Conveying device

Abstract

The transfer device is provided with: a pressing unit (Ba) that presses a container during a discharge operation; a locking part (Bb) which is locked with the container during the picking operation; and a restricting section (Bc) that is disposed on at least one side in the width direction with respect to the pressing section (Ba) and the locking section (Bb) and that restricts the vertical movement of the container during the removal operation and the pickup operation. The restricting section (Bc) is provided with an upper pressing section (Bcb) that is disposed on the upper side of the rib section (74) during the unloading operation and the copying operation and that overlaps the rib section (74) when viewed in the vertical direction.

Description

Technical Field

[0001] The present invention relates to a transport apparatus for transport containers. Background Art

[0002] As such a transport apparatus, for example, a transfer apparatus for performing transfer of goods is disclosed in Japanese Patent No. 6337706 (Patent Document 1).

[0003] The transfer apparatus (2) disclosed in Patent Document 1 includes a goods placement unit (26) for placing goods (10), and a sliding arm (28) having a top (42) that reciprocates in the transfer direction of the goods (10). The transfer apparatus (2) is configured to perform an unloading operation of transferring the goods (10) from the goods placement unit (26) to the shelves (12a, 12b) and a picking operation of transferring the goods (10) from the shelves (12a, 12b) to the goods placement unit (26) by the reciprocating movement of the top (42) in the sliding arm (28). Further, in this transfer apparatus (2), the unloading operation and the picking operation are performed in a state where hooks (30, 32, 34, 36) are engaged with handles (14a, 14b) of the goods (10). In addition, the reference numerals shown in parentheses above are the reference numerals in Patent Document 1.

[0004] Prior Art Documents

[0005] Patent Documents

[0006] Patent Document 1: Japanese Patent No. 6337706 Summary of the Invention

[0007] Problems to be Solved by the Invention

[0008] However, in the case where the transfer target is a container or the like, for example, since the articles are biasedly arranged in the container, there is a case where a bias occurs in the center of gravity position of the articles housed in the container in the transfer direction. In such a case, there is a possibility that the container inclines in the transfer direction during the unloading operation and the picking operation. Moreover, if the container inclines in the transfer direction, there is a possibility that a situation such as a locking tool such as a hook detaching from the container occurs during the transfer operation, which may hinder the transfer operation.

[0009] The present invention has been made in view of the above actual situation, and an object thereof is to realize a transport apparatus that can easily and correctly maintain the posture of the container during the transfer operation of the articles.

[0010] Means for Solving the Problems

[0011] A conveying device, a conveying container; provided with a transfer device having a holding portion for holding the aforementioned container; the aforementioned transfer device is configured to move the aforementioned container in a transfer direction along the horizontal direction to perform a transfer operation, the transfer operation including an unloading operation of transferring the aforementioned container from the aforementioned holding portion to a transfer target portion, and a picking-up operation of transferring the aforementioned container from the aforementioned transfer target portion to the aforementioned holding portion; the side of the transfer direction from the aforementioned holding portion toward the aforementioned transfer target portion is set as the unloading side in the transfer direction, the side of the transfer direction from the aforementioned transfer target portion toward the aforementioned holding portion is set as the picking-up side in the transfer direction, the direction orthogonal to the aforementioned transfer direction in a top-down view is set as the width direction, the portion of the aforementioned container facing the unloading side in the transfer direction is set as the front surface portion of the container, and the portion of the aforementioned container facing the picking-up side in the transfer direction is set as the rear surface portion of the container; the aforementioned transfer device includes: a pressing portion that presses the aforementioned container during the aforementioned unloading operation; a locking portion that locks with the aforementioned container during the aforementioned picking-up operation; a restricting portion that is disposed on at least one side of the aforementioned width direction with respect to the aforementioned pressing portion and the aforementioned locking portion to restrict the up-and-down movement of the aforementioned container during the aforementioned unloading operation and the aforementioned picking-up operation; and a transfer driving portion that reciprocally moves the aforementioned pressing portion, the aforementioned locking portion, and the aforementioned restricting portion along the aforementioned transfer direction; in the rear surface portion of the aforementioned container, a recess opening downward and a rib portion formed to protrude toward the picking-up side in the transfer direction and extend horizontally along the rear surface portion of the aforementioned container are provided; the aforementioned transfer device performs the aforementioned unloading operation by moving the aforementioned pressing portion toward the unloading side in the transfer direction by the aforementioned transfer driving portion in a state where the aforementioned pressing portion is in contact with the rear surface portion of the aforementioned container, and performs the aforementioned picking-up operation by moving the aforementioned locking portion toward the picking-up side in the transfer direction by the aforementioned transfer driving portion in a state where the aforementioned locking portion is inserted into the aforementioned recess from below; the aforementioned restricting portion includes an upper pressing portion that is disposed at a position above the aforementioned rib portion and overlapping the aforementioned rib portion in a top-down view during the aforementioned unloading operation and the aforementioned picking-up operation.

[0012] According to this structure, when the rear surface portion side of the container is lifted upward more than the front surface portion side of the container during the unloading operation and the picking-up operation, the movement of the rib portion to be raised is restricted by the upper pressing portion. Therefore, it is easy to correctly maintain the posture of the container during the unloading operation and the picking-up operation. Thus, even when, for example, there is a bias in the center-of-gravity position of the article housed in the container in the transfer direction, it is difficult for the rear surface portion of the container to be in a lifted state.

[0013] That is, according to this structure, a conveying device capable of easily and correctly maintaining the posture of the container during the transfer operation of the article can be realized.

[0014] Further features and advantages of the technology of the present disclosure will become more apparent from the following description of exemplary and non-limiting embodiments described with reference to the accompanying drawings. Description of the Drawings

[0015] Figure 1 It is a top view of a conveying device equipped with a conveying apparatus.

[0016] Figure 2 It is a front view of a container shelf.

[0017] Figure 3 It is a front view of a container.

[0018] Figure 4 It is a side view of a container.

[0019] Figure 5 It is a view in the vehicle body width direction of the conveying device.

[0020] Figure 6 It is a top view showing the first and second postures of a transfer device.

[0021] Figure 7 It is a view showing the transfer device as observed from the width direction orthogonal to the transfer direction.

[0022] Figure 8 It is a perspective view showing the main part of a transfer machine.

[0023] Figure 9 It is a view showing the transfer machine and the rear surface part of the container as observed from the width direction orthogonal to the transfer direction.

[0024] Figure 10 It is an explanatory view showing the picking-up operation performed by the transfer device.

[0025] Figure 11 It is an explanatory view showing the picking-up operation performed by the transfer device.

[0026] Figure 12 It is an explanatory view showing the picking-up operation of the container relative to the shelf part performed by the transfer device.

[0027] Figure 13 It is an explanatory view showing the picking-up operation of the container relative to the stacking area performed by the transfer device.

[0028] Figure 14 It is an explanatory view showing the unloading operation performed by the transfer device.

[0029] Figure 15 It is an explanatory view showing the unloading operation of the container relative to the shelf part performed by the transfer device.

[0030] Figure 16It is an explanatory diagram showing the unloading operation of the container by the transfer device relative to the stacking area. Detailed implementation

[0031] The conveying device is a device for conveying containers. Hereinafter, the case where the conveying device is equipped in the conveying equipment for conveying containers will be exemplified, and the implementation of this conveying device will be described.

[0032] As Figure 1 shown, the conveying equipment F includes a container shelf 8 for accommodating the container 70 (refer to Figure 3 and Figure 4 ), and a loading / unloading section 9 for loading and unloading the container 70. The conveying device 100 conveys the container 70 carried into by the loading / unloading section 9 to the container shelf 8, or conveys the container 70 stored in the container shelf 8 to the loading / unloading section 9 for unloading.

[0033] In this embodiment, a plurality of container shelves 8 are arranged in parallel with a predetermined interval therebetween. At least the front surfaces of the plurality of container shelves 8 are open, and the container 70 is taken out and put in at this front surface. Moreover, a part of the traveling path R of the conveying device 100 is set between a pair of adjacent container shelves 8 whose front surfaces face each other. In addition, the container shelf 8 arranged at the outermost end among the plurality of container shelves 8 provided in the conveying equipment F is arranged with its front surface facing outward, and a part of the traveling path R is also set in the area along the front surface of this end container shelf 8. In addition, in the conveying equipment F, a plurality of loading / unloading sections 9 are provided, and a part of the traveling path R is also set in the area passing through each of the plurality of loading / unloading sections 9.

[0034] The traveling path R includes a shelf inner path Ra extending along the front surface of the container shelf 8 in the extending direction of the container shelf 8, and a shelf outer path Rb intersecting the shelf inner path Ra outside the arrangement area of the container shelf 8. The shelf inner path Ra is set corresponding to each of the plurality of container shelves 8. In this embodiment, a part of the traveling path R set in the area between a pair of adjacent container shelves 8 whose front surfaces face each other, and a part of the traveling path R set in the area along the front surface of the container shelf 8 arranged with its front surface facing outward are equivalent to the shelf inner path Ra. In addition, the shelf outer path Rb is set to connect the plurality of shelf inner paths Ra. In addition, the shelf outer path Rb is also set to pass through each of the plurality of loading / unloading sections 9. In this embodiment, the part other than the shelf inner path Ra in the traveling path R is equivalent to the shelf outer path Rb.

[0035] 〔Container shelf〕

[0036] As Figure 2As shown, the container shelf 8 has a shelf portion 80 for accommodating a plurality of containers 70 in the vertical direction. The shelf portion 80 is a transfer target portion T when the container 70 is transferred by a transfer device 4 described later. In the present embodiment, the container shelf 8 is constituted by combining a plurality of column members 81 and a plurality of beam members 82. The plurality of beam members 82 are arranged at intervals in the vertical direction. Moreover, mounting members 83 for mounting the container 70 are connected to each of the plurality of beam members 82. In this example, the container 70 is accommodated in the shelf portion 80 by being mounted on a pair of mounting members 83. In addition, in the shelf portion 80, a plurality of sets of pairs of mounting members 83 are arranged, and a plurality of containers 70 can be accommodated in one shelf portion 80. In addition, in this example, in Figure 2 the region between a pair of column members 81 adjacent in the left-right direction and between a pair of beam members 82 adjacent in the vertical direction in the front view shown corresponds to the opening of the container shelf 8.

[0037] In the present embodiment, at a reference position 80P in the shelf portion 80 for accommodating the container 70, a target portion 82T is provided as a target for accommodating the container 70 at the 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 set of a pair of mounting members 83. In the illustrated example, the target portion 82T is constituted by a hole formed in the beam member 82.

[0038] 〔Container〕

[0039] As Figure 3 shown, the container 70 is formed in a box shape having an opening 71 opening upward and a peripheral wall portion 72 surrounding the internal space of the container 70. In this example, the outer shape of the container 70 in the vertical direction view is rectangular. Articles can be accommodated in the internal space surrounded by the peripheral wall portion 72, that is, the inside of the container 70. Among the articles, for example, various commodities such as food and daily necessities, or parts and semi-finished products used in a factory production line, etc. are included.

[0040] In the present embodiment, the container 70 is configured to be stackable with another container 70 in a state where an article is accommodated therein. That is, the container 70 is configured to be stackable in the vertical direction (also refer to Figure 5 ). In this example, the container 70 has a fitting portion 77 protruding downward from its bottom. By fitting the fitting portion 77 of the container 70 into the opening 71 of another container 70 from above, the two containers 70 are stacked in the vertical direction.

[0041] The container 70 is configured to be transferred along a specific direction by a transfer device 4 described later. If the direction in which the container 70 is transferred by the transfer device 4 is set as a transfer direction X (refer to Figure 4) Then, the container 70 is moved by the transfer device 4 in the transfer direction X. More specifically, when the transfer device 4 unloads the container 70 from the transfer target portion T, the container 70 moves toward one side in the transfer direction X (hereinafter referred to as "transfer direction unloading side X1"). When the transfer device 4 picks up the container 70 relative to the transfer target portion T, the container 70 moves toward the other side in the transfer direction X (hereinafter referred to as "transfer direction picking side X2").

[0042] The part of the container 70 facing the transfer direction unloading side X1 is defined as the front surface portion 70F of the container, and the part of the container 70 facing the transfer direction picking side X2 is defined as the rear surface portion 70R of the container (refer to Figure 4 ). As Figure 2 shown, the container 70 is stored in the shelf portion 80 with the rear surface portion 70R of the container facing the front side of the container shelf 8.

[0043] As Figure 3 and Figure 4 shown, in the present embodiment, the container 70 includes a plurality of rib portions protruding outward from the peripheral wall portion 72. A part of the plurality of rib portions is a lifting rib portion 73 that is lifted by a lifting device 3 described later. In this example, the lifting rib portion 73 is formed at the upper part of the peripheral wall portion 72. In addition, the lifting rib portion 73 is formed over the entire circumference of the part of the peripheral wall portion 72 that surrounds the opening portion 71. A part of the plurality of rib portions is a transfer rib portion 74 that is lifted during the transfer operation by the transfer device 4 described later. In this example, the transfer rib portion 74 is formed below the lifting rib portion 73. The transfer rib portion 74 is provided on the rear surface portion 70R of the container. In this example, the transfer rib portion 74 is provided on both the rear surface portion 70R and the front surface portion 70F of the container. In addition, in the present embodiment, the rear surface portion 70R and the front surface portion 70F of the container have the same structure. That is, the transfer rib portion 74 is formed to protrude toward the transfer direction picking side X2 and extend horizontally along the rear surface portion 70R of the container. In the present embodiment, the transfer rib portion 74 corresponds to the "rib portion".

[0044] In the rear surface portion 70R of the container, a recess 75 opening downward is provided. In the present embodiment, the recess 75 opens downward vertically. The recess 75 is formed on the surface of the container 70 where the transfer rib portion 74 is provided (in this example, the rear surface portion 70R and the front surface portion 70F of the container). In this example, between the lifting rib portion 73 and the transfer rib portion 74 of the container 70 in the vertical direction, a locking wall portion 76 protruding outward from the peripheral wall portion 72 and extending downward is provided, and a recess 75 is formed between the locking wall portion 76 and the peripheral wall portion 72. The locking wall portion 76 is a locking portion Bb during the transfer operation by the transfer device 4 as described later (refer to Figure 9)The locked part.

[0045] If the direction orthogonal to the transfer direction X in the vertical direction view along the vertical direction is defined as the width direction Y, in the present embodiment, the concave portion 75 is provided at the central portion in the width direction Y in each of the container rear surface portion 70R and the container front surface portion 70F. Moreover, in this example, the concave portion 75 is formed so as to extend along the width direction Y and the vertical direction.

[0046] 〔Conveyor device〕

[0047] As Figure 5 shown, the conveyor device 100 includes: a traveling body 1 that travels; a container group support portion 2 that supports a plurality of containers 70 as a stacked container group 7 in a predetermined stacking area 2A; a lifting device 3 that lifts the containers 70 of the container group 7 supported by the container group support portion 2; and a transfer device 4 that transfers the containers 70. The container group support portion 2, the lifting device 3, and the transfer device 4 are mounted on the traveling body 1. If the direction along the traveling direction in the traveling body 1 is defined as the "vehicle body front-rear direction L", the container group support portion 2 and the transfer device 4 are arranged and disposed on the traveling body 1 in the vehicle body front-rear direction L. In addition, hereinafter, the direction orthogonal to the vehicle body front-rear direction L in the vertical direction view is defined as the "vehicle body width direction W". Here, the vehicle body front-rear direction L and the vehicle body width direction W are horizontal directions orthogonal to each other.

[0048] In the present embodiment, the conveyor device 100 includes a control device C. The control device C controls each functional part of the conveyor device 100. In this example, the control device C controls the traveling body 1, the container group support portion 2, the lifting device 3, the transfer device 4, and a later-described rotating device 5. The operations for transporting and transferring the containers 70 are realized by the control of each functional part performed by the control device C. The control device C includes, for example, a processor such as a microcomputer, peripheral circuits such as a memory, and the like. Moreover, through the cooperation of these hardware and a program executed on a processor such as a computer, each function is realized.

[0049] 〔Traveling body〕

[0050] The traveling body 1 is configured to travel on a predetermined traveling path R (refer to Figure 1 ). In the present embodiment, the traveling body 1 is configured to travel on an in-shelf path Ra and an out-of-shelf path Rb. The traveling body 1 is configured to travel along the container shelf 8 when traveling on the in-shelf path Ra, and more specifically, is configured to travel along the front surface of the container shelf 8. In the present embodiment, the traveling body 1 is configured to travel on the floor surface.

[0051] The traveling body 1 includes a plurality of traveling wheels 10 and a traveling drive unit 10M that drives at least one of the plurality of traveling wheels 10. The traveling drive unit 10M includes a motor (not shown). By driving the traveling wheels 10 with the traveling drive unit 10M, a propulsive force in the traveling direction is imparted to the traveling body 1.

[0052] 〔Container group support section〕

[0053] The container group support section 2 is mounted on the traveling body 1. The container group support section 2 is configured to be able to support a plurality of containers 70 as a stacked container group 7. Above the container group support section 2, a stacking area 2A for arranging the container group 7 is defined. The stacking area 2A is a three-dimensional imaginary area extending upward from the container group support section 2. In this example, the container group support section 2 is configured as a conveyor that can move the container group 7 in a state where the container group 7 is placed. In this example, the container group support section 2 can move the container group 7 along the vehicle body width direction W. As the conveyor constituting the container group support section 2, well-known conveyors such as a roller conveyor, a chain conveyor, and a belt conveyor can be used.

[0054] To the loading / unloading section 9 (refer to Figure 1 ), a container group 7 in a state where a plurality of containers 70 are stacked is loaded. In a state where the traveling body 1 is adjacent to the loading / unloading section 9, the container group support section 2 receives the container group 7 from the loading / unloading section 9 or transfers the container group 7 to the loading / unloading section 9. That is, the container group support section 2 is configured to transfer the container group 7 between the loading / unloading section 9. Although detailed illustrations are omitted, in this example, the loading / unloading section 9 is adjacent to a picking area where an operation of taking out an article from the container 70 is performed. If the container group 7 is transferred from the container group support section 2 to the loading / unloading section 9, the article is taken out from the container 70 in the picking area adjacent to the loading / unloading section 9. After a part or all of the articles housed in the container 70 are taken out, the container 70 is transferred from the loading / unloading section 9 to the container group support section 2 (conveying device 100) and conveyed to the container rack 8 again. However, the loading / unloading section 9 may not be adjacent to the picking area and may be adjacent to other equipment or work areas. In addition, for example, the loading / unloading section 9 may be configured to convey the container group 7 transferred from the container group support section 2 to the outside of the conveying equipment F.

[0055] 〔Lifting device〕

[0056] The lifting device 3 is mounted on the traveling body 1. The lifting device 3 is configured to lift the container 70 of the container group 7 supported by the container group support section 2, that is, the container 70 of the container group 7 arranged in the stacking area 2A.

[0057] The lifting device 3 includes a lifting mast 30 erected upward from the traveling body 1, a lifting elevator 30B connected to the lifting mast 30, and a lifting elevator drive unit 30M that moves the lifting elevator 30B up and down along the lifting mast 30. Although detailed illustrations are omitted, the lifting elevator drive unit 30M includes, for example, an annular body such as a belt connected to the lifting elevator 30B, a rotating body around which the annular body is wound, and a motor that rotationally drives the rotating body.

[0058] The lifting device 3 includes: a first lifting mechanism 31 that lifts a container 70 at any height in a container group 7 stacked in a stacking area 2A while holding the container 70 from below by a lifting rib 73 with respect to a container 70 adjacent to the container 70 below; and a second lifting mechanism 32 that lifts a container 70 below the container 70 lifted by the first lifting mechanism 31 while holding the container 70 from below by the lifting rib 73 with respect to a container 70 adjacent to the container 70 below. In addition, in the present embodiment, the first lifting mechanism 31 and the second lifting mechanism 32 are arranged apart from each other in the vertical direction. Thus, although illustrations are omitted, a space can be 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. In addition, a space in the vertical direction can also be formed below the container 70 lifted by the second lifting mechanism 32.

[0059] In addition, although details are omitted, in the present embodiment, when 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, other containers 70 can be unloaded into this space. In addition, when a space in the vertical direction is formed below the container 70 lifted by the second lifting mechanism 32, the containers 70 arranged below the container 70 lifted by the second lifting mechanism 32 can be picked up using this space.

[0060] 〔Transfer device〕

[0061] As Figure 5As shown, the transfer device 4 is mounted on the traveling body 1. The transfer device 4 has a holding part A for holding the container 70, and is configured to move the container 70 in the transfer direction X along the horizontal direction to perform a transfer operation, and the transfer operation includes a unloading operation of transferring the container 70 from the holding part A to the transfer target part T, and a picking operation of transferring the container 70 from the transfer target part T to the holding part A. In addition, in this specification, transferring the container 70 from the transfer target part T to the transfer device 4 is referred to as "picking", and "picking" is not limited to a specific transfer operation. In the present embodiment, the transfer device 4 includes a transfer machine B, and the transfer machine B performs the unloading operation and the picking operation of the container 70 with respect to the transfer target part T. In the transfer target part T, a stacking area 2A and a shelf part 80 of the container shelf 8 are included.

[0062] As described above, here, the moving direction of the container 70 transferred by the transfer device 4 is set as the transfer direction X. In addition, the side of the transfer direction X from the holding part A toward the transfer target part T is set as the transfer direction unloading side X1, and the side of the transfer direction X from the transfer target part T toward the holding part A is set as the transfer direction picking side X2. The transfer direction X is a direction along the horizontal direction. The transfer direction unloading side X1 is the side where the container 70 moves along the transfer direction X when the container 70 is unloaded. The transfer direction picking side X2 is the side where the container 70 moves along the transfer direction X when the container 70 is picked.

[0063] In the present embodiment, the conveying device 100 includes a rotating device 5 that rotates the transfer device 4 around an axis along the vertical direction. As Figure 6 shown, the rotating device 5 is configured to rotate the transfer device 4 around an axis along the vertical direction, and change the orientation of the transfer device 4 to a first posture P1 with the transfer direction X facing the stacking area 2A and a second posture P2 with the transfer direction X facing the container shelf 8. In this way, in the present embodiment, the transfer direction X can be changed within the horizontal plane by the rotating device 5.

[0064] In the present embodiment, the transfer device 4 changes its posture according to the position of the transfer target part T. Specifically, the transfer device 4 becomes the first posture P1 when the transfer target part T is the stacking area 2A, and becomes the second posture P2 when the transfer target part T is the shelf part 80 (container shelf 8). As Figure 7 shown, in this example, the rotating device 5 includes a rotating table 50 that supports the transfer device 4, a rotating shaft 51 that rotatably supports the rotating table 50 with respect to a transfer lifting body 40B described later, and a rotation driving part 5M that drives the rotating shaft 51. In addition, Figure 7 shows the case where the transfer device 4 is in the second posture P2.

[0065] As Figure 5As shown, the transfer device 4 includes a transfer mast 40 erected upward from the traveling body 1, a transfer elevating body 40B connected to the transfer mast 40, and a transfer elevating body drive unit 40M that raises and lowers the transfer elevating body 40B along the transfer mast 40. Although detailed illustrations are omitted, the transfer elevating body drive unit 40M includes, for example, an annular body such as a belt connected to the transfer elevating body 40B, a rotating body around which the annular body is wound, and a motor that rotationally drives the rotating body.

[0066] As Figure 7 and Figure 8 shown, the transfer device 4 includes: a pressing portion Ba that presses the container 70 during the unloading operation; a locking portion Bb that locks with the container 70 during the picking operation; a restricting portion Bc that is disposed on at least one side in the width direction Y with respect to the pressing portion Ba and the locking portion Bb and restricts the vertical movement of the container 70 during the unloading operation and the picking operation; and a transfer drive unit Ms that reciprocates the pressing portion Ba, the locking portion Bb, and the restricting portion Bc along the transfer direction X. In addition, in this specification, "restricting vertical movement" means restricting movement to at least one side in the vertical direction. Here, the restricting portion Bc restricts the upward movement of the container 70, and in this embodiment, also restricts the downward movement of the container 70. In this embodiment, the restricting portion Bc is disposed on both sides in the width direction Y with respect to the pressing portion Ba and the locking portion Bb. In addition, in this embodiment, the transfer device 4 includes a support member Bs that supports the pressing portion Ba, the locking portion Bb, and the restricting portion Bc. Moreover, the transfer drive unit Ms is configured to reciprocate the support member Bs along the transfer direction X. In this example, the support member Bs is held by the holding portion A, and the transfer drive unit Ms relatively moves the support member Bs along the transfer direction X with respect to the holding portion A. By the support member Bs being driven by the transfer drive unit Ms and relatively moving along the transfer direction X with respect to the holding portion A, the pressing portion Ba, the locking portion Bb, and the restricting portion Bc also relatively move along the transfer direction X with respect to the holding portion A. In this example, the pressing portion Ba, the locking portion Bb, the restricting portion Bc, and the support member Bs are provided on the transfer machine B.

[0067] In the present embodiment, the transfer device 4 includes: a first holding part 41A that holds the container 70; a second holding part 42A that is disposed below the first holding part 41A and holds the container 70; a first transfer machine 41B that transfers the container 70 between the first holding part 41A and the transfer target part T; and a second transfer machine 42B that transfers the container 70 between the second holding part 42A and the transfer target part T. That is, the holding part A includes the first holding part 41A and the second holding part 42A. In addition, the transfer machine B includes the first transfer machine 41B and the second transfer machine 42B. Hereinafter, there are cases where the first holding part 41A and the second holding part 42A are collectively referred to as the "holding part A". In addition, there are cases where the first transfer machine 41B and the second transfer machine 42B are collectively referred to as the "transfer machine B".

[0068] As described above, in the transfer target part T, a laminated area 2A and a shelf part 80 of the container shelf 8 are included. That is, the first transfer machine 41B and the second transfer machine 42B are configured to be able to transfer the container 70 relative to the shelf part 80 and the laminated area 2A, respectively. When the laminated area 2A is set as the transfer target part T, each transfer machine 41B, 42B moves the container 70 between each holding part 41A, 42A and the laminated area 2A in the first posture P1, and transfers the container 70 relative to the laminated area 2A (refer to the upper figure of Figure 6 ). In addition, when the shelf part 80 is set as the transfer target part T, each transfer machine 41B, 42B moves the container 70 between each holding part 41A, 42A and the shelf part 80 in the second posture P2, and transfers the container 70 relative to the shelf part 80 (refer to the lower figure of Figure 6 ).

[0069] As Figure 7 shown, in the present embodiment, the transfer device 4 includes a holding connection part 43 that connects the first holding part 41A and the second holding part 42A in the vertical direction. The holding connection part 43 connects the first holding part 41A and the second holding part 42A in such a manner that the interval therebetween in the vertical direction is constant.

[0070] The transfer device 4 is provided with a holding drive unit MA that moves the holding unit A in the transfer direction X. In the present embodiment, the holding drive unit MA includes a first holding drive unit 41MA that moves the first holding unit 41A in the transfer direction X and a second holding drive unit 42MA that moves the second holding unit 42A in the transfer direction X. The first holding drive unit 41MA is configured to relatively move the first holding unit 41A in the transfer direction X with respect to the transfer lifting body 40B. The second holding drive unit 42MA is configured to relatively move the second holding unit 42A in the transfer direction X with respect to the transfer lifting body 40B. As described above, in the present embodiment, the first holding unit 41A and the second holding unit 42A are connected by the holding connection part 43. Therefore, the first holding unit 41A and the second holding unit 42A move integrally in the transfer direction X. In this example, it is configured that the first holding drive unit 41MA that drives the first holding unit 41A and the second holding drive unit 42MA that drives the second holding unit 42A are driven by a common drive source. Hereinafter, there is a case where the first holding drive unit 41MA and the second holding drive unit 42MA are collectively referred to as the "holding drive unit MA".

[0071] In the present embodiment, the pushing portion Ba includes a first pushing portion 41Ba and a second pushing portion 42Ba. Further, the locking portion Bb includes a first locking portion 41Bb and a second locking portion 42Bb. Furthermore, the restricting portion Bc includes a first restricting portion 41Bc and a second restricting portion 42Bc. In this example, the first transfer machine 41B includes: a first pushing portion 41Ba that pushes the container 70 toward the unloading side X1 in the transfer direction when performing the unloading operation of the container 70; a first locking portion 41Bb that locks with the container 70 when performing the picking-up operation of the container 70; and a first restricting portion 41Bc that restricts the vertical movement of the container 70 during the unloading operation and the picking-up operation. Each of the first pushing portion 41Ba, the first locking portion 41Bb, and the first restricting portion 41Bc is configured to be relatively movable along the transfer direction X with respect to the first holding portion 41A. In addition, in this example, the second transfer machine 42B includes: a second pushing portion 42Ba that pushes the container 70 toward the unloading side X1 in the transfer direction when performing the unloading operation of the container 70; a second locking portion 42Bb that locks with the container 70 when performing the picking-up operation of the container 70; and a second restricting portion 42Bc that restricts the vertical movement of the container 70 during the unloading operation and the picking-up operation. Each of the second pushing portion 42Ba, the second locking portion 42Bb, and the second restricting portion 42Bc is configured to be relatively movable along the transfer direction X with respect to the second holding portion 42A. Hereinafter, there are cases where the first pushing portion 41Ba and the second pushing portion 42Ba are collectively referred to as the "pushing portion Ba". In addition, there are cases where the first locking portion 41Bb and the second locking portion 42Bb are collectively referred to as the "locking portion Bb". In addition, there are cases where the first restricting portion 41Bc and the second restricting portion 42Bc are collectively referred to as the "restricting portion Bc".

[0072] In the present embodiment, the support member Bs includes a first support member 41Bs and a second support member 42Bs. In addition, the transfer drive unit Ms includes a first transfer drive unit 41Ms and a second transfer drive unit 42Ms. In this example, the first support member 41Bs is configured to be supported by the first holding unit 41A and support the first pressing portion 41Ba, the first locking portion 41Bb, and the first restricting portion 41Bc. The first support member 41Bs is driven by the first transfer drive unit 41Ms, and the first pressing portion 41Ba, the first locking portion 41Bb, and the first restricting portion 41Bc relatively move along the transfer direction X with respect to the first holding unit 41A. Further, in this example, the second support member 42Bs is configured to be supported by the second holding unit 42A and support the second pressing portion 42Ba, the second locking portion 42Bb, and the second restricting portion 42Bc. The second support member 42Bs is driven by the second transfer drive unit 42Ms, and the second pressing portion 42Ba, the second locking portion 42Bb, and the second restricting portion 42Bc relatively move along the transfer direction X with respect to the second holding unit 42A. Hereinafter, there are cases where the first support member 41Bs and the second support member 42Bs are collectively referred to as the "support member Bs". In addition, there are cases where the first transfer drive unit 41Ms and the second transfer drive unit 42Ms are collectively referred to as the "transfer drive unit Ms".

[0073] In the present embodiment, the transfer device 4 includes a locking drive unit Mb that independently drives the locking portion Bb of the pressing portion Ba to change the posture of the locking portion Bb. In the present embodiment, the locking drive unit Mb is configured to rotate the locking portion Bb about a rotation axis Bxa along the transfer direction X (refer to Figure 8 ). In the present embodiment, the locking drive unit Mb includes a first locking drive unit 41Mb and a second locking drive unit 42Mb. In this example, the first transfer machine 41B includes the first locking drive unit 41Mb. The first locking drive unit 41Mb is configured to drive the first locking portion 41Bb. Specifically, the first locking drive unit 41Mb rotationally drives the first locking portion 41Bb about the rotation axis Bxa along the transfer direction X. Further, in this example, the second transfer machine 42B includes the second locking drive unit 42Mb. The second locking drive unit 42Mb is configured to drive the second locking portion 42Bb. Specifically, the second locking drive unit 42Mb rotationally drives the second locking portion 42Bb about the rotation axis Bxa along the transfer direction X. Hereinafter, there are cases where the first locking drive unit 41Mb and the second locking drive unit 42Mb are collectively referred to as the "locking drive unit Mb".

[0074] As Figure 7 shown, in the present embodiment, the transfer device 4 includes a reference position detection sensor Se1 that detects a target portion 82T indicating a reference position 80P in the shelf portion 80 for accommodating the container 70 (refer to Figure 2);and a storage container detection sensor Se2 that detects the container 70 stored in the shelf unit 80. In the present embodiment, the reference position detection sensor Se1 is provided in the first holding unit 41A. In addition, the storage container detection sensor Se2 is provided in the second holding unit 42A.

[0075] Next, with reference to Figures 8 to 16 , the structure of the transfer machine B will be described in detail.

[0076] Figure 8 is a perspective view showing the main part of the transfer machine B, and the structure of this main part is common to the first transfer machine 41B and the second transfer machine 42B. As shown in this figure, in the present embodiment, the pressing part Ba, the locking part Bb, and the restricting part Bc are supported by the support member Bs. In this example, the support member Bs is a plate-like member and has a main body part Bsp along the horizontal plane. The pressing part Ba, the locking part Bb, and the restricting part Bc are supported on the upper surface of the main body part Bsp in the support member Bs.

[0077] In the unloading operation, the pressing part Ba presses the container 70 toward the unloading side X1 in the transfer direction. The pressing part Ba is disposed at the center in the width direction Y in the support member Bs. In the present embodiment, the pressing part Ba is supported by the support member Bs by being connected to a pressing connection part Bac formed so as to stand upward from the upper surface of the support member Bs. The pressing part Ba is disposed on the unloading side X1 in the transfer direction with respect to the pressing connection part Bac. In the present embodiment, the pressing part Ba has a contact surface Baf that contacts the rear surface part 70R of the container in the unloading operation. The contact surface Baf is configured to contact the locking wall part 76 of the container 70 from the transfer direction taking side X2 in the unloading operation (see Figure 14 ).

[0078] In the picking operation, the locking part Bb locks with the container 70 and pulls the container 70 toward the picking side X2 in the transfer direction. The locking part Bb is configured to be able to change its posture to a locking posture inserted into the recess 75 of the container 70 (see Figure 11 ) and a non-locking posture out of the recess 75 (see Figure 10 ) by being rotationally driven by the locking drive part Mb.

[0079] In the present embodiment, the locking portion Bb is connected to a rotating shaft Bx disposed below the main body portion Bsp in the support member Bs. The rotating shaft Bx is disposed along the transfer direction X and is rotationally driven by a locking drive portion Mb about an axis along the transfer direction X. The locking drive portion Mb is disposed below the main body portion Bsp in the support member Bs and is fixed relative to the support member Bs. In this way, the locking portion Bb is supported by the support member Bs via the rotating shaft Bx and the locking drive portion Mb. Moreover, the locking portion Bb rotates about an axis along the transfer direction X as the rotating shaft Bx rotates. Therefore, the axis of the rotating shaft Bx corresponds to the rotation axis Bxa of the locking portion Bb.

[0080] In the present embodiment, by rotating about the rotation axis Bxa, the posture of the locking portion Bb is changed to the above-described locking posture and non-locking posture. In the locking posture of the locking portion Bb, a part thereof protrudes upward from the main body portion Bsp of the support member Bs (see Figure 11 ), and in the non-locking posture, the whole of it is disposed below the main body portion Bsp of the support member Bs (see Figure 10 ).

[0081] In the present embodiment, the locking portion Bb is disposed on the unloading side X1 in the transfer direction with respect to the pressing portion Ba. In addition, the positional relationship between the locking portion Bb and the pressing portion Ba in the transfer direction X is fixed.

[0082] In the present embodiment, the locking portion Bb is formed in a rod shape or a strip shape extending in a direction orthogonal to the rotation axis Bxa. In the illustrated example, the locking portion Bb is formed in a rod shape. In this example, the locking portion Bb is disposed so as to be located at the center in the width direction Y in the rear surface portion 70R of the container in the locking posture. Thereby, the locking portion Bb can be disposed at an appropriate position with respect to the recess 75 located at the center in the width direction Y in the rear surface portion 70R of the container.

[0083] In the present embodiment, a detector Se for detecting the relative position of the locking portion Bb with respect to the container 70 is provided in the support member Bs. As Figure 11 shown, the detector Se detects that the relative position of the locking portion Bb with respect to the container 70 is within the lockable range LR. The lockable range LR is a range of the relative position of the locking portion Bb with respect to the container 70 such that the locking portion Bb is located in the recess 75 formed on the unloading side X1 in the transfer direction with respect to the locking wall portion 76 with respect to the container 70 when the locking portion Bb is in the locking posture. In this example, the lockable range LR is set to a range corresponding to the distance between the peripheral wall portion 72 and the locking wall portion 76 in the container 70 in the transfer direction X.

[0084] In the present embodiment, the locking portion Bb is configured to be rotationally driven by the locking drive portion Mb when it is in a state where the relative position with respect to the container 70 is within a predetermined lockable range LR, that is, when the detector Se detects that the locking portion Bb is within the lockable range LR, and it can change its posture to a locked posture inserted into the recess 75 of the container 70 and a non-locked posture exiting from the recess 75.

[0085] The restricting portion Bc is configured to restrict the vertical movement of the container 70 during the unloading operation and the picking operation. In the present embodiment, one restricting portion Bc is disposed on each of the two sides of the pressing portion Ba in the width direction Y.

[0086] As Figure 9 shown, the restricting portion Bc includes an upper pressing portion Bcb, and the upper pressing portion Bcb is disposed at a position above the transfer rib portion 74 and overlapping the transfer rib portion 74 in a vertical view during the unloading operation (in other words, in a state where the pressing portion Ba abuts against the rear surface portion 70R of the container) and the picking operation (in other words, in a state where the locking portion Bb is inserted into the recess 75). Further, in the present embodiment, the restricting portion Bc further includes a lower pressing portion Bcc, and the lower pressing portion Bcc is disposed at a position below the transfer rib portion 74 and overlapping the transfer rib portion 74 in a vertical view during the unloading operation and the picking operation.

[0087] In the present embodiment, the upper pressing portion Bcb extends from the upper end side of the base portion Bca toward the unloading side X1 in the transfer direction, and the base portion Bca is formed to stand upward from the upper surface of the main body portion Bsp of the support member Bs.

[0088] As Figure 9 shown, in the present embodiment, when the designed distance between the upper surface of the transfer rib portion 74 and the lower surface of the upper pressing portion Bcb is set as distance D1, and the designed distance between the end surface of the transfer rib portion 74 in the transfer direction X (the end surface on the picking side X2 in the transfer direction) and the end surface of the upper pressing portion Bcb in the transfer direction X (the end surface on the unloading side X1 in the transfer direction) in a vertical view is set as distance D2, distance D1 is smaller than distance D2. Additionally, in the present embodiment, distance D1 corresponds to "the distance between the rib portion and the upper pressing portion in the vertical direction", and distance D2 corresponds to "the overlapping length between the rib portion and the upper pressing portion in the transfer direction in a vertical view". Further, hereinafter, the "designed distance" refers to the distance in a state where the unloading operation and the picking operation are performed ideally.

[0089] In addition, as Figure 11As shown, in the present embodiment, when the upper end surface of the locking portion Bb in the locking posture of the locking portion Bb and the lower end of the concave portion 75 (here, the lower end surface of the locking wall portion 76 forming the concave portion 75) are set to a design distance D3 when observed in the transfer direction X, the distance D1 is smaller than the distance D3. In addition, in the present embodiment, the distance D3 corresponds to "the overlapping length of the locking portion and the concave portion in the vertical direction".

[0090] Here, when vibrations occur during the unloading operation or the picking operation, or when the container 70 has a partition portion, there may be a situation where the articles in the container 70 are biased to one side in the transfer direction X, resulting in an eccentric load. In this case, during the unloading operation or the picking operation, the container 70 may tilt in such a way that the rear surface portion 70R side of the container is lifted upward more than the front surface portion 70F side of the container. For example, there may be a problem that the locking portion Bb disengages from the concave portion 75 during the picking operation and the picking operation cannot be performed normally. In addition, when the articles in the container 70 are biased to one side in the width direction Y, the container 70 may rotate about an axis parallel to the transfer direction X during the unloading operation or the picking operation, causing the container 70 to tilt and resulting in the same problem. If such an unexpected tilt occurs in the container 70, there is a concern that it may interfere with the unloading operation and the picking operation.

[0091] In the conveying device 100 of the present embodiment, even during the unloading operation and the picking operation, when the container 70 tilts in such a way that the rear surface portion 70R side of the container is lifted upward more than the front surface portion 70F side of the container, the movement of the container 70 is restricted by the lower surface of the upper pressing portion Bcb in the restricting portion Bc abutting against the upper surface of the transfer rib portion 74. Therefore, the posture of the container 70 during the unloading operation and the picking operation can be correctly maintained.

[0092] In the present embodiment, the lower pressing portion Bcc extends from the lower end side of the base portion Bca toward the unloading side X1 in the transfer direction. The upper surface of the lower pressing portion Bcc can abut against the lower surface of the transfer rib portion 74 of the container 70 to support the container 70 from below during the picking operation. In addition, when the container 70 tilts during the unloading operation and the picking operation, the upper surface of the lower pressing portion Bcc abuts against the lower surface of the transfer rib portion 74.

[0093] As Figure 9As shown, in the present embodiment, the distance between the transfer rib 74 and the lower pressing portion Bcc, specifically, the designed distance between the lower surface of the transfer rib 74 and the upper surface of the lower pressing portion Bcc is set as distance D4. Further, the designed distance in the vertical direction view (in other words, the overlapping length in the transfer direction X between the transfer rib 74 and the lower pressing portion Bcc in the vertical direction view) between the end surface of the transfer rib 74 in the transfer direction X (the end surface on the transfer direction picking-up side X2) and the end surface of the lower pressing portion Bcc in the transfer direction X (the end surface on the transfer direction unloading side X1) is set as distance D5. In the present embodiment, distance D4 is smaller than distance D5.

[0094] As described above, if an eccentric load is generated, the container 70 may tilt in such a manner that the front surface portion 70F side of the container is lifted upward more than the rear surface portion 70R side of the container during the unloading operation or the picking-up operation. For example, there may be a problem that the container 70 rides on the placing member 83 (specifically, the guiding portion that guides the container 70 in the placing member 83) during the unloading operation and the unloading operation cannot be normally performed.

[0095] In the conveying device 100 of the present embodiment, even if the container 70 is to tilt in such a manner that the front surface portion 70F side of the container is lifted upward more than the rear surface portion 70R side of the container during the unloading operation and the picking-up operation, the movement of the container 70 is restricted by the lower pressing portion Bcc in the restricting portion Bc, where the upper surface of the lower pressing portion Bcc abuts against the lower surface of the transfer rib 74. Thus, the posture of the container 70 during the unloading operation and the picking-up operation can be correctly maintained.

[0096] 〔Picking-up operation〕

[0097] Next, with reference to Figures 10 to 13 , the picking-up operation of the container 70 by the transfer device 4 will be described. Additionally, Figure 10 and Figure 11 are diagrams showing the main parts of the transfer device 4 and the container 70 during the picking-up operation. Figure 12 Shows the picking-up operation of the container 70 relative to the shelf portion 80, Figure 13 Shows the picking-up operation of the container 70 relative to the stacking area 2A.

[0098] As Figure 10As shown, when the transfer device 4 performs the picking-up operation, the locking portion Bb is arranged in the lockable range LR in a non-locked posture state. In the present embodiment, the transfer device 4 arranges the locking portion Bb in the lockable range LR by integrally moving the pressing portion Ba, the locking portion Bb, and the restricting portion Bc in the unloading side X1 in the transfer direction. The transfer device 4 moves the pressing portion Ba, the locking portion Bb, and the restricting portion Bc in the unloading side X1 in the transfer direction by driving the supporting member Bs by the transfer driving portion Ms. Based on the detection result obtained by the detector Se, it is determined whether the locking portion Bb is arranged in the lockable range LR. In addition, when the locking portion Bb is in the state within the lockable range LR, the restricting portion Bc is arranged at a position where the lower pressing portion Bcc faces the lower surface of the transfer rib 74 from below.

[0099] As Figure 11 shown, when the detector Se detects that the locking portion Bb is arranged in the lockable range LR, the transfer device 4 changes the posture of the locking portion Bb from the non-locked posture to the locked posture. The transfer device 4 changes the posture of the locking portion Bb by driving the locking portion Bb by the locking driving portion Mb. As Figure 11 shown, when the locking portion Bb becomes the locked posture, the locking portion Bb and the pressing portion Ba are separated and arranged on both sides in the transfer direction X with the locking wall portion 76 of the container 70 interposed therebetween. In addition, in the present embodiment, when the locking portion Bb becomes the locked posture, in other words, when the locking portion Bb is inserted into the recess 75, the transfer rib 74 is located between the upper pressing portion Bcb and the lower pressing portion Bcc of the restricting portion Bc so that the distance D1 is smaller than the distance D2 and the distance D4 is smaller than the distance D5 (also refer to Figure 9 ). In addition, in the present embodiment, when the locking portion Bb becomes the locked posture, the distance D1 is smaller than the distance D3.

[0100] Next, when performing the picking-up operation of the container 70 relative to the shelf portion 80, as Figure 12 shown, the transfer device 4 integrally moves the pressing portion Ba, the locking portion Bb, and the restricting portion Bc in the picking-up side X2 in the transfer direction, moves the locking portion Bb in the picking-up side X2 in the transfer direction, and pulls the container 70 in the picking-up side X2 in the transfer direction. That is, the transfer device 4 performs the picking-up operation of the container 70 by moving the locking portion Bb in the locked posture in the picking-up side X2 in the transfer direction by the transfer driving portion Ms.

[0101] On the other hand, when the container 70 is being picked up relative to the stacking area 2A, the transfer device 4 raises the restricting portion Bc disposed at a position facing the lower surface of the transfer rib 74 from below, and causes the upper surface of the lower pressing portion Bcc of the restricting portion Bc to abut against the lower surface of the transfer rib 74, thereby lifting the transfer rib 74. As a result, as Figure 13 shown, the rear surface portion 70R of the container is lifted, and the end portion of the fitting portion 77 of the container 70 on the transfer direction picking side X2 moves upward away from the opening 71 of the container of the layer disposed below it. Then, in the same manner as when the container 70 is being picked up relative to the shelf portion 80, the transfer device 4 moves the pressing portion Ba, the locking portion Bb, and the restricting portion Bc integrally toward the transfer direction picking side X2, moves the locking portion Bb toward the transfer direction picking side X2, and pulls the container 70 toward the transfer direction picking side X2.

[0102] As described above, the picking up operation of the container 70 is performed. This picking up operation is carried out by the control device C (refer to Figure 5 ) controlling each functional portion of the conveying device 100.

[0103] 〔Unloading operation〕

[0104] Next, with reference to Figures 14 to 16 , the unloading operation of the container 70 performed by the transfer device 4 will be described. In addition, Figure 14 is a diagram showing the main parts of the transfer device 4 and the container 70 when the unloading operation is being performed. Figure 15 shows the unloading operation of the container 70 relative to the shelf portion 80, Figure 16 shows the unloading operation of the container 70 relative to the stacking area 2A.

[0105] As Figure 14 shown, when the transfer device 4 performs the unloading operation, the pressing portion Ba abuts against the rear surface portion 70R of the container, and the container 70 is pushed toward the unloading side X1 in the transfer direction by the pressing portion Ba. In this example, the transfer device 4 causes the pressing portion Ba to abut against the locking wall portion 76 of the container 70 and performs the pushing. In addition, in the present embodiment, when the pressing portion Ba is in a state of abutting against the locking wall portion 76, the transfer rib 74 is located between the upper pressing portion Bcb and the lower pressing portion Bcc of the restricting portion Bc such that the distance D1 is smaller than the distance D2 and the distance D4 is smaller than the distance D5.

[0106] In the present embodiment, when performing the unloading operation of the container 70 relative to the shelf portion 80, as Figure 15As shown, the transfer device 4 moves the pushing portion Ba, the locking portion Bb, and the restricting portion Bc integrally in the unloading side X1 in the transfer direction while the pushing portion Ba is in contact with the locking wall portion 76 of the container 70, thereby moving the pushing portion Ba in the unloading side X1 in the transfer direction.

[0107] On the other hand, in the case of performing the unloading operation of the container 70 with respect to the stacking area 2A, as Figure 16 shown, the transfer device 4 moves the pushing portion Ba, the locking portion Bb, and the restricting portion Bc integrally in the unloading side X1 in the transfer direction while the pushing portion Ba is in contact with the locking wall portion 76 of the container 70, thereby moving the pushing portion Ba in the unloading side X1 in the transfer direction. In this example, the transfer device 4 pushes the container 70 to be unloaded toward the unloading side X1 in the transfer direction at a position above the container 70 that becomes the unloading destination in the stacking area 2A. Then, if the container 70 to be unloaded protrudes toward the unloading side X1 in the transfer direction more than the holding portion A and the container 70 loses the support by the holding portion A and descends in the stacking area 2A, the transfer device 4 becomes a state where the lower surface of the transfer rib 74 is supported by the lower pushing portion Bcc of the restricting portion Bc. Thus, the rear surface portion 70R of the container in the container 70 to be unloaded is supported by the lower pushing portion Bcc of the restricting portion Bc. Then, by lowering the restricting portion Bc, the container 70 to be unloaded is fitted into the container 70 that becomes the unloading destination from above. Thus, the container 70 to be unloaded is stacked in the stacking area 2A.

[0108] As described above, the unloading operation of the container 70 is performed. This unloading operation is performed by controlling each functional portion of the conveying device 100 by the control device C (refer to Figure 5 ).

[0109] 〔Other Embodiments〕

[0110] Next, other embodiments of the transport vehicle will be described.

[0111] (1) In the above embodiment, the mode in which the pushing portion Ba and the locking portion Bb are independent components is described, but it is not limited to this mode. It may also be a mode in which the pushing portion and the locking portion are common. In this case, for example, the surface of the locking portion Bb in the unloading side X1 in the transfer direction in the above embodiment pushes the container 70 toward the unloading side X1 in the transfer direction.

[0112] (2) In the above embodiment, the mode in which the transfer direction X is along the horizontal direction is described, but it is not limited to this mode. The transfer direction X may also be inclined with respect to the horizontal.

[0113] (3) In the above-described embodiment, a manner in which the restricting portion Bc is disposed on both sides in the width direction Y with respect to the pressing portion Ba and the locking portion Bb, and a total of two restricting portions Bc are provided, has been described. However, the present invention is not limited to this manner. It may also be a manner in which one or more restricting portions Bc are disposed only on one side in the width direction Y with respect to the pressing portion Ba and the locking portion Bb, or a manner in which a plurality of restricting portions Bc are disposed on each of both sides in the width direction Y with respect to the pressing portion Ba and the locking portion Bb.

[0114] (4) In the above-described embodiment, a manner in which the locking drive portion Mb is provided has been described. However, the present invention is not limited to this manner, and it may also be a manner in which the locking drive portion Mb is not provided.

[0115] (5) In the above-described embodiment, a manner in which the locking portion Bb is set to a non-locking posture during the unloading operation has been described. However, the present invention is not limited to this manner. It may also be a manner in which the locking portion Bb is set to a locking posture during the unloading operation. Further, in this manner, also during the movement of the locking portion Bb that approaches the container 70 in the shelf portion 80 and the stacking area 2A when performing the picking operation, and during the movement of the locking portion Bb that is integrated with the pressing portion Ba to abut against the container 70 when performing the unloading operation, that is, the movement of the locking portion Bb that does not accompany the movement of the container 70, the locking portion Bb is set to a non-locking posture.

[0116] (6) In the above-described embodiment, a manner in which the restricting portion Bc includes the lower pressing portion Bcc has been described. However, the present invention is not limited to this manner, and it may also be a manner in which the restricting portion Bc does not include the lower pressing portion Bcc.

[0117] (7) Further, as long as there is no contradiction, the structures disclosed in the above-described embodiments may also be combined with the structures disclosed in other embodiments and applied. Regarding other structures, the embodiments disclosed in this specification are merely illustrative in all aspects. Therefore, various changes can be appropriately made without departing from the gist of the present disclosure.

[0118] 〔Summary of the above-described embodiment〕

[0119] Hereinafter, the transporter described above will be described.

[0120] A conveying device, a container; a transfer device is provided, and the transfer device has a holding portion for holding the aforementioned container; the transfer device is configured to move the aforementioned container in a transfer direction along the horizontal direction to perform a transfer operation, and the transfer operation includes a discharging operation of transferring the aforementioned container from the aforementioned holding portion to a transfer target portion, and a picking operation of transferring the aforementioned container from the aforementioned transfer target portion to the aforementioned holding portion; the side of the transfer direction from the aforementioned holding portion toward the aforementioned transfer target portion is defined as the transfer direction discharging side, the side of the transfer direction from the aforementioned transfer target portion toward the aforementioned holding portion is defined as the transfer direction picking side, the direction orthogonal to the aforementioned transfer direction in a top-down view is defined as the width direction, the portion of the aforementioned container facing the transfer direction discharging side is defined as the front surface portion of the container, and the portion of the aforementioned container facing the transfer direction picking side is defined as the rear surface portion of the container; the transfer device includes: a pressing portion that presses the aforementioned container during the aforementioned discharging operation; a locking portion that locks with the aforementioned container during the aforementioned picking operation; a restricting portion that is disposed on at least one side of the aforementioned width direction with respect to the aforementioned pressing portion and the aforementioned locking portion to restrict the up-and-down movement of the aforementioned container during the aforementioned discharging operation and the aforementioned picking operation; and a transfer driving portion that reciprocally moves the aforementioned pressing portion, the aforementioned locking portion, and the aforementioned restricting portion along the aforementioned transfer direction; in the rear surface portion of the aforementioned container, a recess opening downward and a rib portion formed to protrude toward the transfer direction picking side and extending horizontally along the rear surface portion of the aforementioned container are provided; the transfer device performs the aforementioned discharging operation by moving the aforementioned pressing portion toward the transfer direction discharging side by the aforementioned transfer driving portion in a state where the aforementioned pressing portion is in contact with the rear surface portion of the aforementioned container, and performs the aforementioned picking operation by moving the aforementioned locking portion toward the transfer direction picking side by the aforementioned transfer driving portion in a state where the aforementioned locking portion is inserted into the aforementioned recess from below; the aforementioned restricting portion includes an upper pressing portion that is disposed at a position above the aforementioned rib portion and overlapping the aforementioned rib portion in a top-down view during the aforementioned discharging operation and the aforementioned picking operation.

[0121] According to this structure, when the rear surface portion side of the container is lifted upward more than the front surface portion side of the container during the discharging operation and the picking operation, the movement of the rib portion to be raised is restricted by the upper pressing portion. Therefore, it is easy to correctly maintain the posture of the container during the discharging operation and the picking operation. Thus, even when, for example, there is a bias in the center-of-gravity position of the article housed in the container in the transfer direction, it is difficult for the rear surface portion of the container to be in a lifted state.

[0122] Here, preferably, a pair of the aforementioned restricting portions are separately disposed on both sides in the aforementioned width direction with respect to the aforementioned pressing portion and the aforementioned locking portion.

[0123] According to this structure, the pair of restricting portions can restrict the vertical movement of the rib portions on both sides in the width direction with respect to the pressing portion and the locking portion. Therefore, it is easy to suppress the inclination of the container in the width direction to a small value.

[0124] In addition, preferably, the distance between the rib portion and the upper pressing portion in the vertical direction during the unloading operation and the picking operation is smaller than the overlapping length between the rib portion and the upper pressing portion in the transfer direction as observed in the vertical direction.

[0125] According to this structure, when the rear surface portion side of the container is lifted upward more than the front surface portion side of the container during the unloading operation and the picking operation, the upper pressing portion can appropriately restrict the movement of the rib portion. Therefore, it is easy to correctly maintain the posture of the container during the unloading operation and the picking operation.

[0126] In addition, preferably, the distance between the rib portion and the upper pressing portion in the vertical direction during the unloading operation and the picking operation is smaller than the overlapping length between the locking portion and the concave portion in the vertical direction.

[0127] According to this structure, when the rear surface portion side of the container is lifted upward more than the front surface portion side of the container during the unloading operation and the picking operation, the upper pressing portion can appropriately restrict the movement of the rib portion. Therefore, it is easy to correctly maintain the posture of the container during the unloading operation and the picking operation.

[0128] In addition, preferably, the transfer device further includes a locking drive portion that drives the locking portion independently of the pressing portion to change the posture of the locking portion; the locking portion can be changed in posture to a locking posture inserted into the concave portion and a non-locking posture coming out of the concave portion by being driven by the locking drive portion in a state where the relative position with respect to the container is within a predetermined lockable range; during the picking operation, the locking portion is set to the locking posture.

[0129] According to this structure, by changing the posture of the locking portion, it is possible to easily achieve both the state where the locking portion is inserted into the concave portion and the state where the locking portion is not inserted into the concave portion. Therefore, it is possible to smoothly perform a series of movements of moving the locking portion toward the unloading side in the transfer direction for the picking operation, inserting the locking portion into the concave portion, and moving the locking portion toward the picking side in the transfer direction to perform the picking operation.

[0130] In addition, preferably, the restricting portion further includes a lower pressing portion, and the lower pressing portion is disposed at a position below the rib portion and overlapping the rib portion as observed in the vertical direction during the unloading operation and the picking operation.

[0131] According to this structure, in the case where the front surface portion side of the container is lifted upward more than the rear surface portion side of the container during the unloading operation and the picking operation, the movement of the rib portion that is to be lowered conversely is restricted by the lower pressing portion. Therefore, it is easy to correctly maintain the posture of the container during the unloading operation and the picking operation.

[0132] Industrial applicability

[0133] The technology related to the present disclosure can be applied to a conveying device for conveying containers.

[0134] Explanation of reference numerals

[0135] 100: Conveying device

[0136] 40: Transfer mast (mast)

[0137] 40B: Transfer lifting body (lifting body)

[0138] 41A: First holding portion (holding portion)

[0139] 41Bb: First locking portion (locking portion)

[0140] 41Bc: First restricting portion (restricting portion)

[0141] 41Mb: First locking drive portion (locking drive portion)

[0142] 41Ms: First transfer drive portion (transfer drive portion)

[0143] 42A: Second holding portion (holding portion)

[0144] 42Bb: Second locking portion (locking portion)

[0145] 42Bc: Second restricting portion (restricting portion)

[0146] 42Mb: Second locking drive portion (locking drive portion)

[0147] 42Ms: Second transfer drive portion (transfer drive portion)

[0148] 70: Container

[0149] 70F: Front surface portion of the container

[0150] 70R: Rear surface portion of the container

[0151] 74: Transfer rib (rib)

[0152] 75: Recess

[0153] 80: Shelf portion

[0154] A: Holding portion

[0155] Ba: Pushing part

[0156] Bb: Locking part

[0157] Bc: Restricting part

[0158] Bcb: Upper pushing part

[0159] Bcc: Lower pushing part

[0160] D1: Distance (distance between the rib and the upper pushing part in the vertical direction)

[0161] D2: Distance (overlap length between the rib and the upper pushing part in the transfer direction when observed in the vertical direction)

[0162] D3: Distance (overlap length between the locking part and the concave part in the vertical direction)

[0163] LR: Locking range

[0164] Mb: Locking driving part

[0165] Ms: Transfer driving part

[0166] T: Transfer target part

[0167] X: Transfer direction

[0168] X1: Unloading side in the transfer direction

[0169] X2: Pickup side in the transfer direction

[0170] Y: Width direction

Claims

1. A conveying device, a conveying container, characterized in that, It is equipped with a transfer device, and the transfer device has a holding part for holding the aforementioned container; The aforementioned transfer device is configured to move the aforementioned container in the transfer direction along the horizontal direction to perform a transfer operation, and the transfer operation includes an unloading operation of transferring the aforementioned container from the aforementioned holding part to the transfer target part, and a picking-up operation of transferring the aforementioned container from the aforementioned transfer target part to the aforementioned holding part; The side of the aforementioned transfer direction facing the transfer target part from the aforementioned holding part is set as the unloading side in the transfer direction, the side of the aforementioned transfer direction facing the aforementioned holding part from the aforementioned transfer target part is set as the picking-up side in the transfer direction, the direction orthogonal to the aforementioned transfer direction in the up-and-down direction view is set as the width direction, the part of the aforementioned container facing the unloading side in the transfer direction is set as the front surface part of the container, and the part of the aforementioned container facing the picking-up side in the transfer direction is set as the rear surface part of the container; The aforementioned transfer device includes: a pushing part that pushes the aforementioned container during the aforementioned unloading operation; a locking part that locks with the aforementioned container during the aforementioned picking-up operation; a restricting part that is arranged on at least one side of the aforementioned width direction with respect to the aforementioned pushing part and the aforementioned locking part to restrict the up-and-down movement of the aforementioned container during the aforementioned unloading operation and the aforementioned picking-up operation; and a transfer driving part that reciprocally moves the aforementioned pushing part, the aforementioned locking part, and the aforementioned restricting part along the aforementioned transfer direction; On the rear surface part of the aforementioned container, there are provided a recess opening downward and a rib formed to protrude toward the picking-up side in the aforementioned transfer direction and extend horizontally along the rear surface part of the aforementioned container; The aforementioned transfer device performs the aforementioned unloading operation by moving the aforementioned pushing part toward the unloading side in the transfer direction by the aforementioned transfer driving part in a state where the aforementioned pushing part is in contact with the rear surface part of the aforementioned container, and performs the aforementioned picking-up operation by moving the aforementioned locking part toward the picking-up side in the transfer direction by the aforementioned transfer driving part in a state where the aforementioned locking part is inserted into the aforementioned recess from below; The aforementioned restricting part includes an upper pushing part that is arranged at a position above the aforementioned rib and overlapping the aforementioned rib in the up-and-down direction view during the aforementioned unloading operation and the aforementioned picking-up operation; 2. The conveying device according to claim 1, characterized in that, A pair of the aforementioned restricting parts are separately arranged on both sides in the aforementioned width direction with respect to the aforementioned pushing part and the aforementioned locking part; 3. The conveying device according to claim 1 or 2, characterized in that, The distance in the up-and-down direction between the aforementioned rib and the aforementioned upper pushing part during the aforementioned unloading operation and the aforementioned picking-up operation is smaller than the overlapping length in the up-and-down direction between the aforementioned rib and the aforementioned upper pushing part in the aforementioned transfer direction in the up-and-down direction view; 4. The conveying device according to claim 1 or 2, characterized in that, The distance in the up-and-down direction between the aforementioned rib and the aforementioned upper pushing part during the aforementioned unloading operation and the aforementioned picking-up operation is smaller than the overlapping length in the up-and-down direction between the aforementioned locking part and the aforementioned recess; 5. The conveying device according to claim 1 or 2, characterized in that, The aforementioned transfer device further includes a locking driving part that independently drives the aforementioned locking part relative to the aforementioned pushing part to change the posture of the locking part; The aforementioned locking portion is driven by the aforementioned locking drive portion in a state where the relative position with respect to the aforementioned container is within a prescribed lockable range, and can change its posture to a locked posture inserted into the aforementioned recess and a non-locked posture exiting from the aforementioned recess; In the aforementioned picking operation, the aforementioned locking portion is set to the aforementioned locked posture.

6. The conveying device according to claim 1 or 2, characterized in that, The aforementioned restricting portion further includes a lower pressing portion, and the lower pressing portion is disposed at a position below the aforementioned rib portion and overlapping the aforementioned rib portion in a vertical direction view during the aforementioned unloading operation and the aforementioned picking operation.

Images