Conveyor vehicle

Abstract

The transport vehicle (100) includes: a container group support (2) for supporting a plurality of containers (70) as a stacked container group (7) within a defined stacking area (2A); a lifting device (3) for lifting the containers (70) of the container group (7) supported by the container group support (2); and a transfer device (4) for transferring the containers (70). The lifting device (3) includes a first lifting mechanism (31) for lifting a container (70) of any height stacked in the container group (7) in the stacking area (2A) relative to a container (70) adjacent below that container (70), and a second lifting mechanism (32) for lifting a container (70) lower than the container (70) lifted by the first lifting mechanism (31) relative to a container (70) adjacent below that container (70).

Description

Technical Field

[0001] This invention relates to a transport vehicle that can transport containers that are stacked in the vertical direction. Background Technology

[0002] An example of such a transport vehicle is disclosed in Japanese Patent Application Publication No. 2019-18983 (Patent Document 1). Hereinafter, the reference numerals in parentheses in the background description are those of Patent Document 1.

[0003] The transport vehicle (2) disclosed in Patent Document 1 includes a traveling body (21). Furthermore, the traveling body (21) is equipped with a support (23) for supporting multiple stacked containers (W), a lifting device (25) for lifting a portion of the stacked containers (W) on-site, and a transfer device (24) for transferring the containers (W) to the support (23).

[0004] In the transport vehicle (2) disclosed in Patent Document 1, the number of stacked containers (W) can be increased or decreased by using a transfer device (24) to pick up and unload containers (W) from the support (23). Furthermore, the lifting device (25) can lift any layer of containers (W) among the stacked containers (W). Therefore, when picking up containers (W) by the transfer device (24), one container (W) can be randomly selected from the stacked containers (W) and picked up. Furthermore, when unloading containers (W) by the transfer device (24), the layer to which the unloaded container (W) is to be unloaded can be randomly selected, and the unloaded container (W) can be unloaded onto that layer.

[0005] However, in the structure of the transport vehicle disclosed in Patent Document 1, only one container (W) can be transferred at a time, and it is not conceivable to transfer multiple containers (W) in parallel to the support (23).

[0006] Existing technical documents

[0007] Patent documents

[0008] Patent Document 1: Japanese Patent Application Publication No. 2019-18983 Summary of the Invention

[0009] The problem that the invention aims to solve

[0010] Given the above situation, it is desirable to develop a transport vehicle capable of performing multiple transfer actions in parallel on multiple stacked containers.

[0011] Methods for solving problems

[0012] A transport vehicle, configured to transport containers stackable in a vertical direction, comprises: a traveling body for traveling; a container group support mounted on the traveling body for supporting a plurality of containers as a stacked container group within a defined stacking area; a lifting device mounted on the traveling body for lifting the containers of the container group supported by the container group support; and a transfer device mounted on the traveling body for transferring the containers; the transfer device includes a first holding portion for holding the containers, and is positioned below the first holding portion to hold the containers. The second holding part, the first transfer machine for transferring the container between the first holding part and the lamination region, and the second transfer machine for transferring the container between the second holding part and the lamination region; the lifting device includes a first lifting mechanism for lifting a container of any height in the group of containers stacked in the lamination region relative to a container adjacent below that container, and a second lifting mechanism for lifting a container that is lower than the container lifted by the first lifting mechanism relative to a container adjacent below that container.

[0013] According to this structure, both the first and second transfer machines can transfer containers within the stacked area. Furthermore, vertical spaces can be provided below the containers lifted by the first and second lifting mechanisms within the stacked container group. Therefore, using these two spaces, the transfer of containers from the stacked container group by the first and second transfer machines can be performed in parallel. As described above, according to this structure, multiple transfer operations can be performed in parallel on multiple stacked containers.

[0014] Further features and advantages of the technology disclosed herein will become clearer with reference to the following illustrative and non-limiting description of embodiments. Attached Figure Description

[0015] Figure 1 It is a top view of a conveyor system equipped with a conveyor vehicle.

[0016] Figure 2 This is the front view of the container shelf.

[0017] Figure 3 This is the main view of the container.

[0018] Figure 4 yes Figure 3 Sectional view IV-IV.

[0019] Figure 5This is a view of the width of the transport vehicle.

[0020] Figure 6 This is a front-to-back view of the vehicle body with the lifting device.

[0021] Figure 7 This is a top view showing the first and second positions of the transfer device.

[0022] Figure 8 This is a diagram showing the transfer device as seen from a direction orthogonal to the transfer direction.

[0023] Figure 9 This is a diagram showing the locking and non-locking positions of the locking part.

[0024] Figure 10 This diagram illustrates the unloading action performed by the transfer device.

[0025] Figure 11 This is a diagram illustrating the copying action performed by the transfer device.

[0026] Figure 12 This is an explanatory diagram showing the action of picking up containers from the shelf section.

[0027] Figure 13 This is an explanatory diagram showing the action of picking up containers from the shelf section.

[0028] Figure 14 This is an explanatory diagram showing the action of picking up containers from the shelf section.

[0029] Figure 15 This is an explanatory diagram showing the action of picking up containers from the shelf section.

[0030] Figure 16 This is an explanatory diagram showing the action of picking up containers from the shelf section.

[0031] Figure 17 This is an explanatory diagram showing the action of picking up containers from the shelf section.

[0032] Figure 18 This is an explanatory diagram showing the unloading action of the container on the shelf.

[0033] Figure 19 This is an explanatory diagram showing the unloading action of the container on the shelf.

[0034] Figure 20 This is an explanatory diagram showing the unloading action of the container on the shelf.

[0035] Figure 21 This diagram illustrates the parallel actions of copying and unloading containers in the laminated region.

[0036] Figure 22 This diagram illustrates the parallel actions of copying and unloading containers in the laminated region.

[0037] Figure 23 This diagram illustrates the parallel actions of copying and unloading containers in the laminated region.

[0038] Figure 24 This diagram illustrates the parallel actions of copying and unloading containers in the laminated region.

[0039] Figure 25 This diagram illustrates the parallel actions of copying and unloading containers in the laminated region.

[0040] Figure 26 This diagram illustrates the parallel actions of copying and unloading containers in the laminated region.

[0041] Figure 27 This diagram illustrates the parallel actions of copying and unloading containers in the laminated region.

[0042] Figure 28 This diagram illustrates the parallel actions of copying and unloading containers in the laminated region.

[0043] Figure 29 This diagram illustrates the parallel actions of copying and unloading containers in the laminated region.

[0044] Figure 30 This diagram illustrates the parallel actions of copying and unloading containers in the laminated region.

[0045] Figure 31 This diagram illustrates the parallel actions of copying and unloading containers in the laminated region.

[0046] Figure 32 This diagram illustrates the parallel actions of copying and unloading containers in the laminated region.

[0047] Figure 33 This diagram illustrates the parallel actions of copying and unloading containers in the laminated region.

[0048] Figure 34 This diagram illustrates the parallel actions of copying and unloading containers in the laminated region.

[0049] Figure 35 This is an explanatory diagram illustrating the replacement of containers in the shelf section.

[0050] Figure 36This is an explanatory diagram illustrating the replacement of containers in the shelf section.

[0051] Figure 37 This is an explanatory diagram illustrating the replacement of containers in the shelf section.

[0052] Figure 38 This is an explanatory diagram illustrating the replacement of containers in the shelf section.

[0053] Figure 39 This is an explanatory diagram illustrating the replacement of containers in the shelf section.

[0054] Figure 40 This is an explanatory diagram illustrating the replacement of containers in the shelf section.

[0055] Figure 41 This is an explanatory diagram illustrating the replacement of containers in the shelf section.

[0056] Figure 42 This is an explanatory diagram illustrating the replacement of containers in the shelf section. Detailed Implementation

[0057] The conveyor vehicle is configured to transport containers that can be stacked in the vertical direction. Hereinafter, an example of a conveyor vehicle being equipped with a conveying device for transporting containers will be described, and an embodiment of the conveyor vehicle will be explained.

[0058] like Figure 1 As shown, the conveying equipment F has a receiving container 70 (refer to...) Figure 3 The container shelf 8 and the inbound / outbound section 9 for transporting in and out of containers 70. The transport vehicle 100 transports containers 70 that are transported in by the inbound / outbound section 9 to the container shelf 8, or transports containers 70 that are stored in the container shelf 8 to the inbound / outbound section 9 for outbound purposes.

[0059] In this embodiment, multiple container shelves 8 are arranged parallel to each other while being spaced at predetermined intervals. Each of the multiple container shelves 8 has at least a front opening, through which containers 70 are placed and removed. Furthermore, a portion of the travel path R of the transport vehicle 100 is provided between a pair of container shelves 8 facing each other. In addition, the container shelf 8 located at the far end of the multiple container shelves 8 equipped in the transport device F is arranged with its front facing outwards, and a portion of the travel path R is also provided along the front area of ​​the container shelf 8 at that end. Furthermore, the transport device F is provided with multiple inlet / outlet sections 9, and a portion of the travel path R is also provided in the area passing through each of the multiple inlet / outlet sections 9.

[0060] The travel path R includes an inner shelf path Ra extending along the front of the container shelf 8 in its extending direction, and an outer shelf path Rb intersecting the inner shelf path Ra outside the arrangement area of ​​the container shelf 8. The inner shelf path Ra is provided corresponding to each of the plurality of container shelves 8. In this embodiment, a portion of the travel path R provided in the area between a pair of container shelves 8 facing each other, and a portion of the travel path R provided along the area of ​​the front of the container shelf 8 arranged with its front facing outwards, corresponds to the inner shelf path Ra. Furthermore, the outer shelf path Rb is provided to connect the plurality of inner shelf paths Ra. Additionally, the outer shelf path Rb is also provided to pass through each of the plurality of inlet / outlet sections 9. In this embodiment, the portion of the travel path R other than the inner shelf path Ra corresponds to the outer shelf path Rb.

[0061] [Container shelf]

[0062] like Figure 2 As shown, the container shelf 8 has multiple shelf sections 80 in the vertical direction, which house containers 70. In this embodiment, the container shelf 8 is constructed by combining multiple support members 81 and multiple beam members 82. The multiple beam members 82 are arranged at intervals in the vertical direction. Moreover, each of the multiple beam members 82 is connected to a mounting member 83 for mounting the container 70. In this example, the container 70 is housed in the shelf section 80 by being mounted on a pair of mounting members 83. Furthermore, multiple sets of pairs of mounting members 83 are arranged in the shelf section 80, and multiple containers 70 can be housed in one shelf section 80. In addition, in this example, in Figure 2 In the frontal view shown, the area between a pair of adjacent support members 81 in the width direction (left-right direction) and between a pair of adjacent beam members 82 in the vertical direction corresponds to the opening of the container shelf 8.

[0063] In this embodiment, a target portion 82T is provided at a reference position 80P in the shelf portion 80 for storing the container 70, serving as a target for storing the container 70 at that reference position 80P. In this example, the target portion 82T is provided on the beam member 82. One target portion 82T is provided for each pair of mounting members 83. In the illustrated example, the target portion 82T is formed by a hole formed in the beam member 82.

[0064] 〔container〕

[0065] like Figure 3As shown, the container 70 is formed into a box shape, having an upward-opening opening 71 and a peripheral wall 72 that surrounds the internal space of the container 70. In this example, the container 70 has a rectangular shape when viewed from above. Articles can be contained within the internal space surrounded by the peripheral wall 72, i.e., inside the container 70. These articles include, for example, various commodities such as food and daily necessities, or parts and work-in-process used in factory production lines.

[0066] Container 70 is configured to be stackable with other containers 70 when it contains items. That is, container 70 is configured to be stackable in the vertical direction (see also...). Figure 5 In this example, container 70 has a fitting portion 77 that protrudes downward from its bottom. The two containers 70 are stacked vertically by fitting the fitting portion 77 of container 70 with respect to the opening 71 of another container 70 from above.

[0067] like Figure 3 and Figure 4 As shown, in this embodiment, the container 70 has a plurality of ribs protruding outward from the peripheral wall portion 72. A portion of these ribs is a lifting rib 73 that is lifted by the lifting device 3 (described later). In this example, the lifting rib 73 is formed on the upper part of the peripheral wall portion 72. Furthermore, the lifting rib 73 is formed around the entire circumference of the portion of the peripheral wall portion 72 that surrounds the opening 71. A portion of these ribs is a transfer rib 74 that is lifted during the transfer operation performed by the transfer device 4 (described later). In this example, the transfer rib 74 is formed below the lifting rib 73.

[0068] In this embodiment, the container 70 includes a recess 75. The recess 75 is formed in the surface of the container 70 where the transfer rib 74 is provided. In this example, the container 70 has a locking wall 76 that protrudes outward from the peripheral wall portion 72 and extends downward between the lifting rib 73 and the transfer rib 74 in the vertical direction, and the recess 75 is formed between the locking wall 76 and the peripheral wall portion 72. In other words, the recess 75 is a space surrounded by the peripheral wall portion 72 and the locking wall 76. As will be described later, the locking wall 76 is the portion that locks against the first locking portion 41Bb and the second locking portion 42Bb during the transfer operation performed by the transfer device 4.

[0069] like Figure 3As shown, the height of container 70 is defined as container height 70H. Container height 70H is the vertical dimension from the top to the bottom of container 70; in this embodiment, it corresponds to the vertical distance from the opening 71 to the bottom of the fitting portion 77. When multiple containers 70, such as two containers 70, are stacked, the fitting portion 77 of the upper container 70 is fitted inside the lower container 70 and stored therein. Therefore, the combined height of the two stacked containers 70 is shorter than the height of the fitting portion 77 by the sum of the heights of the two containers 70 (70H × 2).

[0070] [Conveyor vehicle]

[0071] like Figure 5 As shown, the transport vehicle 100 includes a traveling body 1 for driving, a container group support 2 for supporting a stack of multiple containers 70 within a defined stacking area 2A, a lifting device 3 for lifting the containers 70 of the container group 7 supported by the container group support 2, and a transfer device 4 for transferring the containers 70. The container group support 2, the lifting device 3, and the transfer device 4 are mounted on the traveling body 1. If the direction along the driving direction in the traveling body 1 is defined as the "vehicle body front-to-back direction L", then the container group support 2 and the transfer device 4 are arranged on the traveling body 1 in the vehicle body front-to-back direction L. In addition, the direction orthogonal to the vehicle body front-to-back direction L in the vertical direction will be defined as the "vehicle body width direction W" in the following description.

[0072] In this embodiment, the transport vehicle 100 includes a control device C. The control device C controls each functional unit of the transport vehicle 100. In this example, the control device C controls the traveling body 1, the container support 2, the lifting device 3, the transfer device 4, and the rotating device 5 (described later). The actions for transporting and transferring the containers 70 are realized by controlling each functional unit through the control device C. The control device C includes, for example, a processor such as a microcomputer, peripheral circuits such as a memory, etc. Moreover, each function is realized by the cooperation of this hardware and the program executed on the processor such as the computer.

[0073] [Driving Body]

[0074] The driving body 1 is configured to travel along a specified driving path R (refer to...) Figure 1 In this embodiment, the traveling body 1 is configured to travel along the inner shelf path Ra and the outer shelf path Rb. When traveling along the inner shelf path Ra, the traveling body 1 travels along the container shelf 8; more specifically, it travels along the front of the container shelf 8. In this embodiment, the traveling body 1 is configured to travel on the floor surface.

[0075] The vehicle body 1 includes a plurality of driving wheels 10 and a driving drive unit 10M that drives at least one of the driving wheels 10. The driving drive unit 10M is configured to include a motor (not shown). By driving the driving wheels 10 through the driving drive unit 10M, a propulsive force in the driving direction is applied to the vehicle body 1.

[0076] [Container Group Support Section]

[0077] The container group support 2 is mounted on the traveling body 1. The container group support 2 is configured to support a plurality of containers 70 in a stacked state as a container group 7. Above the container group support 2, a stacking region 2A is defined for arranging the container group 7. The stacking region 2A is a three-dimensional imaginary region extending upward from the container group support 2. In this example, the container group support 2 is configured as a conveyor capable of moving the container group 7 while it is loaded. In this example, the container group support 2 allows the container group 7 to move along the width direction W of the vehicle body. The conveyor constituting the container group support 2 can be a roller conveyor, chain conveyor, belt conveyor, or other known conveyors.

[0078] The container group 7, which consists of multiple stacked containers 70, is transported into the inlet / outlet section 9 (see reference). Figure 1 When the transport vehicle 1 is adjacent to the inbound / outbound section 9, the container group support 2 receives the container group 7 from the inbound / outbound section 9 or transfers the container group 7 to the inbound / outbound section 9. That is, the container group support 2 is configured to facilitate the transfer of the container group 7 between itself and the inbound / outbound section 9. Detailed illustrations are omitted, but in this example, the inbound / outbound section 9 is adjacent to the picking area where the operation of retrieving items from the container 70 is performed. If the container group 7 is transferred from the container group support 2 to the inbound / outbound section 9, the items are retrieved from the container 70 in the picking area adjacent to the inbound / outbound section 9. After some or all of the items contained in the container 70 have been retrieved, the container 70 is transferred from the inbound / outbound section 9 to the container group support 2 (conveyor 100) and transported again to the container shelf 8. However, the inbound / outbound section 9 may not be adjacent to the picking area, or it may be adjacent to other equipment or work areas. Furthermore, for example, the inbound / outbound section 9 can be configured to transport the container group 7 transferred from the container group support section 2 to the outside of the conveying equipment F.

[0079] [Lifting device]

[0080] The lifting device 3 is mounted on the traveling body 1. The lifting device 3 is configured to lift the containers 70 of the container group 7 supported by the container group support 2, in other words, the containers 70 of the container group 7 arranged in the stacking region 2A.

[0081] The lifting device 3 includes a lifting mast 30 erected upwards from the traveling body 1, a lifting lifting body 30B connected to the lifting mast 30, and a lifting lifting body drive unit 30M that moves the lifting lifting body 30B up and down along the lifting mast 30. Detailed illustrations are omitted, but the lifting lifting body drive unit 30M typically includes, for example, an endless body such as a belt connected to the lifting lifting body 30B, a rotating body wound around the endless body, and a motor that drives the rotating body to rotate.

[0082] The lifting device 3 includes a first lifting mechanism 31 that lifts a container 70 of any height stacked in the stacking region 2A relative to a container 70 adjacent below it, and a second lifting mechanism 32 that lifts a container 70 located below the container 70 after being lifted by the first lifting mechanism 31 relative to a container 70 adjacent below it. Furthermore, in this embodiment, the first lifting mechanism 31 and the second lifting mechanism 32 are arranged apart in the vertical direction. Thus, for example... Figure 25 As shown, a space can be formed between the container 70 after it is lifted by the first lifting mechanism 31 and the container 70 after it is lifted by the second lifting mechanism 32 in the vertical direction. In addition, a space in the vertical direction can also be formed below the container 70 after it is lifted by the second lifting mechanism 32.

[0083] In this embodiment, the lifting device 3 includes a first frame portion 31F and a second frame portion 32F protruding from the lifting lifting body 30B toward the stacking region 2A in the longitudinal direction L of the vehicle body, and a connecting frame portion 33F connecting the first frame portion 31F and the second frame portion 32F. The first frame portion 31F and the second frame portion 32F are arranged with a gap in the vertical direction. The first frame portion 31F is positioned above the second frame portion 32F. The connecting frame portion 33F connects the first frame portion 31F and the second frame portion 32F in the vertical direction. With this structure, the first frame portion 31F and the second frame portion 32F do not move relative to each other, and the vertical gap between the first frame portion 31F and the second frame portion 32F is always constant. The first frame portion 31F, the second frame portion 32F, and the connecting frame portion 33F rise and fall together with the lifting lifting body 30B.

[0084] like Figure 6As shown, the first frame portion 31F includes a pair of first frame members 31Fa arranged at intervals in the vehicle width direction W. The pair of first frame members 31Fa are arranged corresponding to the width (length in the vehicle width direction W) of the container 70 arranged in the lamination region 2A. In other words, the arrangement interval of the pair of first frame members 31Fa in the vehicle width direction W corresponds to the width of the container 70. In this example, the arrangement interval of the pair of first frame members 31Fa in the vehicle width direction W is a predetermined dimensional amount that is larger than the width of the container 70 and corresponds to the size of the first lifting and holding portion 31a described later.

[0085] Similarly, the second frame portion 32F includes a pair of second frame members 32Fa arranged at intervals in the vehicle width direction W. The pair of second frame members 32Fa are arranged corresponding to the width of the container 70 arranged in the laminated region 2A. In other words, the arrangement interval of the pair of second frame members 32Fa in the vehicle width direction W corresponds to the width of the container 70. In this example, the arrangement interval of the pair of second frame members 32Fa in the vehicle width direction W is a predetermined dimensional amount relative to the width of the container 70, which is greater than the size of the second lifting and holding portion 32a described later.

[0086] Furthermore, the connecting frame portion 33F includes a pair of connecting frame members 33Fa. Each of the pair of connecting frame members 33Fa is connected to a first frame member 31Fa and a second frame member 32Fa arranged in the vertical direction.

[0087] In this embodiment, the first lifting mechanism 31 includes a first lifting holding portion 31a that holds the container 70. Furthermore, the first lifting mechanism 31 includes a first lifting drive portion 31M that changes the posture of the first lifting holding portion 31a to a holding posture that holds the container 70 and a non-holding posture that does not hold the container 70.

[0088] In this embodiment, the first lifting and holding part 31a is configured to rotate about an axis along the longitudinal direction L of the vehicle body. In the holding posture, the first lifting and holding part 31a is positioned in the lamination region 2A at a position overlapping the lifting rib 73 of the container 70 in a vertical direction view; in the non-holding posture, it retracts from the position overlapping the lifting rib 73 in a vertical direction view to the outside of the vehicle body width direction W. Figure 6 In the diagram, the holding posture of the first lifting and holding part 31a is represented by a solid line, and the non-holding posture of the first lifting and holding part 31a is represented by an imaginary line. Thus, the first lifting and holding part 31a in the holding posture is arranged opposite the lifting rib 73 from below. In this state, the container 70 is lifted by raising the first frame part 31F.

[0089] In this embodiment, the first lifting mechanism 31 includes the first frame portion 31F described above, and the first lifting holding portion 31a is supported by the first frame portion 31F. Specifically, the first lifting holding portion 31a is supported by a pair of first frame members 31Fa arranged at intervals in the vehicle width direction W. Thus, the first lifting mechanism 31 includes a pair of first lifting holding portions 31a arranged at intervals in the vehicle width direction W. The arrangement interval of the pair of first lifting holding portions 31a in the vehicle width direction W corresponds to the width of the container 70 arranged in the laminated region 2A.

[0090] In this embodiment, the second lifting mechanism 32 includes a second lifting holding portion 32a disposed below the first lifting holding portion 31a and holding the container 70. The second lifting mechanism 32 includes a second lifting drive portion 32M that changes the posture of the second lifting holding portion 32a to a holding posture for holding the container 70 and a non-holding posture for not holding the container 70.

[0091] In this embodiment, the second lifting and holding portion 32a is configured to rotate about an axis along the longitudinal direction L of the vehicle body. In the holding posture, the second lifting and holding portion 32a is positioned in the lamination region 2A at a position overlapping the lifting rib 73 of the container 70 in a vertical view; in the non-holding posture, it retracts from the position overlapping the lifting rib 73 in a vertical view to the outside of the width direction W of the vehicle body. Figure 6 In the diagram, the holding posture of the second lifting and holding part 32a is represented by a solid line, and the non-holding posture of the second lifting and holding part 32a is represented by an imaginary line. Thus, the second lifting and holding part 32a in the holding posture is arranged opposite the lifting rib 73 from below. In this state, the container 70 is lifted by the rise of the second frame part 32F.

[0092] In this embodiment, the second lifting mechanism 32 includes the aforementioned second frame portion 32F, and the second lifting holding portion 32a is supported by the second frame portion 32F. Specifically, the second lifting holding portion 32a is supported by a pair of second frame members 32Fa arranged at intervals in the vehicle width direction W. Thus, the second lifting mechanism 32 includes a pair of second lifting holding portions 32a arranged at intervals in the vehicle width direction W. The arrangement interval of the pair of second lifting holding portions 32a in the vehicle width direction W corresponds to the width of the container 70 arranged in the laminated region 2A.

[0093] like Figure 6 As shown, a space is formed in the vertical direction between the container 70 lifted by the first lifting mechanism 31 and the container 70 lifted by the second lifting mechanism 32, allowing for the transfer of other containers 70. Therefore, the transfer device 4 (see reference) can... Figure 5It can transfer other containers 70 into the space. In other words, it is possible to stack other containers 70 on top of the container 70 that has been lifted by the second lifting mechanism 32 by the transfer device 4.

[0094] In this embodiment, such as Figure 5 and Figure 6 As shown, the second lifting mechanism 32 is provided with a guide section 3G to guide the container 70 transferred by the transfer device 4. In this example, the guide section 3G has a pair of guide members 3Ga arranged at intervals in the vehicle width direction W. The arrangement interval of the pair of guide members 3Ga in the vehicle width direction W corresponds to the width of the container 70. In the illustrated example, each of the pair of second frame members 32Fa is provided with a guide member 3Ga. The guide member 3Ga is formed as a plate that stands upright from the second frame member 32Fa, and the container 70 is guided by the plate surface facing inward in the vehicle width direction W.

[0095] As will be described later, the transfer operation of the container 70 performed by the transfer device 4 includes not only the horizontal movement of the container 70 towards the target location, but also the vertical movement of the container 70. In this embodiment, the vertical distance 3H between the first lifting and holding part 31a and the second lifting and holding part 32a is set based on the height of N layers of the container 70 (N being an integer of 2 or more) plus the vertical movement Mv of the container 70 being transferred during the transfer operation performed by the transfer device 4 (specifically, the second transfer machine 42B described later). "N" is preset and is set to "2" in this example. That is, the vertical distance 3H between the first lifting and holding part 31a and the second lifting and holding part 32a is set based on the height 70H of 2 layers of containers plus the vertical movement Mv of the container 70 during the transfer operation (3H = 70H × 2 + Mv). Furthermore, a margin that takes into account structural errors, control errors, etc., can also be added to it. Furthermore, the vertical movement amount Mv will be discussed later.

[0096] [Transfer device]

[0097] like Figure 5 As shown, the transfer device 4 is mounted on the vehicle 1. The transfer device 4 is configured to transfer the container 70 to the transfer target area. The transfer device 4 is configured to perform an unloading operation of transferring the container 70 to the transfer target area and a picking operation of transferring the container 70 from the transfer target area. In this embodiment, the transfer target area includes a stacking region 2A and a shelf portion 80 of a container shelf 8.

[0098] Here, the direction of movement of the container 70 transferred by the transfer device 4 is defined as the transfer direction X. Furthermore, one side of the transfer direction X is designated as the transfer direction unloading side X1, and the other side as the transfer direction picking side X2. In this example, the transfer direction X is a horizontal direction. The transfer direction unloading side X1 is the side where the container 70 moves along the transfer direction X when it is unloaded. The transfer direction picking side X2 is the side where the container 70 moves along the transfer direction X when it is picked up.

[0099] In this embodiment, the transport vehicle 100 includes a rotary device 5 that rotates the transfer device 4 about an axis in the vertical direction. For example... Figure 7 As shown, the rotating device 5 is configured to rotate the transfer device 4 (more specifically, a part of the transfer device 4) about an axis along the vertical direction, changing the orientation of the transfer device 4 to a first posture P1 with the transfer direction X facing the lamination region 2A and a second posture P2 with the transfer direction X facing the container shelf 8. Thus, in this embodiment, the transfer direction X can be changed in the horizontal plane by the rotating device 5.

[0100] In this embodiment, the transfer device 4 changes its posture according to the position of the transfer target area. Specifically, the transfer device 4 adopts a first posture P1 when the transfer target area is the laminated region 2A, and a second posture P2 when the transfer target area is the container shelf 8 (shelf part 80). Figure 8 As shown, in this example, the rotary device 5 includes a rotary table 50 that supports the transfer device 4 (more specifically, a part of the transfer device 4), a rotary shaft 51 that rotatably supports the rotary table 50 relative to the transfer lifting body 40B described later, and a rotary drive unit 5M that drives the rotary shaft 51. Additionally, Figure 8 This indicates that the transfer device 4 is in the second posture P2. Figure 10 and Figure 11 This indicates that the transfer device 4 is in the first posture P1. Figure 10 and Figure 11 In order to ensure good visual recognition, the lifting device 3, which actually lifts the container 70, is omitted.

[0101] like Figure 5 As shown, the transfer device 4 includes a transfer mast 40 erected upwards from the traveling body 1, a transfer lifting body 40B connected to the transfer mast 40, and a transfer lifting body drive unit 40M that moves the transfer lifting body 40B up and down along the transfer mast 40. Detailed illustrations are omitted, but the transfer lifting body drive unit 40M typically includes, for example, an endless body such as a belt connected to the transfer lifting body 40B, a rotating body wound around the endless body, and a motor that drives the rotating body to rotate.

[0102] like Figure 8 As shown, the transfer device 4 includes a first holding part 41A for holding the container 70, a second holding part 42A disposed below the first holding part 41A and holding the container 70, a first transfer machine 41B for transferring the container 70 between the first holding part 41A and the transfer target part, and a second transfer machine 42B for transferring the container 70 between the second holding part 42A and the transfer target part.

[0103] As described above, the transfer target area includes the stacking region 2A and the shelf portion 80 of the container shelf 8. That is, the first transfer machine 41B transfers the container 70 between the first holding portion 41A and the stacking region 2A or the shelf portion 80. Furthermore, the second transfer machine 42B transfers the container 70 between the second holding portion 42A and the stacking region 2A or the shelf portion 80. In this embodiment, the first transfer machine 41B transfers the container 70 between the first holding portion 41A and the stacking region 2A in the first posture P1 state (see reference). Figure 10 and Figure 11 (etc.), in the second posture P2 state, the container 70 is transferred between the first holding part 41A and the shelf part 80 (refer to) Figure 8 Similarly, the second transfer machine 42B performs the transfer of the container 70 between the second holding part 42A and the lamination region 2A in the first posture P1 state (see reference). Figure 10 and Figure 11 (etc.), in the second posture P2 state, the container 70 is transferred between the second holding part 42A and the shelf part 80 (refer to) Figure 8 wait).

[0104] like Figure 8 As shown, in this embodiment, the transfer device 4 includes a retaining connection portion 43 that connects the first retaining portion 41A and the second retaining portion 42A in the vertical direction. The retaining connection portion 43 connects the first retaining portion 41A and the second retaining portion 42A in such a way that the vertical spacing between them is fixed.

[0105] In this embodiment, the transfer device 4 includes a first holding drive unit 41MA that moves the first holding portion 41A along the transfer direction X, and a second holding drive unit 42MA that moves the second holding portion 42A along the transfer direction X. The first holding drive unit 41MA is configured to move the first holding portion 41A relative to the transfer lifting body 40B along the transfer direction X. The second holding drive unit 42MA is configured to move the second holding portion 42A relative to the transfer lifting body 40B along the transfer direction X. As described above, in this embodiment, the first holding portion 41A and the second holding portion 42A are connected by a holding connection unit 43. Therefore, the first holding portion 41A and the second holding portion 42A move integrally along the transfer direction X. In this example, the first holding drive unit 41MA that drives the first holding portion 41A and the second holding drive unit 42MA that drives the second holding portion 42A are driven by a common drive source.

[0106] In this embodiment, the first transfer machine 41B includes a first pressing part 41Ba that pushes the container 70 toward the unloading side X1 in the transfer direction when the container 70 is unloaded, and a first locking part 41Bb that locks the container 70 in the transfer direction X when the container 70 is picked up. The first pressing part 41Ba and the first locking part 41Bb are each configured to be movable relative to the first holding part 41A in the transfer direction X.

[0107] In this embodiment, the first transfer machine 41B includes a first support member 41Bc supported by a first holding portion 41A and supporting a first pressing portion 41Ba and a first locking portion 41Bb, and a first transfer drive portion 41Mc that moves the first support member 41Bc relative to the first holding portion 41A along the transfer direction X. In this example, the first support member 41Bc is driven by the first transfer drive portion 41Mc, and the first pressing portion 41Ba and the first locking portion 41Bb move relative to the first holding portion 41A along the transfer direction X.

[0108] In this embodiment, the first pressing part 41Ba and the first locking part 41Bb are configured to move integrally along the transfer direction X. Furthermore, the movable range of the first pressing part 41Ba and the first locking part 41Bb along the transfer direction X is larger than the movable range of the first holding part 41A along the transfer direction X. In this embodiment, when transferring the container 70 to the transfer target area (layer region 2A or shelf section 80), the first pressing part 41Ba or the first locking part 41Bb is used to transfer the container 70 while the first holding part 41A is brought close to the transfer target area. This reduces the gap between the first holding part 41A and the transfer target area during the transfer operation, enabling stable transfer of the container 70 by the first transfer machine 41B.

[0109] In this embodiment, the second transfer machine 42B includes a second pressing part 42Ba that pushes the container 70 toward the unloading side X1 in the transfer direction when the container 70 is unloaded, and a second locking part 42Bb that locks the container 70 in the transfer direction X when the container 70 is picked up. The second pressing part 42Ba and the second locking part 42Bb are each configured to be movable relative to the second holding part 42A in the transfer direction X.

[0110] In this embodiment, the second transfer machine 42B includes a second support member 42Bc supported by a second holding portion 42A and supporting a second pressing portion 42Ba and a second locking portion 42Bb, and a second transfer drive portion 42Mc that moves the second support member 42Bc relative to the second holding portion 42A along the transfer direction X. In this example, the second support member 42Bc is driven by the second transfer drive portion 42Mc, and the second pressing portion 42Ba and the second locking portion 42Bb move relative to the second holding portion 42A along the transfer direction X.

[0111] In this embodiment, the second pressing part 42Ba and the second locking part 42Bb are configured to move integrally along the transfer direction X. Furthermore, the movable range of the second pressing part 42Ba and the second locking part 42Bb along the transfer direction X is larger than the movable range of the second holding part 42A along the transfer direction X. In this embodiment, when transferring the container 70 to the transfer target area (laminated area 2A or shelf section 80), the second pressing part 42Ba or the second locking part 42Bb is used to transfer the container 70 while the second holding part 42A is brought close to the transfer target area. This reduces the gap between the second holding part 42A and the transfer target area during the transfer operation, enabling stable transfer of the container 70 by the second transfer machine 42B.

[0112] In this embodiment, the first transfer machine 41B includes a first locking drive unit 41Mb that drives the first locking portion 41Bb. In this example, the first locking drive unit 41Mb drives the first locking portion 41Bb to rotate about a rotation axis along the transfer direction X. Furthermore, the second transfer machine 42B includes a second locking drive unit 42Mb that drives the second locking portion 42Bb. In this example, the second locking drive unit 42Mb drives the second locking portion 42Bb to rotate about a rotation axis along the transfer direction X.

[0113] like Figure 9As shown, the first locking portion 41Bb is configured such that, by being rotated by the first locking drive portion 41Mb, its posture can be changed to a locking posture inserted into the recess 75 of the container 70 and a non-locking posture exiting the recess 75. The first locking portion 41Bb in the locking posture is disposed in the recess 75 between the peripheral wall portion 72 and the locking wall 76 in the transfer direction X. Similarly, the second locking portion 42Bb is configured such that, by being rotated by the second locking drive portion 42Mb, its posture can be changed to a locking posture inserted into the recess 75 of the container 70 and a non-locking posture exiting the recess 75. The second locking portion 42Bb in the locking posture is disposed in the recess 75 between the peripheral wall portion 72 and the locking wall 76 in the transfer direction X.

[0114] Next, refer to Figure 10 and Figure 11 The transfer operation of container 70 performed by transfer device 4 will be explained. Additionally, in Figure 10 and Figure 11 The container 70 is represented in a simplified way.

[0115] Figure 10 and Figure 11 This indicates the operation of the transfer device 4 in relation to the lamination region 2A transfer container 70, which is the transfer target area. Figure 10 This indicates the unloading action of container 70 performed by transfer device 4. Figure 11 This indicates the action of picking up container 70 performed by transfer device 4. When the shelf portion 80 of container shelf 8 becomes the transfer target, transfer device 4 operates in roughly the same manner. Furthermore, the transfer action of container 70 performed by the first transfer machine 41B and the transfer action of container 70 performed by the second transfer machine 42B are the same. Therefore, in Figure 10 and Figure 11 In this section, the transfer operations performed by each of the transfer machines 41B and 42B will be described together. Therefore, the first holding part 41A and the second holding part 42A will be collectively referred to as "holding part A", the first transfer machine 41B and the second transfer machine 42B will be collectively referred to as "transfer machine B", the first pressing part 41Ba and the second pressing part 42Ba will be collectively referred to as "pressing part Ba", the first locking part 41Bb and the second locking part 42Bb will be collectively referred to as "locking part Bb", and the first support member 41Bc and the second support member 42Bc will be collectively referred to as "support member Bc". In addition, in Figure 10 and Figure 11 In the illustration, the first transfer machine 41B and the second transfer machine 42B are not particularly distinguished, and the sensors Se1, Se2 and the limiting part 44, which will be described later, are omitted.

[0116] like Figure 10As shown, when the transfer machine B performs the unloading operation, the pushing part Ba pushes the container 70 toward the unloading side X1 in the transfer direction. In this embodiment, during the unloading operation, the pushing part Ba pushes the container 70 toward the unloading side X1 in the transfer direction while the locking wall 76 of the container 70 is abutting against the scooping side X2 in the transfer direction. As a result, the container 70, which is the object to be unloaded and is held by the holding part A, moves from the holding part A to the lamination region 2A.

[0117] In this embodiment, when the transfer machine B unloads the container 70 from the lamination region 2A, the holding part A moves up and down. Specifically, at the start of the unloading operation, the holding part A is positioned at the unloading operation start height, which is set such that the lower end (lower surface) of the container 70 to be unloaded is above the upper end (upper surface) of the other containers 70 in the lamination region 2A that are the unloading destination. Here, the unloading operation start height is set such that the lower surface of the fitting portion 77 of the container 70 to be unloaded is above the upper surface of the opening portion 71 of the other containers 70 in the lamination region 2A by a predetermined amount. Then, after the container 70 to be unloaded enters the lamination region 2A, the holding part A descends to the unloading operation completion height, which is set below the unloading operation start height, and laminates the container 70 to be unloaded onto the other containers 70 positioned in the lamination region 2A. In this way, by moving the holding part A up and down, the fitting part 77 of the container 70 from which the object is being unloaded can approach from above and properly fit into place relative to the openings 71 of the other containers 70 disposed in the lamination region 2A. This up and down movement of the holding part A is achieved by means of a transfer lifting body 40B (see reference). Figure 5 This is achieved through the rise and fall of ().

[0118] like Figure 11 As shown, when the transfer machine B performs a copying operation, the locking part Bb pulls the container 70 toward the copying side X2 in the transfer direction. In this embodiment, the locking part Bb is in a locking position when the copying operation is performed, and pulls the container 70 toward the copying side X2 in the transfer direction while the locking wall 76 in the container 70 is abutting against the unloading side X1 in the transfer direction. As a result, the container 70, which is the copying object disposed in the lamination region 2A, moves from the lamination region 2A toward the holding part A.

[0119] In this embodiment, when the transfer machine B performs a copying operation on the lamination region 2A of the container 70, the holding part A moves up and down. Specifically, at the start of the copying operation, the non-locking locking part Bb and the support member Bc are positioned at the start height of the copying operation, which is set to be below the transfer rib 74 and the locking wall 76. Then, after the locking part Bb is locked, the holding part A rises to the completion height of the copying operation, which is set above the start height, lifting the portion of the container 70 that was locked by the locking part Bb. In this example, as... Figure 9 As shown, the support members Bc (first support member 41Bc, second support member 42Bc) of the support locking parts Bb (first locking part 41Bb, second locking part 42Bb) contact the transfer rib 74 of the container 70 from below, lifting the container 70. At this time, the locking parts Bb (first locking part 41Bb, second locking part 42Bb) do not participate in lifting the container 70. By partially lifting the container 70 by the support members Bc (first support member 41Bc, second support member 42Bc), the container 70 of the object to be copied is in a tilted posture that is tilted upwards as it moves toward the copying side X2 in the transfer direction (see, for example, refer to...). Figure 29 Here, the height at which the copying operation is completed is set such that the end of the copying side X2 in the lower surface of the fitting portion 77 of the copying object container 70 is located a predetermined amount above the upper surface of the opening 71 of another container 70 arranged adjacent to it below. This allows the end of the copying side X2 in the fitting portion 77 of the copying object container 70 to be detached from the opening 71 of the other container 70 arranged adjacent to it below, and the fitting of the containers 70 to each other can be properly released. Then, by moving the locking portion Bb and the support member Bc relative to the holding portion A towards the copying side X2 in the transfer direction, the copying object container 70 moves from the lamination region 2A to the holding portion A. This vertical movement of the holding portion A is achieved by means of the transfer lifting body 40B (see reference). Figure 5 This is achieved through the rise and fall of ().

[0120] As described above, the transfer device 4 performs a transfer operation on the container 70 in the laminated region 2A by moving the container 70 in both the vertical and horizontal directions in addition to the transfer direction X. Therefore, the transfer operation can be performed simultaneously with the appropriate engagement and disengagement of the containers 70. On the other hand, when the transfer device 4 performs a transfer operation on the shelf portion 80 of the container shelf 8, since it is independent of the engagement of the containers 70, the container 70 can be moved only in the transfer direction X without vertical movement.

[0121] In addition, in this embodiment, a transfer machine-side guide 4G is provided in the holding part A to guide the container 70 being transferred in the transfer direction X. The transfer machine-side guide 4G is provided at both ends of the holding part A in a direction orthogonal to the transfer direction X, and is configured to guide both sides of the container 70 being transferred (the two outer surfaces facing the direction orthogonal to the transfer direction X). The transfer machine-side guide 4G is provided at each of the first holding part 41A and the second holding part 42A (see reference). Figure 8 ).

[0122] like Figure 8 As shown, the vertical distance 4H between the first holding part 41A and the second holding part 42A is a distance greater than or equal to the height of N layers of container 70 (N being an integer greater than or equal to 2) plus the vertical movement Mv of the container 70 being transferred during the transfer operation performed by the transfer device 4 (specifically, the second transfer machine 42B). In this embodiment, the aforementioned "N" is set to "2", and the vertical distance 4H between the first holding part 41A and the second holding part 42A is a distance greater than or equal to the height of 2 layers of container 70 plus the vertical movement Mv of the container 70 being transferred during the transfer operation performed by the second transfer machine 42B (4H ≥ 70H × 2 + Mv). Therefore, in this embodiment, the vertical distance 3H between the first lifting holding part 31a and the second lifting holding part 32a (refer to...) Figure 6 The vertical spacing 4H between the first holding part 41A and the second holding part 42A is set to be equal.

[0123] As described above, the vertical distance 4H between the first holding part 41A and the second holding part 42A takes into account the vertical movement Mv of the container 70 being transferred during the transfer operation performed by the second transfer machine 42B. As described above, in this embodiment, a fitting part 77 is formed at the bottom of the container 70, forming a structure where the fitting part 77 fits into the opening 71 of the container 70 below. Therefore, in both the case of unloading the container 70 and the case of picking it up, the second transfer machine 42B needs to move the container 70 vertically by more than the vertical dimension of the fitting part 77. That is, in this embodiment, the vertical movement Mv is set to be greater than the vertical dimension of the fitting part 77 of the container 70. Thus, when the second transfer machine 42B transfers other containers 70 to the space below the container 70 after it has been lifted by the second lifting mechanism 32, the fitting and unfitting of the containers 70 in the lamination region 2A can be appropriately performed (see reference). Figure 29 In addition, a margin that takes into account construction errors, control errors, etc., can be added to the vertical spacing of 4H.

[0124] In this embodiment, such as Figure 29 and Figure 30 As shown, the vertical distance between the first holding part 41A and the second holding part 42A is set to 4H (refer to...). Figure 8 The first holding part 41A is configured such that, when the second holding part 42A is positioned at a height for the second transfer machine 42B to transfer (pick up) the container 70 adjacent to the container 70 below the container 70 after it has been lifted by the second lifting mechanism 32 to the second holding part 42A, the first holding part 41A is positioned at a height for the first transfer machine 41B to transfer (unload) the container 70 held by the first holding part 41A onto the container 70 after it has been lifted by the second lifting mechanism 32. This allows for the parallel execution of the picking and unloading operations of the container 70 in the lamination region 2A (see reference). Figure 30 and Figure 31 ).

[0125] like Figure 8 As shown, in this embodiment, the transfer device 4 includes a limiting part 44. The limiting part 44 is as follows: Figure 30 and Figure 31 As shown, the container 70 is configured such that, during the copying operation of the second transfer machine 42B, it is positioned opposite the container 70 adjacent to the container 70 below it on the second holding section 42A side, thus restricting the movement of the container 70 adjacent to the container 70 below it towards the second holding section 42A side. In the illustrated example, the container 70 of the third layer from the bottom in the stacking region 2A is used as the container 70 for copying, and the container 70 of the second layer from the bottom is used as the container 70 for restricting objects, which is restricted by the restricting section 44. With this structure, during the copying operation, if the container 70 for copying moves towards the second holding section 42A side and interferes with the container 70 adjacent to it below it (adjacent container 70), and a force is exerted on the adjacent container 70 towards the second holding section 42A side, it is possible to prevent the adjacent container 70 and the multiple containers 70 stacked below the adjacent container 70 from falling or moving towards the second holding section 42A side.

[0126] like Figure 8As shown, in this embodiment, the limiting part 44 is installed in the second holding part 42A and is positioned below the second locking part 42Bb. In the illustrated example, the limiting part 44 is installed at the end of the second holding part 42A on the unloading side X1 in the transfer direction. The second locking part 42Bb is supported by the second support member 42Bc and is configured to move integrally with the second support member 42Bc along the transfer direction X. Moreover, the second support member 42Bc moves relative to the second holding part 42A. That is, in this embodiment, the second locking part 42Bb supported by the second support member 42Bc and the limiting part 44 installed in the second holding part 42A are configured to be able to move relative to each other along the transfer direction X. With this structure, when the second transfer machine 42B performs the picking operation, it is possible to move the second locking part 42Bb towards the second holding part 42A while keeping the limiting part 44 in a position opposite to the container 70 adjacent below the container 70 being picked up from the second holding part 42A. Therefore, while properly picking up the container 70 being picked up, it is possible to properly limit the container 70 adjacent below the container 70 being picked up and the multiple containers 70 stacked below it from falling towards the second holding part 42A (see reference). Figure 30 and Figure 31 In addition, when the second locking part 42Bb moves toward the transfer direction picking side X2, the limiting part 44 can either stop in place, or move toward the transfer direction unloading side X1 in the opposite direction to the movement of the second locking part 42Bb, or move toward the transfer direction picking side X2 at a lower speed than the second locking part 42Bb.

[0127] like Figure 8 As shown, in this embodiment, the transfer device 4 includes a reference position 80P in the shelf section 80 for storing the container 70 (see reference). Figure 2 The reference position detection sensor Se1 and the storage container detection sensor Se2 detect the container 70 stored in the shelf section 80.

[0128] For reference Figure 2As described above, a target portion 82T is provided at a reference position 80P in the shelf section 80. In this embodiment, the reference position detection sensor Se1 is configured to detect the positional relationship between the transfer device 4 equipped with the reference position detection sensor Se1 and the reference position 80P of the shelf section 80 by detecting the target portion 82T. Then, based on the detection result of the target portion 82T obtained by the reference position detection sensor Se1, the transfer lifting body drive unit 40M of the traveling body 1, the rotating device 5, and the transfer device 4 is controlled to perform the operation of correcting the position of the transfer device 4, thereby enabling appropriate transfer of the container 70 of the shelf section 80. In this example, the reference position detection sensor Se1 is configured as a camera. By means of image recognition of the reference position detection sensor Se1 configured as a camera, the positional relationship between the transfer device 4 and the target portion 82T provided on the beam member 82 can be detected. In addition, in this example, the reference position detection sensor Se1 also functions as a distance measuring sensor for detecting the distance to the object. When the transfer device 4 transfers the container 70 to the transfer target area, the reference position detection sensor Se1 detects the distance between the container 70 and the transfer target area. This enables a highly reliable transfer operation.

[0129] The container detection sensor Se2 detects the presence or absence of the container 70 in the shelf section 80 during the unloading operation of the transfer device 4, which transfers the container 70 to the shelf section 80. If the container detection sensor Se2 detects that there is no container 70 in the shelf section 80 that is the unloading destination, the transfer device 4 performs the unloading operation of the container 70 to that shelf section 80. If the container detection sensor Se2 detects that there is a container 70 in the shelf section 80 that is the unloading destination, the container 70 can be transferred to another empty shelf section 80, or the transfer can be stopped. In this example, the container detection sensor Se2 can also be configured as a distance sensor that detects the distance to the target. Therefore, the transfer operation can be performed while measuring the distance between the transfer device 4 and the transfer target. In this embodiment, the container detection sensor Se2 is configured as a light sensor that projects light onto the target. However, it is not limited to such a structure; the container detection sensor Se2 can also be constructed using well-known mechanisms such as ultrasonic sensors or cameras.

[0130] A reference position detection sensor Se1 is provided in one of the groups of the first holding part 41A and the first transfer machine 41B, or the group of the second holding part 42A and the second transfer machine 42B. Furthermore, a container detection sensor Se2 is provided in the other group of the groups of the first holding part 41A and the first transfer machine 41B, or the group of the second holding part 42A and the second transfer machine 42B, where the reference position detection sensor Se1 is not provided. In this embodiment, the reference position detection sensor Se1 is provided in the group of the first holding part 41A and the first transfer machine 41B. In this example, the reference position detection sensor Se1 is provided in the first holding part 41A. Alternatively, the reference position detection sensor Se1 may be provided in the first transfer machine 41B. Furthermore, in this embodiment, the container detection sensor Se2 is provided in the group of the second holding part 42A and the second transfer machine 42B. In this example, the container detection sensor Se2 is provided in the second holding part 42A. Alternatively, the container detection sensor Se2 can be housed in the second transfer unit 42B.

[0131] [Transfer Action]

[0132] The following is for reference Figures 12-34 The transfer operation of container 70 performed by transfer device 4 will be described. Additionally, in Figures 12-34 In this document, only the elements required to describe the transfer action are simplified.

[0133] [The action of picking up containers from the shelf section]

[0134] In this embodiment, the transfer device 4 is configured to perform a container 70 retrieval operation on the shelf portion 80 of the container shelf 8. Hereinafter, refer to... Figures 12-17 The action of picking up the container 70 from the shelf section 80 will be explained. Figures 12-17 In the diagram, the first locking part 41Bb or the second locking part 42Bb in a locking posture is shown in gray, and the first locking part 41Bb or the second locking part 42Bb in a non-locking posture is shown in white. Here, the example of the first transfer machine 41B picking up the container 70 stored in the shelf section 80 will be described. The same applies to the case where the second transfer machine 42B performs the picking operation.

[0135] like Figure 12 As shown, control device C (refer to) Figure 5Based on the detection results of the target part 82T obtained by the reference position detection sensor Se1, the position of the first transfer machine 41B is aligned so that it is in an appropriate position relative to the reference position 80P of the shelf part 80. Alternatively, the transport vehicle 100 may also be equipped with an angle sensor that detects the angle of the first transfer machine 41B in the horizontal plane. In this case, the angle sensor detects the angle of the first transfer machine 41B relative to the shelf part 80. Then, based on the detection results of the angle sensor, the control device C aligns the angle of the first transfer machine 41B so that it is in an appropriate angle relative to the shelf part 80. The control device C adjusts the position and angle of the first transfer machine 41B by controlling the transfer lifting body drive unit 40M of the traveling body 1, the rotating device 5, and the transfer device 4. Then, when the first transfer machine 41B is in an appropriate position relative to the shelf part 80, the control device C initiates the action of the first transfer machine 41B picking up the container 70 stored in the shelf part 80.

[0136] like Figure 13 As shown, the control device C moves the first holding part 41A and the second holding part 42A relative to the transfer lifting body 40B in the transfer direction towards the unloading side X1. This causes the first holding part 41A and the second holding part 42A, as well as the first transfer machine 41B and the second transfer machine 42B, to approach the shelf part 80. At this time, the approach distance to the shelf part 80 is detected by the reference position detection sensor Se1, which also functions as a distance measuring sensor. Therefore, the first holding part 41A and the second holding part 42A, as well as the first transfer machine 41B and the second transfer machine 42B, can be brought to an appropriate distance for performing the transfer operation on the shelf part 80.

[0137] Next, as Figure 14 As shown, the control device C moves the first locking portion 41Bb relative to the first holding portion 41A in the transfer direction towards the unloading side X1. This positions the first locking portion 41Bb below the recess 75 in the container 70 and overlapping the recess 75 when viewed vertically (hereinafter referred to as "directly below the recess 75"). At this time, the first locking portion 41Bb is in a non-locking position.

[0138] Then, as Figure 15 As shown, when the first locking part 41Bb is positioned directly below the recess 75, the control device C sets the first locking part 41Bb to a locking position. Thus, the first locking part 41Bb is inserted into the recess 75, and is positioned opposite the locking wall 76 on the unloading side X1 in the transfer direction.

[0139] Then, as Figure 16As shown, the control device C contacts the first locking part 41Bb in a locking posture against the locking wall 76 while moving it relative to the first holding part 41A in the transfer direction towards the picking side X2. As a result, the first locking part 41Bb pulls the container 70 housed in the shelf part 80 into the first holding part 41A.

[0140] Then, as Figure 17 As shown, when the container 70, after being picked up by the first transfer machine 41B, is held by the first holding part 41A, the control device C moves the first holding part 41A and the second holding part 42A relative to the transfer lifting body 40B in the transfer direction picking side X2 and returns them to their original positions. As a result, the first holding part 41A and the second holding part 42A, as well as the first transfer machine 41B and the second transfer machine 42B, disengage from the shelf part 80. Furthermore, in this example, the control device C maintains the locking posture of the first locking part 41Bb while the container 70 is held by the first holding part 41A. Similarly, the control device C maintains the locking posture of the second locking part 42Bb while the container 70 is held by the second holding part 42A. Therefore, stable holding is achieved, preventing the container 70 from moving in the transfer direction X.

[0141] As described above, the container 70 in the shelf section 80 is picked up. This picking up operation is performed by controlling the various functional parts of the transport vehicle 100 via the control device C, as described above.

[0142] [The action of unloading containers from the shelf section]

[0143] In this embodiment, the transfer device 4 is configured to perform an unloading operation on the shelf portion 80 of the container shelf 8. Hereinafter, refer to... Figures 18-20 The procedure for removing container 70 from shelf section 80 will be explained. Figures 18-20 In the diagram, the first locking part 41Bb or the second locking part 42Bb in a locking posture is shown in gray, and the first locking part 41Bb or the second locking part 42Bb in a non-locking posture is shown in white. Here, the case where the container 70 is unloaded onto the shelf section 80 by the second transfer machine 42B will be described as an example. The same applies to the case where the unloading operation is performed by the first transfer machine 41B.

[0144] In this embodiment, it is envisioned that immediately following the aforementioned action of the first transfer machine 41B scooping the container 70 from the shelf section 80, the second transfer machine 42B performs an unloading action of the container 70 from the shelf section 80 directly below the shelf section 80 after the scooping action. Therefore, the second transfer machine 42B is already in an appropriate position relative to the shelf section 80. Furthermore, similar to the aforementioned scooping action of the container 70 from the shelf section 80, the control device C can also adjust the position of the second transfer machine 42B based on the detection result of the target section 82T obtained by the reference position detection sensor Se1, etc., to ensure that it is in an appropriate position relative to the shelf section 80.

[0145] Then, as Figure 18 As shown, control device C (refer to) Figure 5 The first holding part 41A and the second holding part 42A are moved relative to the transfer lifting body 40B in the transfer direction unloading side X1. As a result, the first holding part 41A and the second holding part 42A, as well as the first transfer machine 41B and the second transfer machine 42B, approach the shelf part 80.

[0146] Next, as Figure 19 As shown, the control device C moves the second pressing part 42Ba relative to the second holding part 42A toward the unloading side X1 in the transfer direction, pushing the container 70 toward the unloading side X1 in the transfer direction. As a result, the container 70, which is to be unloaded and held by the second holding part 42A, moves from the second holding part 42A toward the shelf part 80. In this example, the second pressing part 42Ba pushes the container 70 toward the unloading side X1 in the transfer direction while it is in contact with the locking wall 76 in the container 70 from the picking side X2 in the transfer direction. Furthermore, in this example, during the movement of the unloading container 70 toward the unloading side X1 in the transfer direction, the control device C sets the second locking part 42Bb, which moves together with the second pressing part 42Ba toward the unloading side X1 in the transfer direction, from a locking position to a non-locking position.

[0147] Then, as Figure 20 As shown, after the control device C unloads the container 70 containing the object to be unloaded onto the shelf section 80, it moves the second pushing part 42Ba relative to the second holding part 42A in the transfer direction towards the picking side X2, and moves the first holding part 41A and the second holding part 42A relative to the transfer lifting body 40B in the transfer direction towards the picking side X2 to return to their original positions. Thus, the first holding part 41A and the second holding part 42A, as well as the first transfer machine 41B and the second transfer machine 42B, leave the shelf section 80.

[0148] As described above, the container 70 on the shelf section 80 is unloaded. This unloading operation is performed by controlling the various functional parts of the transport vehicle 100 via the control device C, as described above.

[0149] [Parallel actions for copying and unloading containers in the layered region]

[0150] In this embodiment, the transfer device 4 is configured to perform both picking up and unloading operations of the container 70 in the lamination region 2A. Specifically, the transfer device 4 is configured to perform the picking up and unloading operations of the container 70 in parallel within the lamination region 2A. In this embodiment, the transfer device 4 operates in parallel while the first lifting mechanism 31 and the second lifting mechanism 32 each lift the container 70 in the lamination region 2A. However, the transfer device 4 can also perform the picking up and unloading operations of the lamination region 2A independently.

[0151] The following is for reference Figures 21-34 The parallel actions of picking up and unloading container 70 in the lamination region 2A are described. Figures 21-34 In the diagram, the first locking portion 41Bb or the second locking portion 42Bb in a locking posture is shown in gray, while the first locking portion 41Bb or the second locking portion 42Bb in a non-locking posture is shown in white. Furthermore, the first lifting holding portion 31a of the first lifting mechanism 31 or the second lifting holding portion 32a of the second lifting mechanism 32 in a holding posture is shown in gray, while the first lifting holding portion 31a or the second lifting holding portion 32a in a non-holding posture is shown in white. Here, the case where the container 70 is unloaded from the lamination region 2A by the first transfer machine 41B and the container 70 is retrieved from the lamination region 2A by the second transfer machine 42B will be described.

[0152] exist Figures 21-34 The diagram shows an example of five layers of containers 70 stacked in the stacking region 2A as container group 7. In the diagram, each stacked container 70 is assigned the numbers "1 to 5" sequentially from bottom to top. Furthermore, the container 70 that is being unloaded and held by the first holding part 41A is assigned the character "α" (see reference). Figure 25 wait).

[0153] like Figure 21 As shown, control device C (refer to) Figure 5 The first lifting holding part 31a, which is not in a holding position, is positioned in a lifting position for lifting the container 70 (container "5") of the object to be lifted. In this example, the control device C positions the first lifting holding part 31a in the container 70 (container "5") of the object to be lifted at a position adjacent to the lifting rib 73 below it.

[0154] Next, as Figure 22 and Figure 23As shown, the control device C sets the first lifting and holding part 31a to a holding position, causing the first lifting mechanism 31 and the second lifting mechanism 32 to rise, thereby lifting the container 70 (container "5") to be lifted. Simultaneously, the control device C positions the second lifting and holding part 32a (not in a holding position) in a lifting position for lifting the container 70 (container "4") to be lifted. In this example, the control device C positions the second lifting and holding part 32a in the container 70 (container "4") to be lifted, adjacent to the lifting rib 73 below it.

[0155] Next, as Figure 24 and Figure 25 As shown, the control device C sets the second lifting and holding part 32a to a holding position, causing the first lifting mechanism 31 and the second lifting mechanism 32 to rise further, thereby lifting the container 70 (container "4") of the second lifting object. Through the above actions, as... Figure 25 As shown, vertical spaces are formed below the container 70 (container "5") after it is lifted by the first lifting holding part 31a and below the container 70 (container "4") after it is lifted by the second lifting holding part 32a.

[0156] In this embodiment, the first transfer machine 41B uses the container 70 (container "α") held by the first holding part 41A as the unloading target container 70, and transfers the unloading target container 70 onto the container 70 (container "4") that has been lifted by the second lifting holding part 32a (second lifting mechanism 32). Furthermore, the second transfer machine 42B uses the container 70 (container "3") adjacent to the container 70 (container "4") that has been lifted by the second lifting holding part 32a (second lifting mechanism 32) as the copying target container 70, and transfers the copying target container 70 to the second holding part 42A.

[0157] like Figure 25 As shown, the control device C positions the second holding part 42A at a height corresponding to the container 70 (container 3) of the copying object, which is arranged below the container 70 (container "4") after being lifted by the second lifting holding part 32a, and at a position adjacent to the copying object container 70 (container "3") on the copying side X2 in the transfer direction.

[0158] Next, as Figure 26 As shown, the control device C moves the first holding part 41A and the second holding part 42A relative to the transfer lifting body 40B in the transfer direction towards the unloading side X1. As a result, the first holding part 41A and the second holding part 42A, as well as the first transfer machine 41B and the second transfer machine 42B, approach the lamination region 2A.

[0159] Then, as Figure 27As shown, the control device C moves the second locking part 42Bb relative to the second holding part 42A in the transfer direction towards the unloading side X1. This positions the second locking part 42Bb directly below the recess 75 in the container 70 (container "3") containing the object to be copied. At this time, the second locking part 42Bb is in a non-locking position.

[0160] Then, as Figure 28 As shown, the control device C sets the second locking part 42Bb to a locking position, such as... Figure 29 As shown, the first holding part 41A and the second holding part 42A are raised. As a result, the container 70 (container "3") containing the object to be copied is tilted upwards in a manner that aligns with the copying side X2 in the transfer direction, and the engagement between the container 70 (container "3") containing the object to be copied and the container 70 (container "2") adjacent below it is released. Furthermore, by raising the first holding part 41A and the second holding part 42A in this way, the first holding part 41A is positioned above the container 70 (container "4") after it has been raised by the second lifting holding part 32a. In other words, the control device C positions the lower surface of the container 70 (container "α") containing the object to be unloaded, held by the first holding part 41A, above the upper surface of the container 70 (container "4") which is the destination for unloading. Additionally, the upward movement of the first holding part 41A and the second holding part 42A at this time is equal to the aforementioned vertical movement Mv.

[0161] Next, as Figure 30As shown, the control device C moves the second locking part 42Bb relative to the second holding part 42A toward the transfer direction picking side X2, and moves the first pushing part 41Ba relative to the first holding part 41A toward the transfer direction unloading side X1. As a result, the second locking part 42Bb pulls the picking object container 70 (container "3") toward the transfer direction picking side X2, and the first pushing part 41Ba pushes the unloading object container 70 (container "α") toward the transfer direction unloading side X1. At this time, the unloading object container 70 (container "α") pushed by the first pushing part 41Ba is appropriately guided by the guide part 3G to move toward the transfer direction unloading side X1. Furthermore, in this example, while the control device C moves the second locking part 42Bb toward the second holding part 42A, it keeps the limiting part 44 in a position opposite to the container 70 (container 2) adjacent below the container 70 (container "3") being copied, from the second holding part 42A. Therefore, while properly copying the container 70 (container "3") being copied, it is possible to appropriately limit the container 70 (container "2") adjacent below the container 70 (container "3") being copied and the container 70 (container "1") stacked below it from falling or moving toward the second holding part 42A. In this example, the control device C, in parallel with the first pushing part 41Ba pushing the unloaded container 70 (container "α") toward the unloading side X1 in the transfer direction, sets the first locking part 41Bb from a locking position to a non-locking position.

[0162] Then, as Figure 31 As shown, the container 70 (container "3") of the object to be copied, pulled in by the second locking part 42Bb, is positioned on the second holding part 42A, and the container 70 (container "α") of the object to be unloaded, pushed by the first pushing part 41Ba, is positioned above the container 70 (container "4") after it has been lifted by the second lifting holding part 32a. Then, the control device C lowers the first holding part 41A and the second holding part 42A. Thus, as... Figure 32 As shown, the container 70 (container “α”) of the unloaded object, which is pushed by the first pushing part 41Ba toward the unloading side X1 in the transfer direction, approaches and fits from above relative to the container 70 (container “4”) that has been lifted by the second lifting holding part 32a.

[0163] Then, as Figure 33 As shown, the control device C moves the first pressing part 41Ba relative to the first holding part 41A towards the transfer direction picking side X2, and moves the first holding part 41A and the second holding part 42A relative to the transfer lifting body 40B towards the transfer direction picking side X2 to return to their original positions. As a result, the first holding part 41A and the second holding part 42A, as well as the first transfer machine 41B and the second transfer machine 42B, leave the lamination region 2A.

[0164] Next, as Figure 34 As shown, the control device C lowers the first lifting and holding portion 31a and the second lifting and holding portion 32a, causing the container 70 (container "4"), which has been lifted by the second lifting and holding portion 32a, to engage with the container 70 (container "2") positioned below it. Then, the control device C changes the second lifting and holding portion 32a from a holding position to a non-holding position. Next, the control device C further lowers the first lifting and holding portion 31a and the second lifting and holding portion 32a, causing the container 70 (container "5"), which has been lifted by the first lifting and holding portion 31a, to engage with the container 70 (container "α") positioned below it. Then, the control device C changes the first lifting and holding portion 31a from a holding position to a non-holding position.

[0165] As described above, the parallel actions of picking up and unloading containers 70 in the lamination region 2A are completed. These parallel actions are performed by controlling the various functional units of the transport vehicle 100 via the control device C, as described above.

[0166] [The replacement of containers in the shelf section]

[0167] In this embodiment, the transfer device 4 is configured to perform a replacement operation that replaces containers 70 in specific shelf sections 80. Specifically, during the replacement operation, the transfer device 4 scoops a container 70 from a shelf section 80 that houses it and unloads another container 70 into an empty shelf section 80. Thus, while replacing containers 70 in each shelf section 80, the shelf section 80 is always maintained in a state where containers 70 are stored. Therefore, in the overall container shelf 8, the proportion of shelf sections 80 storing containers 70 is maintained at a higher level than the proportion of empty shelf sections 80, i.e., a higher storage rate for the container shelf 8.

[0168] In this embodiment, the transfer device 4 performs a container 70 replacement operation while one of the first holding portion 41A and the second holding portion 42A holds the container 70. Specifically, the transfer device 4 performs a scooping operation on the shelf portion 80 containing the container 70, transferring the container 70 from the shelf portion 80 to a holding portion of the first holding portion 41A and the second holding portion 42A that does not hold the container 70, and a detaching operation on the container 70 from a holding portion of the first holding portion 41A and the second holding portion 42A that previously held the container 70 to the shelf portion 80 that has become empty due to the aforementioned scooping operation.

[0169] In this example, the transfer device 4 performs a container 70 replacement operation when the first holding part 41A does not hold the container 70 while the second holding part 42A holds the container 70. Furthermore, the transfer device 4 performs a scooping operation to transfer the container 70 from the shelf part 80 to the first holding part 41A, and then performs a detaching operation to transfer the container 70 from the second holding part 42A to the shelf part 80.

[0170] The following is for reference Figures 35-42 The replacement operation of container 70 in shelf section 80 will be explained. Figures 35-42 In the diagram, the first locking part 41Bb or the second locking part 42Bb in the locking posture is indicated in gray, and the first locking part 41Bb or the second locking part 42Bb in the non-locking posture is indicated in white.

[0171] like Figure 35 As shown, control device C (refer to) Figure 5 The first holding part 41A and the second holding part 42A are moved relative to the transfer lifting body 40B in the transfer direction unloading side X1. As a result, the first holding part 41A and the second holding part 42A, as well as the first transfer machine 41B and the second transfer machine 42B, approach the shelf part 80.

[0172] Next, as Figure 36 As shown, the control device C moves the first locking part 41Bb relative to the first holding part 41A in the transfer direction towards the unloading side X1. This positions the first locking part 41Bb directly below the recess 75 in the container 70. At this time, the first locking part 41Bb is in a non-locking position.

[0173] Then, as Figure 37 As shown, when the first locking part 41Bb is positioned directly below the recess 75, the control device C sets the first locking part 41Bb to a locking position. Thus, the first locking part 41Bb is inserted into the recess 75, and is positioned opposite the locking wall 76 on the unloading side X1 in the transfer direction.

[0174] Then, as Figure 38 As shown, the control device C contacts the first locking part 41Bb in a locking posture against the locking wall 76 while moving it relative to the first holding part 41A in the transfer direction towards the picking side X2. As a result, the first locking part 41Bb pulls the container 70 housed in the shelf part 80 into the first holding part 41A.

[0175] The result, such as Figure 39 As shown, after the container 70 is removed, the shelf portion 80 becomes empty, and the container 70 is held in place by the first holding portion 41A and the second holding portion 42A respectively.

[0176] Then, as Figure 40 As shown, the control device C, while maintaining the position of the first holding part 41A and the second holding part 42A in the transfer direction X, raises the first holding part 41A and the second holding part 42A, aligning the vertical position of the second holding part 42A relative to the shelf part 80, which is now empty due to the aforementioned copying operation. Furthermore, the position of the traveling body 1 and the orientation of the transfer device 4 obtained by the rotating device 5 are also maintained at this time. Then, to confirm, the container detection sensor Se2 installed on the second holding part 42A detects whether the shelf part 80 contains a container 70 after the aforementioned copying operation. If the detection result of the container detection sensor Se2 confirms that the shelf part 80 does not contain a container 70, the transfer of the container 70 held by the second holding part 42A to the shelf part 80 by the second transfer machine 42B begins.

[0177] like Figure 41 As shown, the control device C moves the second pressing part 42Ba relative to the second holding part 42A toward the unloading side X1 in the transfer direction, pushing the container 70 toward the unloading side X1 in the transfer direction. As a result, the container 70, which is to be unloaded and held by the second holding part 42A, moves from the second holding part 42A toward the shelf part 80. In this example, the second pressing part 42Ba pushes the container 70 toward the unloading side X1 in the transfer direction while it is in contact with the locking wall 76 in the container 70 from the picking side X2 in the transfer direction. Furthermore, in this example, during the movement of the unloading container 70 toward the unloading side X1 in the transfer direction, the control device C sets the second locking part 42Bb, which moves together with the second pressing part 42Ba toward the unloading side X1 in the transfer direction, from a locking position to a non-locking position.

[0178] Then, as Figure 42 As shown, after the control device C unloads the container 70 containing the object to be unloaded onto the shelf section 80, it moves the second pushing part 42Ba relative to the second holding part 42A towards the transfer direction picking side X2, and moves the first holding part 41A and the second holding part 42A relative to the transfer lifting body 40B towards the transfer direction picking side X2 to return to their original positions. Thus, the first holding part 41A and the second holding part 42A, as well as the first transfer machine 41B and the second transfer machine 42B, leave the shelf section 80.

[0179] As described above, the container 70 in the shelf section 80 is replaced. This replacement operation is performed by controlling the various functional parts of the transport vehicle 100 via the control device C, as described above.

[0180] Furthermore, in the example described above, the first transfer machine 41B does not perform the unloading operation of the container 70. Therefore, the container detection sensor Se2, which detects whether the shelf section 80, the transfer destination where the unloading operation is performed, is present, may not need to be installed in the group of the first transfer machine 41B and the first holding section 41A when the unloading operation is not performed. However, this is not intended to exclude the possibility of installing the container detection sensor Se2 in the group of the first transfer machine 41B and the first holding section 41A.

[0181] [Other Implementation Methods]

[0182] Next, other implementations of the transport vehicle will be described.

[0183] (1) In the above embodiment, an example was described in which the height of the container 70 in the vertical direction of the interval 3H between the first lifting holding part 31a and the second lifting holding part 32a is considered as the height of the N layers of the container 70, and "N" is set to "2". However, it is not limited to such an example, and "N" can be set to an integer greater than or equal to 2.

[0184] (2) In the above embodiment, an example was described in which the height (70H×2) of two layers of container 70 was taken into account in the vertical distance 4H between the first holding part 41A and the second holding part 42A. However, it is not limited to such an example, and the vertical distance 4H between the first holding part 41A and the second holding part 42A may be set in the vertical distance considering the height of N layers of container 70 (N is an integer greater than or equal to 2).

[0185] (3) In the above embodiment, an example was described in which the transport vehicle 100 is equipped with a rotating device 5 that allows the transfer device 4 to rotate about an axis in the vertical direction. However, the rotating device 5 is not an essential component. Therefore, the transport vehicle 100 may also be without the rotating device 5. In this case, the transfer direction X becomes the direction that is fixed relative to the transport vehicle 100.

[0186] (4) In the above embodiment, an example was described in which the reference position detection sensor Se1 is provided in the group of the first holding part 41A and the first transfer machine 41B, and the storage container detection sensor Se2 is provided in the group of the second holding part 42A and the second transfer machine 42B. However, the group in which the reference position detection sensor Se1 is provided and the group in which the storage container detection sensor Se2 is provided may also be the opposite of the above. Alternatively, both the reference position detection sensor Se1 and the storage container detection sensor Se2 may be provided in one of the groups. Furthermore, the reference position detection sensor Se1 may be provided in one of the groups, and the storage container detection sensor Se2 may be provided in both of the groups.

[0187] (5) In the above embodiment, an example was described in which the first holding drive unit 41MA, which moves the first holding unit 41A along the transfer direction X, and the second holding drive unit 42MA, which moves the second holding unit 42A along the transfer direction X, are composed of a common drive source. However, it is also possible for the first holding drive unit 41MA and the second holding drive unit 42MA to be driven by independent drive sources.

[0188] (6) In the above embodiment, an example has been described in which the limiting part 44 is installed on the second holding part 42A and is arranged opposite to the container 70 adjacent to the container 70 below the container 70 being picked up when the second transfer machine 42B performs the picking operation of the container 70. However, it is not limited to such an example, and the limiting part 44 may also be provided on the first holding part 41A. Preferably, the limiting part 44 provided on the first holding part 41A is arranged opposite to the container 70 adjacent to the container 70 below the uppermost container 70, for example, when the first lifting mechanism 31 lifts multiple containers 70 in a stacked state and the first transfer machine 41B performs the picking operation of the uppermost container 70.

[0189] (7) In the above embodiment, an example was described where a guide portion 3G is provided in the second lifting mechanism 32 to guide the container 70 transferred by the transfer device 4. However, this is not a limitation; the guide portion 3G may be provided in at least one of the first lifting mechanism and the second lifting mechanism. That is, the guide portion 3G may be provided in the first lifting mechanism 31 but not in the second lifting mechanism 32. In this configuration, it is suitable for transferring (laminating) another container 70 on top of the container 70 after it has been lifted by the first lifting mechanism 31. Alternatively, the guide portion 3G may be provided in both the first lifting mechanism 31 and the second lifting mechanism 32. In this configuration, it is suitable for transferring (laminating) another container 70 on both the container 70 after it has been lifted by the first lifting mechanism 31 and the container 70 after it has been lifted by the second lifting mechanism 32.

[0190] (8) In the above embodiment, an example has been described in which the first transfer machine 41B is configured to move relative to the first holding part 41A in the transfer direction X, and the second transfer machine 42B is configured to move relative to the second holding part 42A in the transfer direction X. However, it is not limited to such an example, and the first transfer machine 41B and the first holding part 41A may be configured to move integrally in the transfer direction X, and the second transfer machine 42B and the second holding part 42A may be configured to move integrally in the transfer direction X.

[0191] (9) In the above embodiment, an example was described where the container 70 has a lifting rib 73 formed on the upper part of the peripheral wall 72, which is lifted by the lifting device 3. However, the lifting rib 73 can be formed at any part of the peripheral wall 72, for example, it can be formed at the center or lower part in the vertical direction. Furthermore, the part of the container 70 that is lifted by the lifting device 3 is not limited to the lifting rib 73. The lifting device 3 can lift any part of the container 70. For example, the lifting device 3 can also be configured to lift the container 70 by clamping a non-protruding part of the peripheral wall 72 of the container 70.

[0192] (10) In the above embodiments, specific examples have been given regarding the transfer of container 70 by the first transfer machine 41B and the transfer of container 70 by the second transfer machine 42B. Depending on the situation, there are cases where only the first transfer machine 41B is used to transfer container 70, and there are also cases where only the second transfer machine 42B is used to transfer container 70. For example, when replacing the container 70 stored in the lowest shelf section 80 of the container shelf 8 with the container 70 in the stacking area 2A, only the second transfer machine 42B, which is located on the lower side, can be used. In this case, specifically, the second transfer machine 42B picks up the container 70 stored in the lowest shelf section 80 of the container shelf 8 and unloads the container 70 into the stacking area 2A (the space formed below the container 70 after it has been lifted by the first lifting mechanism 31). Then, the second transfer machine 42B picks up the other containers 70 in the stacking area 2A (the containers 70 positioned below the containers 70 after being lifted by the second lifting mechanism 32) and unloads them into the empty bottom shelf section 80. Furthermore, in another scenario, when replacing the containers 70 stored in the top shelf section 80 of the container shelf 8 with the containers 70 in the stacking area 2A, only the first transfer machine 41B, positioned on the upper side, can be used. In this case, specifically, the first transfer machine 41B picks up the containers 70 stored in the top shelf section 80 of the container shelf 8 and unloads them into the stacking area 2A (the space formed below the containers 70 after being lifted by the first lifting mechanism 31). Then, the first transfer machine 41B picks up the other containers 70 in the stacking area 2A (the containers 70 arranged below the containers 70 after being lifted by the second lifting mechanism 32) and unloads the other containers 70 onto the empty uppermost shelf section 80.

[0193] (11) In the above embodiments, an example of the vehicle 1 traveling on the floor surface has been described. However, it is not limited to such an example; the vehicle 1 may also be configured to travel on a track provided near the floor or the ceiling. That is, the transport vehicle 100 may be configured, for example, as a ground transport vehicle traveling along a track provided on the floor surface, or as a ceiling transport vehicle traveling along a track suspended from the ceiling. Furthermore, the transport vehicle 100 may also be configured, for example, as a stacker crane.

[0194] (12) Furthermore, the structures disclosed in the above embodiments can be combined with structures disclosed in other embodiments, provided that no contradictions arise. Regarding other structures, the embodiments disclosed in this specification are merely illustrative in all respects. Therefore, various modifications can be appropriately made without departing from the spirit of this disclosure.

[0195] [Summary of the above embodiments]

[0196] The following is a description of the transport vehicle described above.

[0197] A transport vehicle, configured to transport containers stackable in a vertical direction, comprises: a traveling body for traveling; a container group support mounted on the traveling body for supporting a plurality of containers as a stacked container group within a defined stacking area; a lifting device mounted on the traveling body for lifting the containers of the container group supported by the container group support; and a transfer device mounted on the traveling body for transferring the containers; the transfer device includes a first holding portion for holding the containers, and is positioned below the first holding portion to hold the containers. The second holding part, the first transfer machine for transferring the container between the first holding part and the lamination region, and the second transfer machine for transferring the container between the second holding part and the lamination region; the lifting device includes a first lifting mechanism for lifting a container of any height in the group of containers stacked in the lamination region relative to a container adjacent below that container, and a second lifting mechanism for lifting a container that is lower than the container lifted by the first lifting mechanism relative to a container adjacent below that container.

[0198] According to this structure, both the first and second transfer machines can transfer containers within the stacked area. Furthermore, vertical spaces can be provided below the containers lifted by the first and second lifting mechanisms within the stacked container group. Therefore, using these two spaces, the transfer of containers from the stacked container group by the first and second transfer machines can be performed in parallel. As described above, according to this structure, multiple transfer operations can be performed in parallel on multiple stacked containers.

[0199] Preferably, the first lifting mechanism includes a first lifting holding portion for holding the container; the second lifting mechanism includes a second lifting holding portion disposed below the first lifting holding portion and holding the container; the vertical distance between the first lifting holding portion and the second lifting holding portion is set according to the height of the N layers of the container (N is an integer greater than or equal to 2) plus the vertical movement of the container of the object being transferred during the transfer operation performed by the second transfer machine.

[0200] According to this structure, even when the first transfer machine and the second transfer machine move up and down together, the first transfer machine will not be affected by the transfer action of the second transfer machine that moves up and down, and can properly transfer the container between the first lifting and holding part and the second lifting and holding part in the vertical direction. As a result, the container can be properly stacked on top of the container that is lifted and held by the second lifting and holding part.

[0201] Furthermore, preferably, the vertical distance between the first holding part and the second holding part is a distance greater than or equal to the height of the container plus the vertical movement of the container of the object being transferred during the transfer operation performed by the second transfer machine.

[0202] According to this structure, when a container (adjacent container) adjacent to the container (lifted container) being lifted and held by the second lifting and holding unit is picked up by the second transfer machine via a transfer action accompanied by up-and-down movement, the adjacent container can be properly picked up in a manner that does not interfere with the lifted container. Furthermore, when another container is unloaded by the second transfer machine into the space formed below the lifted container via a transfer action accompanied by up-and-down movement, the other container can be properly unloaded in a manner that does not interfere with the lifted container.

[0203] Furthermore, it is preferable to set the vertical distance between the first holding part and the second holding part such that when the second holding part is configured at a height at which the second transfer machine will transfer the container adjacent to the container below the container after it has been lifted by the second lifting mechanism to the second holding part, the first holding part is configured at a height at which the first transfer machine will transfer the container held by the first holding part to the container after it has been lifted by the second lifting mechanism.

[0204] According to this structure, it is possible to appropriately realize a structure that allows for the parallel execution of container transfer from the lamination region to the second holding section by the second transfer machine and container transfer from the first holding section to the lamination region by the first transfer machine.

[0205] Furthermore, preferably, the aforementioned traveling body is configured to travel along a container shelf having multiple shelves in the aforementioned vertical direction, the shelves housing the aforementioned containers; the direction of movement of the aforementioned containers transferred by the aforementioned transfer device is set as the transfer direction; a rotating device is provided, the rotating device causing the aforementioned transfer device to rotate about an axis along the aforementioned vertical direction, changing the orientation of the aforementioned transfer device to a first posture with the aforementioned transfer direction towards the aforementioned stacking region and a second posture with the aforementioned transfer direction towards the aforementioned container shelf; the aforementioned first transfer machine performs the transfer of the aforementioned containers between the aforementioned first holding part and the aforementioned stacking region in the aforementioned first posture state, and performs the transfer of the aforementioned containers between the aforementioned first holding part and the aforementioned shelf part in the aforementioned second posture state; the aforementioned second transfer machine performs the transfer of the aforementioned containers between the aforementioned second holding part and the aforementioned stacking region in the aforementioned first posture state, and performs the transfer of the aforementioned containers between the aforementioned second holding part and the aforementioned shelf part in the aforementioned second posture state.

[0206] According to this structure, the transfer device can transfer containers to the shelf section of the container shelf and containers to the stacking area. Furthermore, in the second posture where the transfer device faces the container shelf in the transfer direction, the transfer operation of the container shelf performed by the first transfer machine and the transfer operation of the second transfer machine can be performed in parallel.

[0207] Furthermore, in the above structure, preferably, the aforementioned transfer device includes a reference position detection sensor for detecting the reference position of the aforementioned shelf portion for storing the aforementioned container, and a storage container detection sensor for detecting the aforementioned container stored in the aforementioned shelf portion; the aforementioned reference position detection sensor is provided in one of the groups of the aforementioned first holding portion and the aforementioned first transfer machine and the aforementioned second holding portion and the aforementioned second transfer machine; the aforementioned storage container detection sensor is provided in the other group of the groups of the aforementioned first holding portion and the aforementioned first transfer machine and the aforementioned second holding portion and the aforementioned second transfer machine where the aforementioned reference position detection sensor is not provided.

[0208] According to this structure, by using a reference position detection sensor, a container can be transferred to an appropriate transfer position relative to the shelf section. Furthermore, by using a container storage detection sensor, containers already stored in the shelf section can be detected, thus eliminating the need for further container storage in such shelves. Moreover, since the reference position detection sensor is located in one of the groups of the first holding section and the first transfer machine or the second holding section and the second transfer machine, and the container storage detection sensor is located in the other group where no reference position detection sensor is located, the total number of sensors installed in the transfer device can be reduced to a smaller number.

[0209] Furthermore, preferably, the direction of movement of the container transferred by the aforementioned transfer device is set as the transfer direction; the aforementioned transfer device includes a first holding drive unit that moves the aforementioned first holding part along the aforementioned transfer direction, and a second holding drive unit that moves the aforementioned second holding part along the aforementioned transfer direction.

[0210] According to this structure, the first holding part and the second holding part can be brought close to the lamination region, and in this state, the container can be transferred by the transfer device. Therefore, the container can be transferred stably.

[0211] Furthermore, preferably, the container adjacent to the lower part of the container after it has been lifted by the second lifting mechanism is used as the copying target container, and the second transfer mechanism is configured to perform a copying operation to transfer the copying target container to the second holding part; the transfer device includes a limiting part, which is disposed opposite to the container adjacent to the lower part of the copying target container on the side of the second holding part when the second transfer machine performs the copying operation of the copying target container, thereby limiting the movement of the container adjacent to the lower part of the copying target container toward the second holding part.

[0212] According to this structure, during the copying operation, when the copying object container moving towards the second holding part interferes with an adjacent container that is adjacent to it below, and the adjacent container exerts a force towards the second holding part, it is possible to prevent the adjacent container and the multiple containers stacked below the adjacent container from falling towards the second holding part.

[0213] Furthermore, in the above structure, it is preferable that the moving direction of the container transferred by the aforementioned transfer device is set as the transfer direction; the aforementioned second transfer machine has a second locking part that locks with the aforementioned container; the aforementioned limiting part is installed on the aforementioned second holding part and is disposed below the aforementioned second locking part; the aforementioned second locking part and the aforementioned limiting part are configured to be able to move relative to each other along the aforementioned transfer direction.

[0214] According to this structure, during the copying operation, while the second locking part moves towards the second holding part, the restricting part remains in a position opposite to the container from the second holding part. Therefore, while properly copying the target container, it is possible to properly restrict the containers adjacent to the target container below it and the multiple containers stacked below it from falling towards the second holding part.

[0215] Furthermore, preferably, at least one of the aforementioned first lifting mechanism and the aforementioned second lifting mechanism is provided with a guide portion for guiding the aforementioned container transferred by the aforementioned transfer device.

[0216] According to this structure, the container being transferred from the transfer device to the lamination region can be properly guided by the guide section.

[0217] Industrial availability

[0218] The technology disclosed herein can be used to transport vehicles that can transport containers configured to be stacked in the vertical direction.

[0219] Explanation of reference numerals in the attached figures

[0220] 100: Conveyor vehicle

[0221] 1: Driving body

[0222] 2: Container Group Support Section

[0223] 2A: Lamination Region

[0224] 3: Lifting device

[0225] 3G: Guidance Unit

[0226] 31: First lifting mechanism

[0227] 31a: First lifting and holding part

[0228] 32: Second lifting mechanism

[0229] 32a: Second lifting and holding section

[0230] 4: Transfer device

[0231] 41A: First retaining part

[0232] 41B: First Transfer Machine

[0233] 41MA: First Holding Drive Unit

[0234] 42A: Second retaining section

[0235] 42B: Second Transfer Machine

[0236] 42Bb: Second locking part

[0237] 42MA: Second Holding Drive Unit

[0238] 44: Restriction Section

[0239] 5: Rotary device

[0240] 7: Container Cluster

[0241] 70: Container

[0242] 8: Container shelves

[0243] 80: Shelving section

[0244] 80P: Reference Position

[0245] Mv: Vertical movement amount

[0246] P1: First Posture

[0247] P2: Second Posture

[0248] Se1: Reference position detection sensor

[0249] Se2: Storage Container Detection Sensor

[0250] X: Transfer direction

Claims

1. A conveying vehicle, wherein the conveying configuration comprises containers capable of being stacked in the vertical direction, characterized in that, have: The vehicle is in motion; The container group support is mounted on the aforementioned traveling body and supports multiple of the aforementioned containers as a stacked container group within a specified stacking area. A lifting device is mounted on the aforementioned moving body to lift the aforementioned containers of the aforementioned container group supported by the aforementioned container group support. as well as A transfer device is mounted on the aforementioned moving vehicle to transfer the aforementioned container; The aforementioned transfer device includes a first holding part for holding the aforementioned container, a second holding part disposed below the aforementioned first holding part for holding the aforementioned container, a first transfer machine for transferring the aforementioned container between the aforementioned first holding part and the aforementioned lamination region, and a second transfer machine for transferring the aforementioned container between the aforementioned second holding part and the aforementioned lamination region. The aforementioned lifting device includes a first lifting mechanism for lifting a container of any height in the aforementioned group of containers stacked in the aforementioned stacking region relative to the aforementioned container adjacent below it, and a second lifting mechanism for lifting a container located below the container that has been lifted by the aforementioned first lifting mechanism relative to the aforementioned container adjacent below it. The aforementioned first lifting mechanism includes a first lifting and holding part for holding the aforementioned container; The aforementioned second lifting mechanism includes a second lifting and holding portion that is positioned below the aforementioned first lifting and holding portion and holds the aforementioned container; The vertical distance between the first lifting and holding part and the second lifting and holding part is set based on the height of the N layers of the container plus the vertical movement of the container of the object being transferred during the transfer operation performed by the second transfer machine, where N is an integer greater than or equal to 2.

2. The conveyor vehicle as described in claim 1, characterized in that, The vertical distance between the first holding part and the second holding part is a distance greater than or equal to the height of the two layers of the container plus the vertical movement of the container of the object being transferred during the transfer operation performed by the second transfer machine.

3. The conveyor vehicle as described in claim 1, characterized in that, The vertical spacing between the first holding part and the second holding part is set such that when the second holding part is configured at a height at which the second transfer machine will transfer the container adjacent to the container below the container after it has been lifted by the second lifting mechanism to the second holding part, the first holding part is configured at a height at which the first transfer machine will transfer the container held by the first holding part to the container after it has been lifted by the second lifting mechanism.

4. The conveyor vehicle as described in claim 2, characterized in that, The vertical spacing between the first holding part and the second holding part is set such that when the second holding part is configured at a height at which the second transfer machine will transfer the container adjacent to the container below the container after it has been lifted by the second lifting mechanism to the second holding part, the first holding part is configured at a height at which the first transfer machine will transfer the container held by the first holding part to the container after it has been lifted by the second lifting mechanism.

5. The transport vehicle as described in any one of claims 1 to 4, characterized in that, The aforementioned vehicle is configured to travel along a container shelf having multiple shelves in the aforementioned vertical direction, the shelves housing the aforementioned container; The direction of movement of the aforementioned container transferred by the aforementioned transfer device is defined as the transfer direction; It is equipped with a rotating device that causes the aforementioned transfer device to rotate about an axis along the aforementioned vertical direction, changing the orientation of the aforementioned transfer device to a first posture in which the aforementioned transfer direction is toward the aforementioned stacking region and a second posture in which the aforementioned transfer direction is toward the aforementioned container shelf. The first transfer machine performs the transfer of the container between the first holding part and the stacking area in the first posture state, and performs the transfer of the container between the first holding part and the shelf part in the second posture state. The aforementioned second transfer machine performs the transfer of the aforementioned container between the aforementioned second holding part and the aforementioned lamination area in the aforementioned first posture state, and performs the transfer of the aforementioned container between the aforementioned second holding part and the aforementioned shelf part in the aforementioned second posture state.

6. The transport vehicle as described in claim 5, characterized in that, The aforementioned transfer device includes a reference position detection sensor for detecting the reference position of the aforementioned shelf for storing the aforementioned container, and a storage container detection sensor for detecting the aforementioned container stored in the aforementioned shelf. The aforementioned reference position detection sensor is disposed in one of the groups of the aforementioned first holding part and the aforementioned first transfer machine and the aforementioned second holding part and the aforementioned second transfer machine; The aforementioned container detection sensor is installed in the group of the aforementioned first holding part and the aforementioned first transfer machine, and in the other group of the aforementioned second holding part and the aforementioned second transfer machine, where the aforementioned reference position detection sensor is not installed.

7. The transport vehicle as described in any one of claims 1 to 4, characterized in that, The direction of movement of the aforementioned container transferred by the aforementioned transfer device is defined as the transfer direction; The aforementioned transfer device includes a first holding drive unit that moves the first holding portion along the aforementioned transfer direction, and a second holding drive unit that moves the second holding portion along the aforementioned transfer direction.

8. The transport vehicle as described in claim 5, characterized in that, The direction of movement of the aforementioned container transferred by the aforementioned transfer device is defined as the transfer direction; The aforementioned transfer device includes a first holding drive unit that moves the first holding portion along the aforementioned transfer direction, and a second holding drive unit that moves the second holding portion along the aforementioned transfer direction.

9. The conveyor vehicle as described in claim 6, characterized in that, The direction of movement of the aforementioned container transferred by the aforementioned transfer device is defined as the transfer direction; The aforementioned transfer device includes a first holding drive unit that moves the first holding portion along the aforementioned transfer direction, and a second holding drive unit that moves the second holding portion along the aforementioned transfer direction.

10. The transport vehicle as described in any one of claims 1 to 4, characterized in that, The container adjacent to the container below the container that has been lifted by the second lifting mechanism is used as the copying target container, and the second transfer mechanism is configured to perform a copying operation to transfer the copying target container to the second holding part. The aforementioned transfer device includes a limiting part, which is disposed opposite to the aforementioned container adjacent to the aforementioned object container below the aforementioned object container on the side of the aforementioned second holding part when the aforementioned second transfer machine performs the aforementioned copying operation on the aforementioned object container, thereby limiting the movement of the aforementioned container adjacent to the aforementioned object container below the aforementioned object container toward the aforementioned second holding part.

11. The transport vehicle as described in claim 5, characterized in that, The container adjacent to the container below the container that has been lifted by the second lifting mechanism is used as the copying target container, and the second transfer mechanism is configured to perform a copying operation to transfer the copying target container to the second holding part. The aforementioned transfer device includes a limiting part, which is disposed opposite to the aforementioned container adjacent to the aforementioned object container below the aforementioned object container on the side of the aforementioned second holding part when the aforementioned second transfer machine performs the aforementioned copying operation on the aforementioned object container, thereby limiting the movement of the aforementioned container adjacent to the aforementioned object container below the aforementioned object container toward the aforementioned second holding part.

12. The transport vehicle as described in claim 6, characterized in that, The container adjacent to the container below the container that has been lifted by the second lifting mechanism is used as the copying target container, and the second transfer mechanism is configured to perform a copying operation to transfer the copying target container to the second holding part. The aforementioned transfer device includes a limiting part, which is disposed opposite to the aforementioned container adjacent to the aforementioned object container below the aforementioned object container on the side of the aforementioned second holding part when the aforementioned second transfer machine performs the aforementioned copying operation on the aforementioned object container, thereby limiting the movement of the aforementioned container adjacent to the aforementioned object container below the aforementioned object container toward the aforementioned second holding part.

13. The transport vehicle as described in claim 7, characterized in that, The container adjacent to the container below the container that has been lifted by the second lifting mechanism is used as the copying target container, and the second transfer mechanism is configured to perform a copying operation to transfer the copying target container to the second holding part. The aforementioned transfer device includes a limiting part, which is disposed opposite to the aforementioned container adjacent to the aforementioned object container below the aforementioned object container on the side of the aforementioned second holding part when the aforementioned second transfer machine performs the aforementioned copying operation on the aforementioned object container, thereby limiting the movement of the aforementioned container adjacent to the aforementioned object container below the aforementioned object container toward the aforementioned second holding part.

14. The transport vehicle as described in claim 8, characterized in that, The container adjacent to the container below the container that has been lifted by the second lifting mechanism is used as the copying target container, and the second transfer mechanism is configured to perform a copying operation to transfer the copying target container to the second holding part. The aforementioned transfer device includes a limiting part, which is disposed opposite to the aforementioned container adjacent to the aforementioned object container below the aforementioned object container on the side of the aforementioned second holding part when the aforementioned second transfer machine performs the aforementioned copying operation on the aforementioned object container, thereby limiting the movement of the aforementioned container adjacent to the aforementioned object container below the aforementioned object container toward the aforementioned second holding part.

15. The transport vehicle as described in claim 9, characterized in that, The container adjacent to the container below the container that has been lifted by the second lifting mechanism is used as the copying target container, and the second transfer mechanism is configured to perform a copying operation to transfer the copying target container to the second holding part. The aforementioned transfer device includes a limiting part, which is disposed opposite to the aforementioned container adjacent to the aforementioned object container below the aforementioned object container on the side of the aforementioned second holding part when the aforementioned second transfer machine performs the aforementioned copying operation on the aforementioned object container, thereby limiting the movement of the aforementioned container adjacent to the aforementioned object container below the aforementioned object container toward the aforementioned second holding part.

16. The conveyor vehicle as described in claim 10, characterized in that, The direction of movement of the aforementioned container transferred by the aforementioned transfer device is defined as the transfer direction; The aforementioned second transfer machine has a second locking part that locks into the aforementioned container; The aforementioned limiting part is installed in the aforementioned second retaining part and is positioned below the aforementioned second locking part; The aforementioned second locking part and the aforementioned limiting part are configured to be able to move relative to each other along the aforementioned transfer direction.

17. The transport vehicle as described in claim 11, characterized in that, The direction of movement of the aforementioned container transferred by the aforementioned transfer device is defined as the transfer direction; The aforementioned second transfer machine has a second locking part that locks into the aforementioned container; The aforementioned limiting part is installed in the aforementioned second retaining part and is positioned below the aforementioned second locking part; The aforementioned second locking part and the aforementioned limiting part are configured to be able to move relative to each other along the aforementioned transfer direction.

18. The transport vehicle as described in claim 12, characterized in that, The direction of movement of the aforementioned container transferred by the aforementioned transfer device is defined as the transfer direction; The aforementioned second transfer machine has a second locking part that locks into the aforementioned container; The aforementioned limiting part is installed in the aforementioned second retaining part and is positioned below the aforementioned second locking part; The aforementioned second locking part and the aforementioned limiting part are configured to be able to move relative to each other along the aforementioned transfer direction.

19. The transport vehicle as described in claim 13, characterized in that, The direction of movement of the aforementioned container transferred by the aforementioned transfer device is defined as the transfer direction; The aforementioned second transfer machine has a second locking part that locks into the aforementioned container; The aforementioned limiting part is installed in the aforementioned second retaining part and is positioned below the aforementioned second locking part; The aforementioned second locking part and the aforementioned limiting part are configured to be able to move relative to each other along the aforementioned transfer direction.

20. The conveyor vehicle as described in claim 14, characterized in that, The direction of movement of the aforementioned container transferred by the aforementioned transfer device is defined as the transfer direction; The aforementioned second transfer machine has a second locking part that locks into the aforementioned container; The aforementioned limiting part is installed in the aforementioned second retaining part and is positioned below the aforementioned second locking part; The aforementioned second locking part and the aforementioned limiting part are configured to be able to move relative to each other along the aforementioned transfer direction.

21. The transport vehicle as described in claim 15, characterized in that, The direction of movement of the aforementioned container transferred by the aforementioned transfer device is defined as the transfer direction; The aforementioned second transfer machine has a second locking part that locks into the aforementioned container; The aforementioned limiting part is installed in the aforementioned second retaining part and is positioned below the aforementioned second locking part; The aforementioned second locking part and the aforementioned limiting part are configured to be able to move relative to each other along the aforementioned transfer direction.

22. The transport vehicle as described in any one of claims 1 to 4, characterized in that, At least one of the aforementioned first lifting mechanism and the aforementioned second lifting mechanism is provided with a guide part for guiding the aforementioned container transferred by the aforementioned transfer device.

23. The transport vehicle as described in claim 5, characterized in that, At least one of the aforementioned first lifting mechanism and the aforementioned second lifting mechanism is provided with a guide part for guiding the aforementioned container transferred by the aforementioned transfer device.

24. The conveyor vehicle as described in claim 6, characterized in that, At least one of the aforementioned first lifting mechanism and the aforementioned second lifting mechanism is provided with a guide part for guiding the aforementioned container transferred by the aforementioned transfer device.

25. The transport vehicle as described in claim 7, characterized in that, At least one of the aforementioned first lifting mechanism and the aforementioned second lifting mechanism is provided with a guide part for guiding the aforementioned container transferred by the aforementioned transfer device.

26. The conveyor vehicle as described in claim 8, characterized in that, At least one of the aforementioned first lifting mechanism and the aforementioned second lifting mechanism is provided with a guide part for guiding the aforementioned container transferred by the aforementioned transfer device.

27. The transport vehicle as described in claim 9, characterized in that, At least one of the aforementioned first lifting mechanism and the aforementioned second lifting mechanism is provided with a guide part for guiding the aforementioned container transferred by the aforementioned transfer device.

28. The conveyor vehicle as described in claim 10, characterized in that, At least one of the aforementioned first lifting mechanism and the aforementioned second lifting mechanism is provided with a guide part for guiding the aforementioned container transferred by the aforementioned transfer device.

29. The conveyor vehicle as described in claim 11, characterized in that, At least one of the aforementioned first lifting mechanism and the aforementioned second lifting mechanism is provided with a guide part for guiding the aforementioned container transferred by the aforementioned transfer device.

30. The conveyor vehicle as described in claim 12, characterized in that, At least one of the aforementioned first lifting mechanism and the aforementioned second lifting mechanism is provided with a guide part for guiding the aforementioned container transferred by the aforementioned transfer device.

31. The conveyor vehicle as described in claim 13, characterized in that, At least one of the aforementioned first lifting mechanism and the aforementioned second lifting mechanism is provided with a guide part for guiding the aforementioned container transferred by the aforementioned transfer device.

32. The transport vehicle as described in claim 14, characterized in that, At least one of the aforementioned first lifting mechanism and the aforementioned second lifting mechanism is provided with a guide part for guiding the aforementioned container transferred by the aforementioned transfer device.

33. The transport vehicle as described in claim 15, characterized in that, At least one of the aforementioned first lifting mechanism and the aforementioned second lifting mechanism is provided with a guide part for guiding the aforementioned container transferred by the aforementioned transfer device.

34. The transport vehicle as described in claim 16, characterized in that, At least one of the aforementioned first lifting mechanism and the aforementioned second lifting mechanism is provided with a guide part for guiding the aforementioned container transferred by the aforementioned transfer device.

35. The transport vehicle as described in claim 17, characterized in that, At least one of the aforementioned first lifting mechanism and the aforementioned second lifting mechanism is provided with a guide part for guiding the aforementioned container transferred by the aforementioned transfer device.

36. The conveyor vehicle as described in claim 18, characterized in that, At least one of the aforementioned first lifting mechanism and the aforementioned second lifting mechanism is provided with a guide part for guiding the aforementioned container transferred by the aforementioned transfer device.

37. The transport vehicle as described in claim 19, characterized in that, At least one of the aforementioned first lifting mechanism and the aforementioned second lifting mechanism is provided with a guide part for guiding the aforementioned container transferred by the aforementioned transfer device.

38. The conveyor vehicle as described in claim 20, characterized in that, At least one of the aforementioned first lifting mechanism and the aforementioned second lifting mechanism is provided with a guide part for guiding the aforementioned container transferred by the aforementioned transfer device.

39. The transport vehicle as described in claim 21, characterized in that, At least one of the aforementioned first lifting mechanism and the aforementioned second lifting mechanism is provided with a guide part for guiding the aforementioned container transferred by the aforementioned transfer device.

Images