able to lift and lower, and that conveys the articles W in a direction orthogonal to a conveying direction of the articles W by the roller conveyor.

[0039] As shown in Figure 1 and Figure 3 , the transfer device 30 has a holding portion 31 that holds the articles W that are the objects of conveyance, and transfers the articles W between the respective first and second storage portions 11A and 11B and the holding portion 31. The transfer device 30 is able to transfer the articles W between the first storage position PI and the holding portion 31 (see Figure 6 , Figure 10 ), and is able to transfer the articles W between the second storage position P2 and the holding portion 31 (see Figure 4 , Figure 9 ). In the present embodiment, the article storage apparatus 1 (specifically, the mobile body 20) has a first transfer device 30A and a second transfer device 30B that are two transfer devices 30 that are able to perform transfer operations independently of each other. The two transfer devices 30 are arranged at different positions in the first direction X, and here, the one arranged on the first direction second side X2 of the two transfer devices 30 is provided as the first transfer device 30A, and the one arranged on the first direction first side XI is provided as the second transfer device 30B. In the present embodiment, the first transfer device 30A and the second transfer device 30B are supported side by side in the first direction X by the common elevation portion 23, and are elevated integrally with the elevation of the elevation portion 23. Hereinafter, in the case of describing matters common to the first transfer device 30A and the second transfer device 30B, they will be collectively referred to as the transfer device 30.

[0040] The holding portion 31 holds the articles W by supporting them from below Z2. As shown in Figure 3 , the holding portion 31 is able to hold two articles W side by side in the second direction Y. In other words, among the articles W handled by the article storage apparatus 1, there are articles W of a size (specifically, a size in the direction along the second direction Y in a state of being held by the holding portion 31) that enables two articles W to be held side by side in the second direction Y by the holding portion 31. As shown in Figure 4 and Figure 11As shown in FIG. 1, in a state where the two articles W are arranged side by side in the second direction Y in the holding section 31, the article W arranged on one side (here, the second direction first side Y1) in the second direction Y is set as the first article W1, and the article W arranged on the other side (here, the second direction second side Y2) in the second direction Y is set as the second article W2.

[0041] As shown in FIG. 1, in a state where the two articles W are arranged side by side in the second direction Y in the holding section 31, the article W arranged on one side (here, the second direction first side Y1) in the second direction Y is set as the first article W1, and the article W arranged on the other side (here, the second direction second side Y2) in the second direction Y is set as the second article W2. Figure 1 Figure 5 As shown in FIG. 1, in a state where the two articles W are arranged side by side in the second direction Y in the holding section 31, the article W arranged on one side (here, the second direction first side Y1) in the second direction Y is set as the first article W1, and the article W arranged on the other side (here, the second direction second side Y2) in the second direction Y is set as the second article W2.

[0042] As shown in FIG. 1, in a state where the two articles W are arranged side by side in the second direction Y in the holding section 31, the article W arranged on one side (here, the second direction first side Y1) in the second direction Y is set as the first article W1, and the article W arranged on the other side (here, the second direction second side Y2) in the second direction Y is set as the second article W2. Figure 1 Figure 4 Figure 7 As shown in FIG. 1, in a state where the two articles W are arranged side by side in the second direction Y in the holding section 31, the article W arranged on one side (here, the second direction first side Y1) in the second direction Y is set as the first article W1, and the article W arranged on the other side (here, the second direction second side Y2) in the second direction Y is set as the second article W2.

[0043] As shown in FIG. 1, in a state where the two articles W are arranged side by side in the second direction Y in the holding section 31, the article W arranged on one side (here, the second direction first side Y1) in the second direction Y is set as the first article W1, and the article W arranged on the other side (here, the second direction second side Y2) in the second direction Y is set as the second article W2. Figure 4 ​​​As shown, each of the pair of arms 32 is supported so as to be able to slide in the second direction Y by a fixed member 33 whose position in the second direction Y (position in the second direction Y with respect to the moving body 20) is fixed. The arm 32 is disposed on the inner side in the first direction X (toward one side of the central position in the first direction X between the pair of arms 32) with respect to the fixed member 33 that supports the arm 32. The arm 32 can also be directly supported by the fixed member 33, but in the present embodiment, the arm 32 is indirectly (specifically, via an intermediate member 34 disposed between the arm 32 and the fixed member 33) supported by the fixed member 33. At least one of the pair of fixed members 33 (both in the present embodiment) is configured so as to be able to change the position in the first direction X (position in the first direction X with respect to the moving body 20), and the transfer device 30 changes the interval in the first direction X of the pair of arms 32 by changing the interval in the first direction X of the pair of fixed members 33.

[0044] In the transfer operation of the article W, the operation of transferring the article W from the holding portion 31 to the housing portion 11 is set as the unloading operation, and the operation of receiving the article W from the housing portion 11 to the holding portion 31 is set as the pick-up operation. The transfer device 30 moves the article W disposed between the pair of arms 32 in the second direction Y by the extension and retraction of the pair of arms 32, and performs the transfer operation of the article W. Specifically, the transfer device 30 moves the article W held by the holding portion 31 to the first side Y1 in the second direction by the extension movement of the pair of arms 32 to the first side Y1 in the second direction, and performs the unloading operation of transferring the article W from the holding portion 31 to the first housing portion 11A; and moves the article W housed in the first housing portion 11A to the second side Y2 in the second direction by the retraction movement of the pair of arms 32 to the second side Y2 in the second direction, and performs the pick-up operation of receiving the article W from the first housing portion 11A to the holding portion 31. Furthermore, the transfer device 30 moves the article W held by the holding portion 31 to the second side Y2 in the second direction by the extension movement of the pair of arms 32 to the second side Y2 in the second direction, and performs the unloading operation of transferring the article W from the holding portion 31 to the second housing portion 11B; and moves the article W housed in the second housing portion 11B to the first side Y1 in the second direction by the retraction movement of the pair of arms 32 to the first side Y1 in the second direction, and performs the pick-up operation of receiving the article W from the second housing portion 11B to the holding portion 31.

[0045] As Figure 4As shown, in the present embodiment, the hooks 35 (examples of abutting members) are provided at the respective arms 32, and the transfer device 30 pushes out or pulls in the article W with the hooks 35 by the extension and retraction of the pair of arms 32, and moves the article W disposed between the pair of arms 32 in the second direction Y. Specifically, the transfer device 30 pushes out the article W held by the holding portion 31 with the hooks 35 to the housing portion 11 side by the extension movement of the pair of arms 32, and hands over the article W to the housing portion 11, and pulls in the article W housed in the housing portion 11 with the hooks 35 to the holding portion 31 side by the retraction movement of the pair of arms 32, and receives the article W to the holding portion 31.

[0046] As shown, in the present embodiment, the hooks 35 (examples of abutting members) are provided at the respective arms 32, and the transfer device 30 pushes out or pulls in the article W with the hooks 35 by the extension and retraction of the pair of arms 32, and moves the article W disposed between the pair of arms 32 in the second direction Y. Specifically, the transfer device 30 pushes out the article W held by the holding portion 31 with the hooks 35 to the housing portion 11 side by the extension movement of the pair of arms 32, and hands over the article W to the housing portion 11, and pulls in the article W housed in the housing portion 11 with the hooks 35 to the holding portion 31 side by the retraction movement of the pair of arms 32, and receives the article W to the holding portion 31. Figures 4-6 As shown, in the present embodiment, the hooks 35 (examples of abutting members) are provided at the respective arms 32, and the transfer device 30 pushes out or pulls in the article W with the hooks 35 by the extension and retraction of the pair of arms 32, and moves the article W disposed between the pair of arms 32 in the second direction Y. Specifically, the transfer device 30 pushes out the article W held by the holding portion 31 with the hooks 35 to the housing portion 11 side by the extension movement of the pair of arms 32, and hands over the article W to the housing portion 11, and pulls in the article W housed in the housing portion 11 with the hooks 35 to the holding portion 31 side by the retraction movement of the pair of arms 32, and receives the article W to the holding portion 31.

[0047] The hooks 35 are formed in a rod shape, and are linked to the arms 32 so as to be swingable about the linking portions linked to the arms 32 (specifically, swingable about the axis along the second direction Y). The respective hooks 35 are configured to be switchable between an abutting posture in which the article W is abutted, and a retreat posture in which the article W is not abutted. The posture of the hooks 35 is switched between the abutting posture and the retreat posture by the hooks 35 swinging about the linking portions linked to the arms 32.

[0048] The abutting posture is a posture in which the leading end portion (the end portion on the opposite side from the linking portion linked to the arm 32) of the hook 35 is disposed inward of the arm 32 in the first direction X than the inner surface (the surface on the inner side in the first direction X) of the arm 32. In the present embodiment, the posture of the second side hook and the central hook provided at the arm 32 of the second transfer device 30B is the abutting posture. Figure 4 The retreat posture is a posture in which the entire or substantially the entire hook 35 is disposed outward of the arm 32 in the first direction X (on the side away from the central position in the first direction X between the pair of arms 32) than the inner surface of the arm 32. In the present embodiment, the posture of the first side hook provided at the arm 32 of the second transfer device 30B is the retreat posture. Figure 4 The retreat posture is a posture in which the entire or substantially the entire hook 35 is disposed outward of the arm 32 in the first direction X (on the side away from the central position in the first direction X between the pair of arms 32) than the inner surface of the arm 32. In the present embodiment, the posture of the first side hook provided at the arm 32 of the second transfer device 30B is the retreat posture. Figure 5 The retreat posture is a posture in which the entire or substantially the entire hook 35 is disposed outward of the arm 32 in the first direction X (on the side away from the central position in the first direction X between the pair of arms 32) than the inner surface of the arm 32. In the present embodiment, the posture of the first side hook provided at the arm 32 of the second transfer device 30B is the retreat posture. Figure 6 The retreat posture is a posture in which the entire or substantially the entire hook 35 is disposed outward of the arm 32 in the first direction X (on the side away from the central position in the first direction X between the pair of arms 32) than the inner surface of the arm 32. In the present embodiment, the posture of the first side hook provided at the arm 32 of the second transfer device 30B is the retreat posture.

[0049] The unloading operation and the picking operation are performed in a state in which the interval of the pair of arms 32 in the first direction X becomes an interval (hereinafter referred to as a "transfer interval") corresponding to the dimension of the article W as a transfer target in the first direction X. The transfer interval is set to a value identical to the dimension of the article W as a transfer target in the first direction X, or a value obtained by adding a set value to the dimension of the article W as a transfer target in the first direction X. In the present embodiment, the transfer interval is set to an interval at which the hook 35 of the abutting posture abuts against the article W as a transfer target (specifically, an end surface of the article W facing the second direction Y), or in other words, an interval at which the hook 35 of the abutting posture overlaps the article W as a transfer target in a view in the direction along the second direction Y.

[0050] Here, the side at which the pair of arms 32 is extended and moved is referred to as a protruding side, and the side at which the pair of arms 32 is retracted and moved is referred to as a retracting side. In a case in which the housing portion 11 of the transfer target is the first housing portion 11A, the second direction first side Y1 becomes the protruding side, and the second direction second side Y2 becomes the retracting side. In addition, in a case in which the housing portion 11 of the transfer target is the second housing portion 11B, the second direction second side Y2 becomes the protruding side, and the second direction first side Y1 becomes the retracting side.

[0051] In the unloading operation, the transfer device 30 extends and moves the pair of arms 32 arranged at the transfer interval in a state in which the posture of the hook 35 adjacent to the article W as a transfer target on the retracting side in each of the pair of arms 32 is switched to the abutting posture, thereby pushing the article W as a transfer target with the hook 35 of the abutting posture until the article W as a transfer target is moved to the housing position (specifically, the first housing position PI or the second housing position P2) of the article W in the housing portion 11. In a case in which the unloading operation is simultaneously performed on two articles W side by side in the second direction Y in the holding portion 31, the posture of the hook 35 adjacent to one article W on the retracting side and the posture of the hook 35 adjacent to the other article W on the retracting side are switched to the abutting posture. In addition, in a case in which the unloading operation is performed on only one article W of two articles W side by side in the second direction Y in the holding portion 31, the posture of the hook 35 adjacent to the article W not as a transfer target on the retracting side is switched to the retreat posture. It is also possible to switch the posture of the hook 35 adjacent to the article W as a transfer target on the protruding side to the abutting posture. In the present embodiment, the transfer device 30 is configured to operate the conveyer 36 on which the article W is placed in synchronization with the direction and speed of movement of the article W resulting from the extension movement of the pair of arms 32 in the unloading operation.

[0052] Figure 4 A state in which the second transfer device 30B performs an unloading operation of transferring the second article W2 as a transfer target from the holding portion 31 to the second housing portion 11B is shown. In the unloading operation, the second transfer device 30B extends and moves the pair of arms 32 arranged at the transfer interval in a state in which the posture of the hook 35 adjacent to the article W as a transfer target on the protruding side in each of the pair of arms 32 is switched to the abutting posture, thereby pushing the article W as a transfer target with the hook 35 of the abutting posture until the article W as a transfer target is moved to the housing position (specifically, the second housing position P2) of the article W in the second housing portion 11B.Figure 4 In the illustrated state, the second transfer device 30B switches the posture of the hook 35 (here, the central hook) adjacent on the retreat side with respect to the second article W2 to the abutting posture, and pushes out the second article W2 to the second storage position P2 of the second storage section 11B with the hook 35. In Figure 4 In the illustrated state, since the first article W1 is not an article W that is a transfer target, the posture of the hook 35 (here, the first side hook) adjacent on the retreat side with respect to the first article W1 is switched to the retreat posture.

[0053] Figure 12 A state in which the second transfer device 30B performs a removal operation of simultaneously transferring the first article W1 and the second article W2, which are two articles W that are transfer targets, from the holding section 31 to the second storage section 11B is shown. In Figure 12 In the illustrated state, the second transfer device 30B switches the posture of the hook 35 (here, the first side hook) adjacent on the retreat side with respect to the first article W1 to the abutting posture, and pushes out the first article W1 to the first storage position PI of the second storage section 11B with the hook 35, and switches the posture of the hook 35 (here, the central hook) adjacent on the retreat side with respect to the second article W2 to the abutting posture, and pushes out the second article W2 to the second storage position P2 of the second storage section 11B with the hook 35.

[0054] In the removal operation, the transfer device 30 moves the pair of arms 32 back after moving the pair of arms 32 out until the articles W that are transfer targets move to the storage positions of the articles W in the storage section 11 in a state in which at least the postures of the hooks 35 adjacent on the protruding side with respect to the articles W in each of the pair of arms 32 are switched to the retreat postures (for example, in a state in which the postures of all of the hooks 35 are switched to the retreat postures). In the case where the articles W that are transfer targets are two articles W that are side by side in the second direction Y, the postures of at least two hooks 35 (specifically, the hook 35 adjacent on the protruding side with respect to one article W and the hook 35 adjacent on the protruding side with respect to the other article W) in each of the pair of arms 32 are switched to the retreat postures. Thereby, the articles W that are transfer targets are left in the storage section 11, and the pair of arms 32 is moved back. The movement of the pair of arms 32 back can also be performed after the movement of the pair of arms 32 out, after the interval of the pair of arms 32 in the first direction X is expanded.

[0055] During the copying operation, the transfer device 30 extends and moves a pair of arms 32 until the item W to be transferred is positioned between the two hooks 35 of each of the pairs of arms 32, which are side by side in the second direction Y. When the item W to be transferred consists of two items W side by side in the second direction Y within the receiving section 11, the pair of arms 32 extends and moves until one item W is positioned between the first side hook and the central hook of each of the pairs of arms 32 in the second direction Y, and the other item W is positioned between the second side hook and the central hook of each of the pairs of arms 32 in the second direction Y.

[0056] At this time, the transfer device 30 extends and moves the pair of arms 32 while switching the posture of at least one hook 35 of each of the pair of arms 32 that moves relative to the object W to the protruding side to a retracted posture (for example, when the posture of all hooks 35 is switched to a retracted posture). When the object W to be transferred is two objects W arranged side-by-side in the second direction Y in the receiving section 11, the posture of at least two hooks 35 of each of the pair of arms 32 (specifically, the hook 35 that moves relative to one object W to the protruding side and the hook 35 that moves relative to the other object W to the protruding side) is switched to a retracted posture. When performing the retrieval operation of another object W while one object W is held by the holding section 31, the hook 35 adjacent to the object W held by the holding section 31 on the retracted side (in...) Figure 10 In the situation shown, the posture of the first item W1 held by the holding part 31 (adjacent to the first side hook on the retraction side) also changes to a retraction posture. After the transfer device 30 extends the pair of arms 32, it retracts the pair of arms 32 as described below. However, the retraction of the pair of arms 32 can also be performed after the extension of the pair of arms 32 and after the interval between the pair of arms 32 in the first direction X is narrowed.

[0057] During the picking operation, after the transfer device 30 extends and moves the pair of arms 32 as described above, it switches the posture of the hooks 35 adjacent to the object to be transferred W on the protruding side of each of the pair of arms 32 to the abutting posture. Then, it moves the pair of arms 32, spaced apart for the transfer, backward. This pulls the object to be transferred W in with the hooks 35 in the abutting posture until the object to be transferred W moves to the holding position of the object W in the holding part 31 (specifically, the holding position of the first object W1 or the holding position of the second object W2). When picking up two objects W side-by-side in the second direction Y simultaneously, the posture of the hooks 35 adjacent to the protruding side of one object W and the hooks 35 adjacent to the protruding side of the other object W are switched to the abutting posture. The posture of the hooks 35 adjacent to the object to be transferred on the retraction side can also be switched to the abutting posture. In this embodiment, the transfer device 30 is configured to activate the conveyor 36 carrying the article W in a manner synchronized with the direction and speed of movement of the article W caused by the backward movement of a pair of arms 32 during the picking operation.

[0058] Figure 9 This indicates that the second transfer device 30B is performing a copying operation, receiving the article W, which is the object to be transferred and is housed at the second housing position P2 of the first housing unit 11A, from the first housing unit 11A to the holding unit 31. Figure 9 In the situation shown, the second transfer device 30B switches the posture of the hook 35 (here, the first side hook) adjacent to the object to be transferred (the object W that becomes the first object W1) on the protruding side to the abutting posture, and uses the hook 35 to pull the object to be transferred into the position of the object W becoming the first object W1 in the holding part 31.

[0059] Figure 13 This indicates that the second transfer device 30B is performing a copying operation, receiving two items W, which are the transfer targets, side-by-side in the second direction Y, from the second receiving section 11B to the holding section 31. Figure 13 In the illustrated state, the second transfer device 30B switches the position of the hook 35 (here, the central hook) adjacent to the protruding side of the transfer target item W (the item W that becomes the first item W1) to an abutting position, and uses the hook 35 to pull the transfer target item W into the holding part 31 to the position where the item W becomes the first item W1. It also switches the position of the hook 35 (here, the second side hook) adjacent to the protruding side of another transfer target item W (the item W that becomes the second item W2) to an abutting position, and uses the hook 35 to pull the transfer target item W into the holding part 31 to the position where the item W becomes the second item W2.

[0060] Article W has several different types of dimensions in the first direction X (specifically, dimensions along the first direction X in the state held by the holding part 31 and in the state housed in the housing part 11). Hereinafter, regarding article W, "type" refers to the category when article W is classified according to its dimensions in the first direction X. That is, the type of article W is determined by which predetermined size division the article W belongs to in the first direction X. Articles W of the same type have mutually equal (same or similar) dimensions in the first direction X. Figure 1 and Figure 3 In the above, there are two types of items W: small item WS belonging to an item W of one size partition and large item WL belonging to an item W of a size partition that is larger than that size partition in the first direction X. However, there may also be items W belonging to size partitions that are different from these two size partitions.

[0061] In this embodiment, the aforementioned size partitions are set so that when two items W arranged side-by-side in the holding section 31 and the receiving section 11 in the second direction Y are of the same type, the two items W can be transferred simultaneously. Furthermore, in this embodiment, as... Figure 1 and Figure 3 As shown, in each containment section 11, items of the same type W are contained side by side in the second direction Y.

[0062] like Figure 2 As shown, the item containment device 1 includes a control unit 2 that controls the movement of the mobile body 20 and the transfer device 30. The control unit 2 controls the movement of the controlled object by controlling the drive of the power sources (e.g., electric motors, solenoids) installed in each part. The control unit 2 includes a processing unit such as a CPU and peripheral circuits such as a memory. Through the cooperation of these hardware components and the program executed on the processing unit, the various functions of the control unit 2 are realized. The control unit 2 can be installed on the mobile body 20 or installed independently of the mobile body 20. Furthermore, the control unit 2 can also include multiple hardware components that are communicatively separate, with some components installed on the mobile body 20 and the remaining components installed independently of the mobile body 20. For example... Figure 2 As shown, in this embodiment, the control unit 2 also controls the operation of the first conveyor 4A, the second conveyor 4B, and the notification device 5 described later.

[0063] The control unit 2 causes the movable body 20 to move along the first direction X. In this embodiment, the control unit 2 causes the movable body 20 to move the traveling unit 21 along the first direction X, and also causes the movable body 20 to lift the lifting unit 23. Furthermore, the control unit 2 causes the transfer device 30 to extend and retract a pair of arms 32 in the second direction Y, and to change the interval between the pair of arms 32 in the first direction X. In this embodiment, the control unit 2 also causes the transfer device 30 to perform the conveying operation of the item W by the conveyor 36 and the posture switching operation of the hook 35.

[0064] Control unit 2 receives instructions from a higher-level control device, for example, to perform inbound control (putting item W into shelf unit 10) and outbound control (removing item W from shelf unit 10). Furthermore, the technical features of control unit 2 disclosed in this specification can also be applied to the control method of item receiving device 1, which is also disclosed in this specification. This control method includes steps for causing transfer device 30 to unload and for causing transfer device 30 to pick up. In this embodiment, it also includes steps for causing transfer device 30 to perform a spacing reduction operation (described later), for causing alarm device 5 to perform an abnormality alarm (described later), and for setting the position and width of receiving portion 11 in shelf unit 10 corresponding to the size of the received item W in the first direction X.

[0065] The following section refers to the situation at each point in time during the warehousing control process, represented as a time series. Figures 3-8 Here is an example of the inbound control performed by control unit 2.

[0066] like Figure 3 As shown, the control unit 2 causes the moving body 20 to move (in this embodiment, in addition to the driving action of the traveling unit 21, there is also the lifting action of the lifting unit 23, and the same applies below) to arrange the transfer device 30 (in this embodiment, each of the first transfer device 30A and the second transfer device 30B) to a position corresponding to the inbound / outbound unit 3. The position corresponding to the inbound / outbound unit 3 is as follows: Figure 3 The image shows the position where the item W can be transferred between the holding section 31 and the inlet / outlet section 3. Specifically, the transfer device 30 and the inlet / outlet section 3 are opposite each other in the second direction Y (at the same height (position in the vertical direction Z) and opposite each other in the second direction Y, and the same applies below).

[0067] In a state where the transfer device 30 is disposed at a position corresponding to the storage compartment 11 of the transfer target, the control section 2 causes the transfer device 30 to perform a transfer operation of the article W between the storage compartment 11 and the holding section 31. The transfer operation of the article W between the storage compartment 11 and the holding section 31 is performed by at least one of the device provided at the storage compartment 11 and the transfer device 30 (in the present embodiment, both). In the present embodiment, the article W is transferred from the storage compartment 11 to the holding section 31 by the transfer operation of the first conveyer 4A provided at the storage compartment 11 and the transfer operation of the conveyer 36 provided at the transfer device 30. For example, in a state where the interval of the pair of arms 32 in the first direction X becomes the maximum value within the changeable range of the interval, the transfer operation of the article W between the storage compartment 11 and the holding section 31 is performed.

[0068] In Figure 3 , a state is shown in which the article W is transferred from the storage compartment 3 to the holding sections 31 of the first transfer device 30A and the second transfer device 30B so that two articles W (specifically, one large article WL and one small article WS) disposed side by side in the second direction Y in the storage compartment 3 are held side by side in the same order in the second direction Y by the holding sections 31 of the first transfer device 30A, and the other two articles W (specifically, one large article WL and one small article WS) disposed side by side in the second direction Y in the storage compartment 3 are held side by side in the same order in the second direction Y by the holding sections 31 of the second transfer device 30B.

[0069] If the transfer operation of the article W from the storage compartment 3 to the holding section 31 is completed, the control section 2 causes the moving body 20 to perform a movement operation to dispose the transfer device 30 at a position corresponding to the storage compartment 11 of the transfer target. The position corresponding to the storage compartment 11 is a position at which the article W can be transferred between the holding section 31 and the storage compartment 11, specifically, a position at which the transfer device 30 and the storage compartment 11 face each other in the second direction Y, as shown in Figure 4 . The control section 2 causes the transfer device 30 to perform a removal operation in a state where the transfer device 30 is disposed at a position corresponding to the storage compartment 11 of the transfer target.

[0070] In the present example, the control section 2 sequentially performs a movement operation of the second transfer device 30B to a position corresponding to the storage compartment 11 of the transfer target, a removal operation of the second article W2 by the second transfer device 30B (refer to Figure 4 , Figure 5 ), a movement operation of the first transfer device 30A to a position corresponding to the storage compartment 11 of the transfer target, and a removal operation of the first article W1 by the first transfer device 30A (refer to Figure 6), a moving operation of moving the first transfer device 30A and the second transfer device 30B to positions corresponding to the housing sections 11 of the respective transfer targets, a unloading operation of the second article W2 by the first transfer device 30A, and a unloading operation of the first article Wl by the second transfer device 30B (see Figure 8

[0071] In this example, each of the first transfer device 30A and the second transfer device 30B performs the unloading operation of the two articles W from the state where the two articles W are arranged in the holding section 31. In the case where the unloading operation of the two articles W is performed from the state where the two articles W (i.e., the first article Wl and the second article W2) are arranged in the holding section 31, the control section 2 first performs the unloading operation of the large article WL which is larger in size in the first direction X among the first article Wl and the second article W2, and then performs the unloading operation of the small article WS which is smaller in size in the first direction X among the first article Wl and the second article W2. In the unloading operation of the large article WL, the above-mentioned transfer interval is set to an interval corresponding to the size in the first direction X of the large article WL, and in the unloading operation of the small article WS, the above-mentioned transfer interval is set to an interval corresponding to the size in the first direction X of the small article WS.

[0072] The control section 2, in the case where the unloading operation of the two articles W is performed from the state where the two articles W are arranged in the holding section 31, first performs the unloading operation of the large article WL, and then performs the unloading operation of the small article WS, in the case where the sizes in the first direction X of the first article Wl and the second article W2 are different. As described above, in the present embodiment, the kind of the article W is determined in accordance with which size zone in the first direction X the size of the article W belongs to, and the control section 2 determines that the sizes in the first direction X of the first article Wl and the second article W2 are different in the case where the first article Wl and the second article W2 are mutually different kinds of articles W.

[0073] On the other hand, the control section 2, in the case where the unloading operation of the two articles W is performed from the state where the two articles W are arranged in the holding section 31, moves both the first article Wl and the second article W2 in the second direction Y by one extension and retraction of the pair of arms 32, and performs the unloading operation, in the case where the first article Wl and the second article W2 are housed side by side in the second direction Y in the first housing section 11A or the second housing section 11B, the sizes in the first direction X of the first article Wl and the second article W2 being equal. In Figure 12 ​In the present embodiment, the case where the unloading operation of the first article Wl and the second article W2 is completed by one extension and retraction of the pair of arms 32 is exemplified, but the structure can also be made such that the unloading operation is not completed by one extension and retraction of the pair of arms 32, and the extension and retraction of the pair of arms 32 is repeated a plurality of times to complete the unloading operation. For example, the structure can be made such that the extension and retraction of the pair of arms 32 is performed twice to move the first article Wl and the second article W2 by half of the distance required for each movement, thereby completing the unloading operation. In this case, the first article Wl and the second article W2 are pushed out by different hooks 35, for example, at the time of the first extension movement and at the time of the second extension movement of the pair of arms 32.

[0074] In the present embodiment, the control section 2 determines that the dimensions of the first article Wl and the second article W2 in the first direction X are equal in the case where the first article Wl and the second article W2 are articles W of the same kind. In addition, in the case where the unloading operation of two articles W is performed from a state where the articles W are arranged in the holding section 31, the control section 2, in the case where the dimensions of the first article Wl and the second article W2 in the first direction X are equal, and the first article Wl and the second article W2 are not housed side by side in the second direction Y in the first housing section 11A or the second housing section 11B, first performs the unloading operation of one of the first article Wl and the second article W2, and then performs the unloading operation of the other of the first article Wl and the second article W2.

[0075] In the present example, the first transfer device 30A performs the unloading operation of the first article Wl as a large article WL and the second article W2 as a small article WS arranged in the holding section 31. Therefore, the control section 2, with respect to the first transfer device 30A, first performs the unloading operation of the first article Wl as a large article WL (refer to Figure 6 ), and then performs the unloading operation of the second article W2 as a small article WS (refer to Figure 8 ).

[0076] In addition, in the present example, the second transfer device 30B performs the unloading operation of the first article Wl as a small article WS and the second article W2 as a large article WL arranged in the holding section 31. Therefore, the control section 2, with respect to the second transfer device 30B, first performs the unloading operation of the second article W2 as a large article WL (refer to Figure 4 , Figure 5 ), and then (in the present example, after performing the unloading operation of the first article Wl as a large article WL by the first transfer device 30A), performs the unloading operation of the first article Wl as a small article WS (refer to Figure 8 ). In the present example, as Figure 8As shown, the unloading of the small item WS by the second transfer device 30B is performed in parallel with the unloading operation of the small item WS by the first transfer device 30A.

[0077] The control unit 2, when performing an unloading operation on the large item WL from the state where two items W are arranged in the holding unit 31, sets the destination of the large item WL in the second direction Y of the first holding unit 11A and the second holding unit 11B (in the case of the unloading operation on the side of the large item WL relative to the small item WS). Figure 4 The middle section is the 2nd Containment Section 11B, in Figure 6 The first receiving section 11A is located in the middle. On the other hand, the transfer destination of the small item WS can be set to either the first receiving section 11A or the second receiving section 11B. That is, when the small item WS is the first item W1, the transfer destination of the small item WS can be set to the second receiving section 11B instead of the first receiving section 11A, and when the small item WS is the second item W2, the transfer destination of the small item WS can be set to the first receiving section 11A instead of the second receiving section 11B. In this example, after the first item W1, which is a large item WL, is unloaded from the first transfer device 30A, the conveyor 36 is used to transport the second item W2, which is a small item WS, from the second direction, second side Y2 portion of the holding section 31 to the second direction, first side Y1 portion (see reference). Figure 7 Then, the second item W2 is transferred to the first containment department 11A (see reference). Figure 8 ).

[0078] When the control unit 2 performs the unloading operation of the two items W from the state where the holding unit 31 has two items W, and performs the unloading operation of the large item WL first and then the small item WS, after the unloading operation of the large item WL is completed, while the small item WS is positioned between the pair of arms 32 in the first direction X, the control unit 2 performs a gap-reducing operation to narrow the gap between the pair of arms 32 in the first direction X (see reference). Figure 7 Then perform the unloading action of the small item WS (refer to...). Figure 8 The extension movement of the pair of arms 32 in the unloading action of the small item WS can also be performed after the gap reduction action is completed, after the gap between the pair of arms 32 in the first direction X is expanded within the range of the transfer gap described above compared with the target gap described later.

[0079] In the present embodiment, the control section 2 acquires information of the object size which is the size of the small article WS in the first direction X, and in the interval-reducing operation, reduces the interval of the pair of arms 32 in the first direction X toward a target interval corresponding to the acquired object size. The target interval is set to the same value as the object size, or to a value obtained by adding a set value to the object size. As shown in Fig. 25, the control section 2 is configured to acquire information of the object size from size data 7 which contains information of the size of each article W. The size data 7 is, for example, data based on detection information of a detection device which detects the size or identification information (bar code, etc.) of the article W, or data contained in conveyance instruction data transmitted from a higher-level control device to the control section 2. Figure 2

[0080] In the present embodiment, the control section 2 performs abnormality notification in a case where the interval of the pair of arms 32 in the first direction X cannot be reduced to the target interval in the interval-reducing operation. In this case, the control section 2 interrupts the unloading operation of the small article WS and performs abnormality notification. As shown in Fig. 26, the control section 2 is configured to control the operation of a notification device 5 such as a buzzer, a rotating light, etc., and in a case where the interval of the pair of arms 32 in the first direction X cannot be reduced to the target interval, the control section 2 performs abnormality notification to the operator by causing the notification device 5 to operate with sound, light, etc. Figure 2

[0081] However, in the present embodiment, the control section 2 sets the position and width in the first direction X of the first housing section 11 A in the first shelf unit 10A in accordance with the size of the article W in the first direction X when housing the article W in the first housing section 11 A, and sets the position and width in the first direction X of the second housing section 11B in the second shelf unit 10B in accordance with the size of the article W in the first direction X when housing the article W in the second housing section 11B. For example, the control section 2 can be configured to set the position and width in the first direction X of the first housing section 11 A in the first shelf unit 10A, the position and width in the first direction X of the second housing section 11B in the second shelf unit 10B in accordance with the size of the article W in the first direction X so that the gap formed between two articles W adjacent in the first direction X becomes equal.

[0082] Next, the situation at each time point in the warehouse control is shown in a time series in Figs. 27 to 30. Figures 9-11 An example of the warehouse control performed by the control section 2 will be described.

[0083] ​​The control section 2 causes the transfer device 30 to perform the picking action in a state where the transfer device 30 is disposed at a position corresponding to the housing section 11 of the transfer object. In this example, the control section 2 sequentially performs a movement action of causing the second transfer device 30B to move to a position corresponding to the housing section 11 of the transfer object, a picking action of the article W performed by the second transfer device 30B to become the first article Wl (see Figure 9 ), a movement action of causing the second transfer device 30B to move to a position corresponding to the housing section 11 of the transfer object, and a picking action of the article W performed by the second transfer device 30B to become the second article W2 (see Figure 10 ). Details are omitted, but in this example, between the picking action of the article W performed by the second transfer device 30B to become the first article Wl (see Figure 9 ) and the picking action of the article W performed by the second transfer device 30B to become the second article W2 (see Figure 10 ), a picking action of two articles W performed by the first transfer device 30A to become the first article Wl and the second article W2 is performed.

[0084] In this example, each of the first transfer device 30A and the second transfer device 30B performs the picking action of two articles W to become the first article Wl and the second article W2 from a state where the holding section 31 does not hold the article W. In the case where the picking action of two articles W to become the first article Wl and the second article W2 is performed from a state where the holding section 31 does not hold the article W, the control section 2 first performs the picking action of a small article WS that is smaller in size in the first direction X among the two articles W, and then performs the picking action of a large article WL that is larger in size in the first direction X among the two articles W. In the picking action of the large article WL, the above-mentioned transfer interval is set to an interval corresponding to the size in the first direction X of the large article WL, and in the picking action of the small article WS, the above-mentioned transfer interval is set to an interval corresponding to the size in the first direction X of the small article WS.

[0085] The control section 2, in the case of performing the picking-up operation of two articles W which become the first article Wl and the second article W2 from the state in which the holding section 31 does not hold the article W, in the case where the sizes of the first article Wl and the second article W2 in the first direction X are different, performs the picking-up operation of the small article WS first, and then performs the picking-up operation of the large article WL. On the other hand, the control section 2, in the case of performing the picking-up operation of two articles W which become the first article Wl and the second article W2 from the state in which the holding section 31 does not hold the article W, in the case where the sizes of the two articles W in the first direction X are equal to each other, and the two articles W are housed side by side in the second direction Y in the first housing section 11A or the second housing section 11B, moves both of the two articles W in the second direction Y by one extension and retraction of the pair of arms 32, and performs the picking-up operation. In Figure 13 In the present example, the first transfer device 30A performs the picking-up operation of two articles W which become the first article Wl and the second article W2 from the state in which the holding section 31 does not hold the article W. Therefore, the control section 2, with respect to the first transfer device 30A, performs the picking-up operation of the small article WS which becomes the second article W2 first, and then performs the picking-up operation of the large article WL which becomes the first article Wl.

[0086] In addition, the control section 2, in the case of performing the picking-up operation of two articles W which become the first article Wl and the second article W2 from the state in which the holding section 31 does not hold the article W, in the case where the sizes of the two articles W in the first direction X are equal to each other, and the two articles W are not housed side by side in the second direction Y in the first housing section 11A or the second housing section 11B, performs the picking-up operation of one of the two articles W first, and then performs the picking-up operation of the other of the two articles W.

[0087] In the present example, the first transfer device 30A performs the picking-up operation of two articles W which become the first article Wl and the second article W2 from the state in which the holding section 31 does not hold the article W. Therefore, the control section 2, with respect to the first transfer device 30A, performs the picking-up operation of the small article WS which becomes the second article W2 first, and then performs the picking-up operation of the large article WL which becomes the first article Wl.

[0088] In addition, in the present example, the second transfer device 30B performs the picking-up operation of two articles W which become the first article Wl and the second article W2 from the state in which the holding section 31 does not hold the article W. Therefore, the control section 2, with respect to the second transfer device 30B, performs the picking-up operation of the small article WS which becomes the first article Wl first (see Figure 9 ), and then performs the picking-up operation of the large article WL which becomes the second article W2 (see Figure 10 ).

[0089] If all of the picking-up operations (in this case, the picking-up operations of the first article Wl and the second article W2 by the first transfer device 30A and the picking-up operations of the first article Wl and the second article W2 by the second transfer device 30B) are completed, the control section 2 causes the moving body 20 to perform a moving operation so as to arrange the transfer device 30 (in this embodiment, each of the first transfer device 30A and the second transfer device 30B) at a position corresponding to the storage and retrieval section 3, as shown in FIG. 1. In a state where the transfer device 30 is arranged at a position corresponding to the storage and retrieval section 3, a transfer operation of the articles W from the holding section 31 to the storage and retrieval section 3 is performed. In this embodiment, the articles W are moved from the holding section 31 to the storage and retrieval section 3 by a transfer operation of the second conveyor 4B provided in the storage and retrieval section 3 and a transfer operation of the conveyor 36 provided in the transfer device 30, and the articles W are transferred from the holding section 31 to the storage and retrieval section 3. Figure 11

[0090] 〔Other Embodiments〕

[0091] Next, other embodiments of the article storage device will be described.

[0092] (1) In the above-described embodiments, the structure in which the hook 35 is provided in each of the pair of arms 32, the transfer device 30 retreats and advances the pair of arms 32, the article W arranged between the pair of arms 32 is moved in the second direction Y by the hook 35, and the like has been described as an example. However, the present disclosure is not limited to such a structure, and a structure in which the hook 35 is not provided in each of the pair of arms 32 can be made. For example, a structure in which the transfer device 30 moves the article W arranged between the pair of arms 32 in the second direction Y by making the pair of arms 32, which sandwich the article W from both sides in the first direction X, retreat and advance can be made. In such a structure, a structure in which a conveyor (for example, a belt conveyor) that conveys the article W in the second direction Y by abutting against the side surface of the article W is provided in each of the pair of arms 32, and the article W arranged between the pair of arms 32 is moved in the second direction Y by the operation of the conveyor in addition to the retreat and advance of the pair of arms 32 can be made.

[0093] (2) In the above-described embodiments, the structure in which the control section 2 performs abnormality notification in a case where the control section 2 cannot reduce the interval of the pair of arms 32 in the first direction X to the target interval in the interval-reducing operation has been described as an example. However, the present disclosure is not limited to such a structure, and for example, a structure in which the transfer device 30 performs an operation other than the interval-reducing operation for correcting the posture of the small article WS to an appropriate posture in a case where the control section 2 cannot reduce the interval of the pair of arms 32 in the first direction X to the target interval in the interval-reducing operation can be made.

[0094] ​(3) In the above-described embodiment, the structure in which the control section 2 sets the position and width of the housing section 11 in the first direction X of the housing section 11 of the shelf unit 10 in accordance with the size of the article W in the first direction X when housing the article W in the housing section 11 was described as an example. However, the present disclosure is not limited to such a structure, and the structure in which the position and width of the housing section 11 in the shelf unit 10 are fixed can also be adopted.

[0095] (4) In the above-described embodiment, the structure in which the holding section 31 is provided with conveyors 36 (two conveyors 36 arranged side by side in the second direction Y in the example of the above-described embodiment) that convey the article W in the second direction Y, and the transfer device 30 causes the conveyors 36 to operate in synchronization with the moving direction and speed of the article W caused by the extension and retraction of the pair of arms 32 during the transfer operation was described as an example. However, the present disclosure is not limited to such a structure, and the structure in which the holding section 31 is not provided with the conveyors 36 and the article W slides on the holding section 31 (specifically, on the support surface of the holding section 31 on the upward side Z1) along with the transfer operation can also be adopted.

[0096] (5) In the above-described embodiment, the structure in which the first transfer device 30A and the second transfer device 30B are caused to ascend and descend integrally with the ascent and descent of the lifting section 23 by being supported side by side in the first direction X by the common lifting section 23 was described as an example. However, the present disclosure is not limited to such a structure, and the structure in which the first transfer device 30A and the second transfer device 30B are caused to ascend and descend independently of each other by being supported by two lifting sections that can ascend and descend independently of each other can also be adopted.

[0097] (6) In the above-described embodiment, the structure in which the article housing apparatus 1 (specifically, the mobile body 20) is provided with the first transfer device 30A and the second transfer device 30B as two transfer devices 30 that can perform the transfer operation independently of each other was described as an example. However, the present disclosure is not limited to such a structure, and the structure in which the article housing apparatus 1 is provided with only one transfer device 30, or the structure in which the article housing apparatus 1 is provided with three or more transfer devices 30 that can perform the transfer operation independently of each other can also be adopted.

[0098] (7) In the above-described embodiment, the structure in which the mobile body 20 is a stacker crane was described as an example. However, the present disclosure is not limited to such a structure, and the mobile body 20 can be a conveyance device such as a conveyance device that travels along a travel path provided corresponding to each layer of the shelf unit 10, or the like other than a stacker crane.

[0099] (8) In the above-described embodiments, the structure in which the shelf unit 10 is provided with the housing portions 11 arranged in the vertical direction Z is described as an example. However, the present disclosure is not limited to such a structure, and the shelf unit 10 can be configured to have the housing portions 11 at only one height.

[0100] (9) In addition, the structures disclosed in the above-described embodiments can be combined with the structures disclosed in other embodiments (including combinations of the embodiments described as other embodiments with each other) as long as there is no contradiction. As for other structures, the embodiments disclosed in this specification are merely examples in all aspects. Thus, various changes can be appropriately made within the scope of the gist of the present disclosure.

[0101] 〔Summary of the above-described embodiments〕

[0102] Hereinafter, a summary of the article storage apparatus described in the above will be described.

[0103] An article storage apparatus includes: a first shelf unit including a plurality of first storage portions arranged in a first direction along a horizontal plane; a second shelf unit including a plurality of second storage portions arranged in the first direction, and disposed opposite the first shelf unit in a second direction orthogonal to the first direction in a vertical direction view along the vertical direction; a moving body moving in the first direction between the first shelf unit and the second shelf unit in the second direction; a transfer device carried on the moving body, including a holding portion holding an article to be conveyed, and capable of transferring the article between the first storage portions and the second storage portions and the holding portion; and a control portion controlling operations of the moving body and the transfer device. Each of the plurality of first storage portions and each of the plurality of second storage portions can store two articles side by side in the second direction. The holding portion can hold two articles side by side in the second direction. The transfer device includes a pair of arms capable of changing a distance in the first direction and extending and retracting in the second direction. The transfer device performs a transfer operation of the article between the first storage portion or the second storage portion and the holding portion by extending and retracting the pair of arms in the second direction in a state where the article is disposed between the pair of arms in the first direction. In the transfer operation, an operation of transferring the article from the holding portion to the first storage portion or the second storage portion is an unloading operation, and an operation of receiving the article from the first storage portion or the second storage portion to the holding portion is a pick-up operation. In a state where two articles are disposed side by side in the second direction in the holding portion, one of the articles disposed on one side in the second direction is a first article, and the other of the articles disposed on the other side in the second direction is a second article. The control portion performs the unloading operation of the first article and the second article in the order of a larger article in the first direction and a smaller article in the first direction when the unloading operation of the two articles is performed from a state where the two articles are disposed in the holding portion. The control portion performs the pick-up operation of the first article and the second article in the order of a smaller article in the first direction and a larger article in the first direction when the pick-up operation of the two articles is performed from a state where the holding portion does not hold the articles.

[0104] According to the present structure, in a case where the unloading operation of the two articles is performed from a state where the two articles are arranged in the holding section, even if the sizes of the two articles in the first direction are different from each other, by performing the unloading operation in the order of the large article and the small article, the unloading operation of the small article can be performed in a state where the large article is not present in the holding section. Thus, when the unloading operation of the small article is performed, it is possible to avoid a situation where the interval of the pair of arms in the first direction cannot be narrowed to an interval appropriate for the unloading operation of the small article due to the presence of the large article, and it is possible to appropriately hand over both the large article and the small article to the storage section (the first storage section or the second storage section, the same applies hereafter) using the pair of arms.

[0105] Further, according to the present structure, in a case where the picking operation of the two articles that become the first article and the second article is performed from a state where no article is held in the holding section, even if the sizes of the two articles in the first direction are different from each other, by performing the picking operation in the order of the small article and the large article, the picking operation of the small article can be performed in a state where the large article is not present in the holding section. Thus, when the picking operation of the small article is performed, it is possible to avoid a situation where the interval of the pair of arms in the first direction cannot be narrowed to an interval appropriate for the picking operation of the small article due to the presence of the large article, and it is possible to appropriately receive both the large article and the small article from the storage section using the pair of arms.

[0106] As described above, according to the present structure, even if the two articles whose sizes in the first direction are not equal are not arranged side by side in the second direction in the transfer device, it is possible to appropriately perform the transfer of the articles between the transfer device that can hold the two articles side by side in the second direction and the storage section that can store the two articles side by side in the second direction.

[0107] Here, it is preferable that the aforementioned control section set the transfer destination of the aforementioned large article in a case where the aforementioned unloading operation of the aforementioned two articles is performed from a state where the aforementioned two articles are arranged in the aforementioned holding section, to the aforementioned first storage section and the aforementioned second storage section that are on the side where the aforementioned large article is arranged with respect to the aforementioned small article in the aforementioned second direction.

[0108] According to the present structure, in a case where the unloading operation of the large article is performed first from a state where the large article and the small article are arranged in the holding section, it is possible to appropriately hand over the large article to the storage section that is the transfer destination while avoiding interference with the small article arranged in the holding section.

[0109] Further, it is preferable that the control section, in a case where the aforementioned unloading operation of two aforementioned articles is performed from a state where the aforementioned two articles are arranged in the aforementioned holding section, move both of the aforementioned two articles in the aforementioned second direction by one extension and retraction of the pair of aforementioned arms in a case where the sizes of the aforementioned first article and the aforementioned second article in the aforementioned first direction are equal, and the aforementioned first article and the aforementioned second article are housed side by side in the aforementioned second direction in the aforementioned first housing section or the aforementioned second housing section.

[0110] According to the present structure, since the unloading operation is performed by moving both of the two articles in the second direction by one extension and retraction of the pair of arms in a case where the sizes of the two articles in the first direction are equal, and the two articles are housed side by side in the second direction in the housing section from a state where the two articles are arranged in the holding section, the efficiency of the unloading operation can be improved.

[0111] Further, it is preferable that the control section, in a case where the aforementioned unloading operation of two aforementioned articles is performed from a state where the aforementioned two articles are arranged in the aforementioned holding section, move both of the aforementioned two articles in the aforementioned second direction by one extension and retraction of the pair of aforementioned arms in a case where the sizes of the aforementioned first article and the aforementioned second article in the aforementioned first direction are equal, and the aforementioned first article and the aforementioned second article are housed side by side in the aforementioned second direction in the aforementioned first housing section or the aforementioned second housing section.

[0112] According to the present structure, since the unloading operation is performed by moving both of the two articles in the second direction by one extension and retraction of the pair of arms in a case where the sizes of the two articles in the first direction are equal, and the two articles are housed side by side in the second direction in the housing section from a state where the two articles are arranged in the holding section, the efficiency of the unloading operation can be improved.

[0113] Further, it is preferable that the control section, in a case where the aforementioned unloading operation of two aforementioned articles is performed from a state where the aforementioned two articles are arranged in the aforementioned holding section, move both of the aforementioned two articles in the aforementioned second direction by one extension and retraction of the pair of aforementioned arms in a case where the sizes of the aforementioned first article and the aforementioned second article in the aforementioned first direction are equal, and the aforementioned first article and the aforementioned second article are housed side by side in the aforementioned second direction in the aforementioned first housing section or the aforementioned second housing section.

[0114] In a case where the unloading operation is performed in the order of the large article and the small article from the state where the large article and the small article are arranged in the holding section, the interval of the pair of arms in the first direction is made to be equal to or more than an interval corresponding to the width of the large article in the first direction during the period until the unloading operation of the large article is completed. Therefore, there is a possibility that the posture (one or both of the position and the orientation) of the small article is changed from the proper posture during the period until the unloading operation of the large article is completed. According to the present structure, since the interval-reducing operation is performed after the completion of the unloading operation of the large article, even in a case where the posture of the small article is changed from the proper posture, the unloading operation of the small article can be performed after the posture of the small article is corrected to the proper posture. Thus, the unloading operation of the small article can be properly performed.

[0115] In the structure where the aforementioned interval-reducing operation is performed by the aforementioned control section, it is preferable that the control section acquire information of an object size which is a size of the aforementioned small article in the aforementioned first direction, that the interval of the pair of aforementioned arms in the aforementioned first direction be reduced toward a target interval corresponding to the acquired aforementioned object size in the aforementioned interval-reducing operation, and that an abnormality be notified in a case where the interval of the pair of aforementioned arms in the aforementioned first direction cannot be reduced to the aforementioned target interval.

[0116] According to the present structure, in a case where the posture of the small article is greatly changed from the proper posture or the like, in a case where the posture of the small article cannot be corrected to the proper posture by the interval-reducing operation, an abnormality can be notified. Thus, it is possible to avoid the unloading operation of the small article in a situation where the unloading operation of the small article cannot be properly performed.

[0117] In the article storage apparatus of each of the above structures, it is preferable that the control section set the position and the width of the first storage section in the first direction of the first shelf unit according to the size of the article in the first direction when the article is stored in the first storage section, and set the position and the width of the second storage section in the first direction of the second shelf unit according to the size of the article in the first direction when the article is stored in the second storage section.

[0118] According to the present structure, compared to a case where the position and the width of the storage section in the first direction of the first shelf unit and the second shelf unit are fixed, it is possible to efficiently store articles having mutually different sizes in the first direction side by side in the first direction in the first shelf unit and the second shelf unit.

[0119] Further, it is preferable that the first transfer device and the second transfer device be provided as two aforementioned transfer devices capable of performing the aforementioned transfer operation independently of each other.

[0120] According to the present structure, since the four articles can be moved together by the moving body in a state where the first transfer device and the second transfer device hold the four articles in total, the processing efficiency of the articles in the article storage apparatus can be improved compared to a case where only one transfer device is provided.

[0121] The article storage apparatus according to the present disclosure can achieve at least one of the above-described effects.

[0122] Reference Signs

[0123] 1: Article storage apparatus

[0124] 2: Control unit

[0125] 10A: First shelf unit

[0126] 10B: Second shelf unit

[0127] 11A: First storage portion

[0128] 11B: Second storage portion

[0129] 20: Moving body

[0130] 30: Transfer device

[0131] 30A: First transfer device

[0132] 30B: Second transfer device

[0133] 31: Holding portion

[0134] 32: Arm

[0135] W: Article

[0136] W1: First article

[0137] W2: Second article

[0138] WL: Large article

[0139] WS: Small article

[0140] X: First direction

[0141] Y: Second direction

[0142] Z: Up-down direction

Claims

1. An item containment device, characterized in that, have: The first shelf unit has a plurality of first receiving sections arranged in a first direction along the horizontal plane; The second shelf unit has a second direction orthogonal to the first direction in a vertical view along the vertical direction, and has a plurality of second receiving parts arranged in the first direction, and is arranged opposite to the first shelf unit in the second direction. The moving body moves along the first direction between the first shelf unit and the second shelf unit in the second direction. A transfer device, mounted on the aforementioned mobile body, includes a holding part for holding an article of the object to be transported, and is capable of transferring the article between the aforementioned first receiving part and the aforementioned second receiving part, respectively, and the aforementioned holding part; and The control unit controls the operation of the aforementioned moving body and the aforementioned transfer device; Each of the aforementioned first containment units and each of the aforementioned second containment units can contain two of the aforementioned items side by side in the aforementioned second direction; The aforementioned retaining part is capable of holding two of the aforementioned items side by side in the aforementioned second direction; The aforementioned transfer device has a pair of arms that can change the spacing in the first direction and extend and retract in the second direction. By extending and retracting the pair of arms in the second direction while the aforementioned article is disposed between the aforementioned arms in the first direction, the aforementioned article is transferred between the aforementioned first receiving part or the aforementioned second receiving part and the aforementioned holding part. In the aforementioned transfer operation, the action of transferring the aforementioned item from the aforementioned holding part to the aforementioned first receiving part or the aforementioned second receiving part is defined as the unloading operation, and the action of receiving the aforementioned item from the aforementioned first receiving part or the aforementioned second receiving part to the aforementioned holding part is defined as the copying operation. When the two aforementioned items are arranged side by side in the aforementioned holding part in the aforementioned second direction, the aforementioned item arranged on one side in the aforementioned second direction is designated as the first item, and the aforementioned item arranged on the other side in the aforementioned second direction is designated as the second item. When the control unit performs the aforementioned unloading operation of the two aforementioned items from a state where two aforementioned items are arranged in the aforementioned holding part, it first performs the aforementioned unloading operation of the larger item, which is the larger of the aforementioned first item and the aforementioned second item in the aforementioned first direction, and then performs the aforementioned unloading operation of the smaller item, which is the smaller of the aforementioned first item and the aforementioned second item in the aforementioned first direction. When the aforementioned control unit performs the aforementioned copying operation of the two aforementioned items, namely the first item and the second item, from a state where the aforementioned item is not held in the aforementioned holding unit, it first performs the aforementioned copying operation of the smaller item, which is the smaller of the two aforementioned items in the aforementioned first direction, and then performs the aforementioned copying operation of the larger item, which is the larger of the two aforementioned items in the aforementioned first direction.

2. The article containment device as described in claim 1, characterized in that, The destination for the transfer of the large item from the state where the two items are arranged in the holding part is to be the side of the first and second holding parts that is located in the second direction relative to the small item and the side where the large item is arranged.

3. The article containment device as described in claim 1, characterized in that, When the aforementioned control unit performs the aforementioned unloading operation on the two aforementioned items from a state where the two aforementioned items are arranged in the aforementioned holding part, and when the aforementioned first item and the aforementioned second item are of equal size in the aforementioned first direction and are arranged side by side in the aforementioned second direction to be housed in the aforementioned first or the aforementioned second receiving part, the aforementioned control unit moves both the aforementioned first item and the aforementioned second item in the aforementioned second direction by extending and retracting the pair of aforementioned arms once, thereby performing the aforementioned unloading operation.

4. The article containment device as described in claim 2, characterized in that, When the aforementioned control unit performs the aforementioned unloading operation on the two aforementioned items from a state where the two aforementioned items are arranged in the aforementioned holding part, and when the aforementioned first item and the aforementioned second item are of equal size in the aforementioned first direction and are arranged side by side in the aforementioned second direction to be housed in the aforementioned first or the aforementioned second receiving part, the aforementioned control unit moves both the aforementioned first item and the aforementioned second item in the aforementioned second direction by extending and retracting the pair of aforementioned arms once, thereby performing the aforementioned unloading operation.

5. The article containment device as described in claim 1, characterized in that, When the aforementioned control unit performs the aforementioned copying operation of the two aforementioned items, namely the first item and the second item, from a state where the aforementioned item is not held in the aforementioned holding part, and when the two aforementioned items are of equal size in the aforementioned first direction and are housed side by side in the aforementioned first or second holding part in the aforementioned second direction, the two aforementioned items are moved in the aforementioned second direction by means of the extension and retraction of a pair of aforementioned arms, and the aforementioned copying operation is performed.

6. The article containment device as described in claim 2, characterized in that, When the aforementioned control unit performs the aforementioned copying operation of the two aforementioned items, namely the first item and the second item, from a state where the aforementioned item is not held in the aforementioned holding part, and when the two aforementioned items are of equal size in the aforementioned first direction and are housed side by side in the aforementioned first or second holding part in the aforementioned second direction, the two aforementioned items are moved in the aforementioned second direction by means of the extension and retraction of a pair of aforementioned arms, and the aforementioned copying operation is performed.

7. The article containment device as described in claim 3, characterized in that, When the aforementioned control unit performs the aforementioned copying operation of the two aforementioned items, namely the first item and the second item, from a state where the aforementioned item is not held in the aforementioned holding part, and when the two aforementioned items are of equal size in the aforementioned first direction and are housed side by side in the aforementioned first or second holding part in the aforementioned second direction, the two aforementioned items are moved in the aforementioned second direction by means of the extension and retraction of a pair of aforementioned arms, and the aforementioned copying operation is performed.

8. The article containment device as described in claim 4, characterized in that, When the aforementioned control unit performs the aforementioned copying operation of the two aforementioned items, namely the first item and the second item, from a state where the aforementioned item is not held in the aforementioned holding part, and when the two aforementioned items are of equal size in the aforementioned first direction and are housed side by side in the aforementioned first or second holding part in the aforementioned second direction, the two aforementioned items are moved in the aforementioned second direction by means of the extension and retraction of a pair of aforementioned arms, and the aforementioned copying operation is performed.

9. The article containment device as described in any one of claims 1 to 8, characterized in that, When the control unit performs the aforementioned unloading operation of the two aforementioned items from a state where two aforementioned items are arranged in the aforementioned holding unit, if the aforementioned unloading operation of the aforementioned large item is performed first and then the aforementioned unloading operation of the aforementioned small item is performed, after the aforementioned unloading operation of the aforementioned large item is completed, while the aforementioned small item is arranged between the pair of aforementioned arms in the aforementioned first direction, a gap-reducing operation is performed to narrow the gap between the pair of aforementioned arms in the aforementioned first direction, and then the aforementioned unloading operation of the aforementioned small item is performed.

10. The article containment device as claimed in claim 9, characterized in that, The aforementioned control unit obtains information about the size of the object, which is the size of the aforementioned small item in the aforementioned first direction. During the aforementioned gap reduction operation, it reduces the gap between the pair of aforementioned arms in the aforementioned first direction toward the target gap corresponding to the obtained size of the aforementioned object. If the gap between the pair of aforementioned arms in the aforementioned first direction cannot be reduced to the aforementioned target gap, an abnormality is reported.

11. The article containment device as described in any one of claims 1 to 8, characterized in that, When the aforementioned control unit receives the aforementioned item into the aforementioned first receiving part in the aforementioned first shelf unit, it sets the position and width of the first receiving part in the aforementioned first direction according to the size of the item in the aforementioned first direction. When the aforementioned control unit receives the aforementioned item into the aforementioned second receiving part in the aforementioned second shelf unit, it sets the position and width of the second receiving part in the aforementioned first direction according to the size of the item in the aforementioned first direction.

12. The article containment device as claimed in claim 9, characterized in that, When the aforementioned control unit receives the aforementioned item into the aforementioned first receiving part in the aforementioned first shelf unit, it sets the position and width of the first receiving part in the aforementioned first direction according to the size of the item in the aforementioned first direction. When the aforementioned control unit receives the aforementioned item into the aforementioned second receiving part in the aforementioned second shelf unit, it sets the position and width of the second receiving part in the aforementioned first direction according to the size of the item in the aforementioned first direction.

13. The article containment device as claimed in claim 10, characterized in that, When the aforementioned control unit receives the aforementioned item into the aforementioned first receiving part in the aforementioned first shelf unit, it sets the position and width of the first receiving part in the aforementioned first direction according to the size of the item in the aforementioned first direction. When the aforementioned control unit receives the aforementioned item into the aforementioned second receiving part in the aforementioned second shelf unit, it sets the position and width of the second receiving part in the aforementioned first direction according to the size of the item in the aforementioned first direction.

14. The article containment device as described in any one of claims 1 to 8, characterized in that, A first transfer device and a second transfer device are provided, which are two transfer devices capable of performing the aforementioned transfer operation independently of each other.

15. The article containment device as claimed in claim 9, characterized in that, A first transfer device and a second transfer device are provided, which are two transfer devices capable of performing the aforementioned transfer operation independently of each other.

16. The article containment device as claimed in claim 10, characterized in that, A first transfer device and a second transfer device are provided, which are two transfer devices capable of performing the aforementioned transfer operation independently of each other.

17. The article containment device as claimed in claim 11, characterized in that, A first transfer device and a second transfer device are provided, which are two transfer devices capable of performing the aforementioned transfer operation independently of each other.

18. The article containment device as claimed in claim 12, characterized in that, A first transfer device and a second transfer device are provided, which are two transfer devices capable of performing the aforementioned transfer operation independently of each other.

19. The article containment device as claimed in claim 13, characterized in that, A first transfer device and a second transfer device are provided, which are two transfer devices capable of performing the aforementioned transfer operation independently of each other.

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