Horizontal transport vehicle and article handling system

Abstract

To provide a horizontal transport vehicle which can increase the transfer speed of an article and is lowered in height.SOLUTION: A horizontal transport vehicle 40 travels along a horizontal rail 28 adjacent to an upstream side article handling device and a downstream side article handling device 80, and transports an article from the upstream side article handling device toward the downstream side article handling device. The horizontal transport vehicle comprises a carriage 42 which has a placement surface 47f for placing the article W and travels on the horizontal rail 28, and push-out means 50 for pushing out the article on the placement surface toward the downstream side article handling device. The push-out means includes a push-out bar 52 extending along the extending direction of the horizontal rail, and a push-out bar moving mechanism 54 for moving the push-out bar toward the downstream side article handling device to push out the article on the placement surface toward the downstream side article handling device.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] This disclosure relates to horizontal transport vehicles and material handling systems. [Background technology]

[0002] Patent Document 1 discloses a transfer cart that takes in and out stored objects using a stored object taking-in and taking-out mechanism. The stored object taking-in and taking-out mechanism has a pair of advancing and retracting arms. The pair of advancing and retracting arms move toward and away from a shelf, so that stored objects are taken in and out between the shelf and the transfer cart. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-035333 A Summary of the Invention [Problem to be solved by the invention]

[0004] When using a retractable arm to take things in and out, the time required to transport the object may be longer by the time required to move the retractable arm back and forth. Also, there is a demand to lower the height of the horizontal transport vehicle so that objects can be taken in and out in a small vertical space.

[0005] Therefore, an object of the present disclosure is to increase the speed at which objects can be transferred by a horizontal transport vehicle and to reduce the height of the horizontal transport vehicle. [Means for solving the problem]

[0006] The horizontal transport vehicle runs along a horizontal rail located next to an upstream object handling device and a downstream object handling device, and transports objects from the upstream object handling device to the downstream object handling device.The horizontal transport vehicle has a loading surface on which objects are placed, and is equipped with a cart that runs on the horizontal rail, and a push-out means that pushes objects on the loading surface toward the downstream object handling device, the push-out means including a push-out bar extending along the extension direction of the horizontal rail, and a push-out bar moving mechanism that moves the push-out bar toward the downstream object handling device to push objects on the loading surface toward the downstream object handling device.

[0007] The material handling system also includes a downstream material handling device having a plurality of outlets arranged in multiple tiers, an upstream material handling device including a lifting device that moves the material to be handled from a receiving height position to a height position corresponding to one of the outlets of the multiple tiers, a plurality of horizontal rails arranged in a vertical line corresponding to the multiple tiers and each adjacent to the outlets, and the horizontal transport vehicle that runs on each of the multiple horizontal rails and transports the material from the lifting device to the outlets in each of the multiple tiers. Effect of the Invention

[0008] This enables the horizontal transport vehicle to transfer objects at high speed and to have a low height. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a plan view showing an object handling system according to an embodiment. [Diagram 2] FIG. 2 is a side view showing the material handling system. [Diagram 3] FIG. 3 is a rear view of material handling system 20. [Figure 4] FIG. 4 is a perspective view showing the horizontal transport vehicle. [Diagram 5] FIG. 5 is a plan view showing the horizontal transport vehicle. [Figure 6] FIG. 6 is a front view showing the horizontal transport vehicle. [Figure 7] FIG. 7 is an explanatory diagram showing a configuration for pushing out an object on a horizontal transport vehicle. [Figure 8] FIG. 8 is an explanatory diagram showing the transfer operation of an object from the upstream object handling device to the horizontal transport vehicle. [Figure 9] FIG. 9 is an explanatory diagram showing the transfer operation of an object from the horizontal transport vehicle to a downstream object handling device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] The horizontal transport vehicle and the object handling system according to the embodiment will be described below.

[0011] <Overall configuration of the goods handling system> FIG. 1 is a plan view of material handling system 20, FIG. 2 is a side view of material handling system 20, and FIG.

[0012] The material handling system 20 is a system that divides material W supplied from a supply point vertically and horizontally and supplies the material W. The supply point of material W is, for example, an automated warehouse 18. The automated warehouse 18 is, for example, a warehouse in which material can be automatically removed from a storage shelf having multiple upper and lower shelves via a horizontal transport vehicle, a lifting device, etc. The material supplied from the automated warehouse 18 is carried into the material handling system 20 via a conveyor 24.

[0013] The automated warehouse 18 may be, for example, an automated warehouse that stores objects W in an environment below 0 degrees Celsius. In this case, the object handling system 20 may be a system that operates in an environment below 0 degrees Celsius.

[0014] The material handling system 20 comprises an upstream material handling apparatus 22, a horizontal transport vehicle 40, and a downstream material handling apparatus 80.

[0015] The downstream object handling device 80 has a plurality of outlets 82 provided in a plurality of stages. An object W is sent out from the horizontal transport vehicle 40 to the outlet 82. The downstream object handling device 80 has a plurality of ramp components 84 provided corresponding to each of the plurality of outlets 82. The ramp components 84 have a ramp 84a that moves an object pushed out toward the outlet 82 in a direction away from the outlet 82 by gravity. The ramp component 84 is, for example, a slider that slides the object W down by gravity. Specifically, the ramp component 84 may be a roller slider in which a plurality of rotatably supported rollers 87r are supported so as to be aligned diagonally downward from the outlet 82. The ramp 84a is formed by the aligned rollers 87r.

[0016] An outlet 86 is provided at the lower end of the ramp component 84. The outlet 86 is a support point that receives and supports the object W that has slid down.

[0017] The outlets 82 are also arranged in a line in the horizontal direction. That is, the multiple outlets 82 are arranged in a line up, down, left, right, and above. Correspondingly, the multiple ramp components 84 and take-out outlets 86 are also arranged in a line up, up, down, left, and above. By providing the objects W in each take-out outlet 86 in a line up, up, down, left, and above, the objects W taken out from the automated warehouse 18 are arranged in a line up, up, down, left, and above. The worker P can take out any object W from the objects W arranged up, down, left, and above, or take out a stored item stored in the object W, and supply the required item.

[0018] The ramp component does not have to be a roller slider. The ramp component may simply be a slippery board. Instead of the ramp component, another transport mechanism, for example, a roller conveyor, may be arranged. Also, the object W may be dropped from the outlet 86.

[0019] The upstream object handling device 22 includes a lifting device 30. The lifting device 30 is a device that moves the object W to be handled from a receiving height position to any one of the height positions of the upper and lower multiple stages of the sending outlet 82. That is, the object W taken out from the automated warehouse 18 is carried into the object handling system 20 via the conveyor 24. The conveyor 24 is, for example, a roller conveyor having rollers. The object W can be moved along the conveying direction by rotating a motor built into the roller. The conveyor 24 may be installed in a number smaller than the number of stages of the sending outlet 82 in the vertical direction. For example, the conveyor 24 may be installed in only one stage. The lifting device 30 is a device that moves the receiving height position Hr that receives the object W sent by the conveyor 24 to a height position Hs corresponding to any one of the multiple stages of the sending outlet 82. For example, the lifting device 30 may be called a lifter.

[0020] In this embodiment, the lifting device 30 is located at the downstream end of the conveyor 24. The lifting device 30 includes a pillar 31, a lifting platform 32, and a lifting drive mechanism .

[0021] The pillar 31 is a long member that is installed in a vertical position along the direction of gravity. The pillar 31 supports the lifting platform 32 so that the lifting platform 32 can be raised and lowered.

[0022] The lifting platform 32 moves up and down along the pillars 31 while supporting the object W. The lifting platform 32 is, for example, a roller conveyor having rollers. The rollers are rotatably supported in a parallel arrangement by, for example, a frame. By driving a motor built into the roller to rotate, the object W sent from the conveyor 24 can be moved further along the conveying direction. The object W on the lifting platform may be moved by being pushed by a pusher driven by a separately provided actuator such as a cylinder.

[0023] The lifting / lowering drive mechanism 34 includes a drive source 34a and a lifting / lowering force transmission mechanism 34b. The drive source 34a is a power source that generates a drive force for lifting / lowering the lifting / lowering platform 32. The lifting / lowering force transmission mechanism is a mechanism that transmits the drive force of the drive source 34a as a force for lifting / lowering the lifting / lowering platform 32. For example, the drive source 34a is an electric motor. Also, for example, the lifting / lowering force transmission mechanism is a mechanism that transmits the rotational motion of the electric motor as a linear reciprocating motion for lifting / lowering the lifting / lowering platform 32. More specifically, the lifting / lowering force transmission mechanism may include a pair of pulleys and a circulation belt wound around the pair of pulleys. The pulleys may be driven to rotate in both forward and reverse directions by the drive source 34a to lift / lower the lifting / lowering platform 32 connected midway along the circulation belt.

[0024] In this embodiment, the object W lifted by the lifting device 30 is sent to the horizontal transport vehicle 40 via the transfer device 36. The object W lifted by the lifting device may also be sent directly to the horizontal transport vehicle 40.

[0025] The transfer device 36 is also called a temporary storage shelf, and is a device that relays the object W between the lifting device 30 and the horizontal transport vehicle 40. The transfer device 36 has a plurality of transfer shelves 38 corresponding to each of the plurality of sending-out ports 82. The plurality of transfer shelves 38 are provided at the positions of the corresponding transfer shelves 38, adjacent to the lifting device 30 on the opposite side of the conveyor 24. The transfer shelves 38 are, for example, roller conveyors having rollers. By rotating and driving a motor built into the rollers, the object W sent from the lifting and lowering platform 32 can be moved to an intermediate position of the transfer shelves 38.

[0026] The object W may be transferred from the lifting platform 32 to the transfer shelf 38 by a pusher or a reciprocating arm.

[0027] Each of the multiple transfer shelves 38 is provided with an intermediate pushing means 39. The intermediate pushing means 39 is a device that pushes the object W on the transfer shelf 38 toward the horizontal transport vehicle 40 by a pusher 39b driven by an actuator 39a such as a cylinder. In other words, the intermediate pushing means 39 is a means for pushing the object W that has been moved by the lifting device 30 to a height position corresponding to any one of the delivery openings 82 of the multiple stages toward the horizontal transport vehicle 40. The intermediate pushing means 39 may be an arm that moves forward and backward toward the horizontal transport vehicle 40 while gripping or pushing the object W.

[0028] A plurality of horizontal rails 28 are provided so as to be aligned vertically in correspondence with the plurality of stages in which the delivery openings 82 are provided. In this embodiment, the horizontal rail 28 is located next to the conveyor 24 along the conveying direction of the conveyor 24. The horizontal rail 28 includes one rail 28a arranged on the upstream object handling device 22 side, and the other rail 28a arranged along the downstream object handling device 80. The pair of rails 28a, 28a are arranged in parallel with a gap therebetween. The lifting device 30 and the transfer device 36 are also located next to the conveyor 24. The horizontal rail 28 may be aligned obliquely with respect to the conveying direction of the conveyor 24.

[0029] At each stage where a delivery opening 82 is provided, the horizontal rail 28 is disposed adjacent to the delivery opening 82. The horizontal transport vehicle 40 is installed so as to be able to run on the horizontal rail 28 at each stage where a delivery opening 82 is provided. At each stage, the transfer shelf 38 and the delivery opening 82 are adjacent to the horizontal rail 28. That is, at each stage, the horizontal rail 28 is located between the upstream object handling device 22 and the downstream object handling device 80. Both the upstream object handling device and the downstream object handling device may be disposed on one side of the horizontal rail, with the arrangement areas changed.

[0030] At each stage, the horizontal transport vehicle 40 traveling on the horizontal rail 28 is positioned next to the transfer shelf 38, thereby being able to receive the object W from the transfer shelf 38. In addition, the horizontal transport vehicle 40, traveling on the horizontal rail 28, is able to position next to any one of the multiple send-out ports 82 lined up along the horizontal rail 28, thereby being able to send the object W to that send-out port 82.

[0031] That is, the object W sent from the automated warehouse 18 passes through the conveyor 24 and reaches the lifting device 30, where it is raised and lowered in the vertical direction to a height position Hs corresponding to any of the sending outlets 82. At the height position Hs corresponding to any of the sending outlets 82, the object W is transferred to the horizontal transport vehicle 40, whereby the object W is sent to a sending outlet 82 at any position in the horizontal direction. In this way, the object W in the automated warehouse 18 is sent to a sending outlet 82 at any height position and any horizontal position, and is fed into an outlet 86 at any position.

[0032] A worker P may take out an object to be taken out through the take-out opening 86. In order to set up the take-out opening 86 within a height range suitable for work, it is desirable to reduce the vertical interval of the take-out opening 86. Accordingly, it is desirable to reduce the height of the horizontal transport vehicle 40.

[0033] In addition, in order to increase the operating efficiency of the horizontal transport vehicle 40, it is required to quickly take in the object W onto the horizontal transport vehicle 40 and quickly send the object W out from the horizontal transport vehicle 40.

[0034] Next, an example of a horizontal transport vehicle 40 that can transfer an object W at high speed and has a low height will be described.

[0035] <About the horizontal transport vehicle> Figure 4 is an oblique view showing the horizontal transport vehicle 40, Figure 5 is a plan view showing the horizontal transport vehicle 40, Figure 6 is a front view showing the horizontal transport vehicle 40, and Figure 7 is an explanatory diagram showing the configuration for pushing object W on the horizontal transport vehicle 40.

[0036] The horizontal transport vehicle 40 is a device that travels along the horizontal rail 28 and transports an object W from the upstream object handling device 22 to the downstream object handling device 80.

[0037] The horizontal transport vehicle 40 includes a carriage 42 and a pushing means 50 .

[0038] The cart 42 includes a cart base 43, a mounting plate 47, wheels 45, and a traveling drive unit 46.

[0039] The carriage base 43 is configured by combining a long frame, etc. A mounting plate 47, wheels 45, a traveling drive unit 46, a pushing means 50, etc. are assembled to the carriage base 43.

[0040] A plurality of wheels 45 are rotatably supported on each of the portion of the cart base 43 on the upstream object handling apparatus 22 side and the portion on the downstream object handling apparatus 80 side. The wheels 45 on the upstream object handling apparatus 22 side of the cart base 43 can roll on the rails 28a on the upstream object handling apparatus 22 side, and the wheels 45 on the downstream object handling apparatus 80 side of the cart base 43 can roll on the rails 28a on the downstream object handling apparatus 80 side. This allows the cart 42 to travel on the horizontal rails 28 while straddling the pair of rails 28a.

[0041] The traveling drive unit 46 includes a motor and the like. The rotational driving force of the traveling drive unit 46 is transmitted to the wheels 45. The rotational force may be transmitted to the wheels 45 via gears, a rotating chain, and the like. The wheels 45 are driven to rotate in both forward and reverse directions by driving the motor of the traveling drive unit 46. Driving the wheels in both forward and reverse directions allows the cart 42 to travel in both directions on the horizontal rail 28. The traveling drive unit 46 may be covered by a cover case.

[0042] A mounting plate 47 is supported on the carriage base 43. The upward surface of the mounting plate 47 is a mounting surface 47f. A space is formed between the mounting plate 47 and the carriage base 43, and a push-out bar 52, which will be described later, can pass through the space.

[0043] Bar passing slits 47S1 and 47S2 are formed in the mounting plate 47. The bar passing slits 47S1 and 47S2 are slits extending in a direction along the horizontal rail 28. The bar passing slit 47S1 is formed at a position closer to the upstream object handling device 22 than the downstream object handling device 80. For example, the bar passing slit 47S1 is located closer to the upstream object handling device 22 than the edge of the object W pushed out by the relay pushing means 39 on the upstream object handling device 22 side. The bar passing slit 47S2 is formed at a position closer to the downstream object handling device 80 than the upstream object handling device 22. For example, the bar passing slit 47S2 is formed on the downstream object handling device 80 side than the object stopper 48P described later.

[0044] The bar passing slits 47S1 and 47S2 are slits through which the push bar 52, which will be described later, passes in the vertical direction through the mounting plate 47. The bar passing slit 47S1 or the bar passing slit 47S2 may be omitted, and the push bar 52 may pass outside the mounting plate 47 and move in the vertical direction.

[0045] The loading plate 47 has an object stopper 48P. The object stopper 48P is a stopper that prevents the object W sent from the upstream object handling device 22 from protruding from the loading surface 47f. The protrusion is from the loading surface 47f toward the downstream object handling device 80. The object stopper 48P is located, for example, on the downstream object handling device 80 side of the edge of the object W pushed out by the relay pushing means 39 on the downstream object handling device 80 side. The object stopper 48P is also located on the upstream object handling device 22 side of the bar passing slit 47S2.

[0046] The object stopper 48P may have a protruding shape that can stop the object W sent by the relay pushing means 39 from continuing to move due to inertial force and that can be overcome by the object W pushed by the pushing bar 52. Such a protruding shape of the object stopper 48P may be appropriately set by adjusting the height of the object stopper 48P relative to the placement surface 47f, the inclination shape of the object stopper 48P relative to the placement surface 47f, flexibility, etc. The object stopper 48P may be, for example, a long and thin protrusion along the width direction of the placement surface 47f. Alternatively, the object stopper may be one or more protrusions partially formed in the width direction of the placement surface. The object stopper 48P may be formed on the lateral guide member 49 described later. The object stopper 48P may be omitted.

[0047] The portion of the loading plate 47 on the upstream object handling device 22 side may be formed into an inlet guide portion 47g whose height gradually decreases toward the upstream object handling device 22 side.

[0048] A pair of lateral guide members 49 may be supported on both sides of the loading plate 47 of the cart base 43. The distance between the pair of lateral guide members 49 is the same as or greater than the width of the object W. The distance between the pair of lateral guide members 49 may be variable. The end of the pair of lateral guide members 49 on the upstream object handling device 22 side may be formed in a guide shape that gradually widens toward the upstream object handling device 22 side.

[0049] The pushing means 50 is configured to push the object W on the placement surface 47f toward the downstream object handling device 80. The pushing means 50 includes a pushing bar 52 and a pushing bar moving mechanism .

[0050] The push bar 52 extends along the extension direction of the horizontal rail 28. The extension direction of the push bar 52 is a direction perpendicular to the direction in which the object W is sent out on the placement surface 47f. The push bar 52 may have any shape as long as it is long, and may be a round bar or a square bar.

[0051] The push-out bar moving mechanism 54 is a mechanism that moves the push-out bar 52 toward the downstream object handling device 80, and pushes out objects on the placement surface 47f toward the downstream object handling device 80. In this embodiment, the push-out bar moving mechanism 54 moves the push-out bar 52 so that it passes through the space above the placement surface 47f. At this time, the push-out bar 52 crosses the space above the placement surface 47f in the direction along the horizontal rail 28. Both ends of the push-out bar 52 may reach the pair of lateral guide members 49.

[0052] The push bar moving mechanism 54 may move the push bar 52 in a circular motion on the mounting surface 47f along a path that includes an push path P1 toward the downstream material handling device 80 and a return path P3 below the mounting surface 47f in a direction away from the downstream material handling device 80.

[0053] In this embodiment, the push-out path P1 is a path that passes from an upper position of the bar passing slit 47S1 through the upper side of the placement surface 47f toward the end of the placement surface 47f on the downstream object handling device 80 side. The return path P3 is a path that passes from a position on the bar passing slit 47S2 side through the lower side of the placement surface 47f toward the bar passing slit 47S1.

[0054] A descending path P2 is interposed between the end of the extrusion path P1 and the start of the return path P3. The descending path P2 is a path that makes a U-turn from the end of the extrusion path P1 on the placement surface 47f toward the bar passing slit 47S2, passes through the bar passing slit 47S2 from top to bottom, makes a U-turn under the placement surface 47f, and heads toward the end of the placement surface 47f on the downstream object handling device 80 side, and then makes a U-turn under the placement surface 47f.

[0055] The push-out bar 52 that has reached the end of the push-out path P1 moves along the descending path P2 from above the placement surface 47f to below the placement surface 47f.

[0056] An upward path P4 is interposed between the end of the return path P3 and the start of the push-out path P1. The upward path P4 is a path that makes a U-turn at the end of the return path P3 while passing through the bar passage slit 47S1 from bottom to top. The push-out bar 52 that has reached the end of the return path P3 moves from below the placement surface 47f to above the placement surface 47f along the upward path P4.

[0057] The push-out bar moving mechanism 54 moves the push-out bar 52 circulatingly along the paths P1, P2, P3 and P4.

[0058] In this embodiment 54, the push bar moving mechanism 54 has a first support portion 55a, a second support portion 55b, a first drive portion 56a, and a second drive portion 56b. The first support portion 55a supports one end side of the push bar 52, and the second support portion 55b supports the other end side of the push bar 52. The first drive portion 56a moves the first support portion 55a in a circular motion on one side in the width direction of the mounting surface 47f, and the second drive portion 56b moves the second support portion 55b in a circular motion on the other side in the width direction of the mounting surface 47f.

[0059] More specifically, the first driving unit 56a includes an extrusion driving motor 57, a plurality of gears 56a1, and a circular chain 56a2.

[0060] The gears 56a1 are rotatably supported at bending points such as U-turn points in the paths P1, P2, P3, and P4. For example, a gear 56a1 is rotatably supported at each of the U-turn points at the start end, middle end, and end end of the descending path P2. A gear 56a1 is rotatably supported at each of the lower and upper bending points of the ascending path P4.

[0061] The circular chain 56a2 is wound around the multiple gears 56a1 so as to be rotatable in a circular manner. The first support portion 55a is fixed at a certain position on the circular chain 56a2 while supporting one end of the push bar 52. Therefore, the first support portion 55a can move around along the circular path of the circular chain 56a2 guided by the multiple gears 56a1.

[0062] The push-out driving motor 57 transmits a rotational driving force to one of the multiple gears 56a1 via a shaft. The rotational driving force of the push-out driving motor 57 may be transmitted to the gear 56a1 via a transmission mechanism such as gears. It is preferable that the circular chain 56a2 is wound around the gear 56a1 to which the rotational driving force is transmitted with a large tension. From this point of view, the gear 56a1 to which the rotational driving force is transmitted may be the gear 56a1 located in the middle of the downward path P2.

[0063] The second driving section 56b includes an extrusion driving motor 57, a plurality of gears 56b1, and a circular chain 56b2.

[0064] The gears 56b1 are rotatably supported at bent portions such as U-turn portions in the paths P1, P2, P3, and P4, similarly to the gears 56a1. A circular chain 56b2 is wound around the gears 56b1 so as to be rotatable in a circular manner.

[0065] In this embodiment, the push-out driving motor 57 is used as a driving source for both the first driving unit 56a and the second driving unit 56b. For example, a shaft that transmits the rotational driving force of the push-out driving motor 57 crosses the lower side of the mounting surface 47f and is connected to both the gears 56a1 and 56b1. The first driving unit 56a and the second driving unit 56b may be driven by separate driving sources.

[0066] The multiple gears 56a1 and the circular chain 56a2 are located on one widthwise side with respect to the mounting surface 47f, for example, outside the lateral guide member 49 on that one widthwise side. The multiple gears 56b1 and the circular chain 56b2 are located on the other widthwise side with respect to the mounting surface 47f, for example, outside the lateral guide member 49 on that other widthwise side. The first support portion 55a and the second support portion 55b are supported by the circular chains 56a2, 56b2 at the same position in the circumferential direction of the pusher bar 52.

[0067] Therefore, by the circular chains 56a2, 56b2 rotating in a circular manner as a result of the driving of the extrusion drive motor 57, the extrusion bar 52 supported on both sides in the width direction on the mounting surface 47f can move in a circular motion along the above-mentioned paths P1, P2, P3 and P4 while crossing over the mounting surface 47f.

[0068] The movement path of the push-out bar is not limited to the above example. The push-out bar may move circularly along a simple track-shaped or rectangular path. The push-out bar may move back and forth on the placement surface. The configuration for moving the push-out bar is not limited to the above example. For example, the push-out bar may be driven by a linear motor or the like.

[0069] The push bar moving mechanism 54 preferably moves the push bar 52 within the range of the horizontal transport vehicle 40 in a plan view. The range of the horizontal transport vehicle 40 in a plan view is, for example, a range R in which the horizontal transport vehicle 40 is surrounded by a polygon with an interior angle of 180 degrees or less in a plan view (see FIG. 5). In this embodiment, the pair of lateral guide members 49 protrude toward the downstream object handling device 80 from the placement surface 47f. The wheels 45 also protrude toward the downstream object handling device 80 from the placement surface 47f. The push bar 52 moves toward the downstream object handling device 80 from the placement surface 47f, but does not move toward the downstream object handling device 80 from the pair of lateral guide members 49 and the wheels 45. Therefore, the push bar 52 moves within the above-mentioned range R. The push bar 52 may be moved in a horizontal direction perpendicular to the horizontal rail 28 within a range that does not protrude from the horizontal transport vehicle 40. By arranging the push-out bar 52 within the above range, the push-out bar 52 is less likely to interfere with surrounding members, in particular the downstream object handling device 80, while the horizontal transport vehicle 40 is traveling horizontally.

[0070] <About operation> The operation of material handling system 20 and horizontal transport vehicle 40 will now be described.

[0071] An item W sent from the automated warehouse 18 is sent to the item handling system 20 by the conveyor 24. The item W is transported to the lifting device 30 at the receiving height position Hr. The lifting device 30 raises and lowers the item W to a height position Hs corresponding to an arbitrary sending-out port 82. At that height position Hs, the item W is transferred from the lifting device 30 onto a transfer shelf 38 of a transfer device 36.

[0072] At the stage corresponding to any of the delivery openings 82, the horizontal transport vehicle 40 moves along the horizontal rail 28 and is positioned opposite the transfer device 36. When the horizontal transport vehicle 40 is in a state in which it is receiving the object W, the push bar 52 is positioned below the placement surface 47f.

[0073] 8, the pusher 39b of the relay pushing means 39 pushes the object W from the transfer device 36 toward the horizontal transport vehicle 40. Then, the object W slides on the transfer shelf 38 and is pushed out onto the placement surface 47f of the horizontal transport vehicle 40. The object W may be pushed out onto the placement surface 47f until it fits within the placement surface 47f in a plan view.

[0074] Even when the pushing force of pusher 39b is no longer applied, there is a possibility that object W may slide on placement surface 47f due to inertial force. In this case, object W hits object stopper 48P and stops. When object W is placed on placement surface 47f, it is preferable that object W is positioned between bar passage slit 47S1 and object stopper 48P.

[0075] After the object W stops, the push bar 52 may pass through the bar passage slit 47S1 and move above the placement surface 47f. This makes it difficult for the object W to move toward the upstream object handling device 22 while the horizontal transport vehicle 40 is traveling.

[0076] With the object W placed on the placement surface 47f, the horizontal transport vehicle 40 travels on the horizontal rail 28 and moves to a position facing any one of the delivery openings 82 in the horizontal direction.

[0077] Then, as shown in FIG. 9, the push bar 52 moves toward the delivery outlet 82 along the push-out path P1. Then, the object W slides on the placement surface 47f and moves over the object stopper 48P. When the object W leaves the placement surface 47f, it moves onto the slope 84a of the slope component 84. When more than half of the length of the object W leaves the placement surface 47f in the push-out direction, the object W tilts with the edge of the placement surface 47f on the exit side as a fulcrum and moves onto the slope 84a. This allows the object W to smoothly slide down the slope 84a by gravity. In order to allow the object W to leave the placement surface 47f and move onto the slope component 84, the push bar moving mechanism 54 may push the object W pushed out by the push bar 52 until more than half of the length in the push-out direction moves onto the slope 84a. In this embodiment, the push bar 52 can move beyond the placement surface 47f to the delivery opening 82 side, so that the object W can be pushed out until the entire length of the object W moves onto the inclined path 84a.

[0078] The object W that slides down the ramp 84a stops at the outlet 86. If an object W that was previously delivered to the outlet 86 is stopped, the object W is lined up above the object W.

[0079] <Effects, etc.> According to the horizontal transport vehicle 40 and object handling system 20 configured as described above, by moving the push-out bar 52 toward the downstream object handling device 80, the object W on the placement surface 47f is pushed toward the downstream object handling device 80, so that the amount of advancement of the push-out bar 52 from the cart 42 can be eliminated or reduced. This allows the horizontal transport vehicle 40 to move immediately after pushing out the object W, and the horizontal transport vehicle 40 can transfer the object W at high speed.

[0080] In addition, since the push-out bar 52 pushes out the object W on the placement surface 47f, the push-out bar 52 can be disposed in the range of the object W on the placement surface 47f in the height direction. Therefore, the height of the horizontal transport vehicle 40 can be reduced.

[0081] In contrast, for example, if the object on the placement surface is transferred by the conveyor 24, as in the lifting placement table 32 or the transfer shelf 38, rollers will be installed on the placement surface, and the height of the horizontal transport vehicle will be increased by the amount of the rollers. The push bar 52 is positioned within the height range of the object W on the placement surface 47f to push the object W, so the height of the horizontal transport vehicle 40 can be easily reduced.

[0082] In addition, since the push bar 52 passes through the space above the placement surface 47f to push the object W, the object W can be pushed regardless of the size or shape of the object W. Therefore, objects W of various sizes and shapes on the placement surface 47f can be easily pushed out.

[0083] In addition, since the push-out bar moving mechanism 54 moves the push-out bar 52 in a circular motion along a path including the push-out path P1 and the return path P3, the push-out bar 52 can pass under the placement surface 47f and return to a position where it can push out the object W. This makes it difficult for the push-out bar 52 to interfere with the object W, enabling a smooth push-out operation.

[0084] In addition, since the first driving unit 56a and the second driving unit 56b move the first support portion 55a at one end of the push-out bar 52 and the second support portion 55b at the other end of the push-out bar 52 around on one and the other sides in the width direction of the placement surface 47f, the driving mechanisms can be disposed mainly on both ends of the push-out bar 52. This makes it easier to make the height of the horizontal transport vehicle 40 lower.

[0085] In addition, the push-out bar moving mechanism 54 moves the push-out bar 52 within the existence range R of the horizontal transport vehicle 40 in a plan view. Therefore, regardless of the position of the push-out bar 52, the horizontal transport vehicle 40 can be moved horizontally while suppressing interference between the push-out bar 52 and surrounding members. This allows the transport operation by the horizontal transport vehicle 40 to be performed at a high speed.

[0086] In addition, since the horizontal transport vehicle 40 is equipped with an object stopper 48P that prevents the object W sent from the upstream object handling device 22 onto the loading surface 47f from protruding, the object W sent from the upstream object handling device 22 onto the loading surface 47f is easily placed on the loading surface 47f without protruding beyond the loading surface 47f.

[0087] Moreover, according to this object handling system 20, after the push bar 52 pushes out the object W, the horizontal transport vehicle 40 can be moved without waiting for the push bar 52 to move in the return direction. For example, the push bar 52 can move in the return direction while the horizontal transport vehicle 40 is moving horizontally. This allows the object W to be transferred from the horizontal transport vehicle 40 to the downstream object handling device 80 at high speed, improving the handling speed of the object W in the object handling system 20. Furthermore, since the height of the horizontal transport vehicle 40 can be lowered, the outlets 82 in the downstream object handling device 80 can be arranged in multiple stages within a certain height range. As a result, the outlets 86 can also be arranged in multiple stages within a certain height range suitable for handling by the worker P, improving the handleability of the object W.

[0088] In addition, the relay pushing means 39 pushes the object W on the transfer shelf 38 towards the horizontal transport vehicle 40. Therefore, it is not necessary to extend an arm from the horizontal transport vehicle 40 to take in the object W. This allows the horizontal transport vehicle 40 to move immediately after taking in the object W, allowing the horizontal transport vehicle 40 to transfer the object at high speed.

[0089] Further, the downstream object handling device 80 has a plurality of ramp components 84, each of which has a ramp 84a that moves the object W pushed out toward the outlet 82 in a direction away from the outlet 82 by gravity. Therefore, the object W pushed out to the outlet 82 can be moved in a direction away from the outlet 82 by gravity. At this time, since it is not necessary to use an actuator such as a motor to move the object W, the downstream object handling device 80 can be simplified and reduced in cost.

[0090] In addition, the push bar moving mechanism 54 pushes the object W pushed out by the push bar 52 until more than half of its length in the pushing direction moves onto the ramp 84a, so that the object W can smoothly move down the ramp 84a.

[0091] <Additional Notes> The configurations described in the above embodiments and modifications can be combined as appropriate as long as they are not mutually inconsistent.

[0092] The present disclosure discloses the following aspects.

[0093] The first aspect is a horizontal transport vehicle that runs along a horizontal rail located next to an upstream object handling device and a downstream object handling device, and transports objects from the upstream object handling device to the downstream object handling device, the horizontal transport vehicle having a loading surface on which objects are placed and comprising a cart that runs on the horizontal rail and a push-out means for pushing objects on the loading surface towards the downstream object handling device, the push-out means including a push-out bar extending along the extension direction of the horizontal rail and a push-out bar moving mechanism that moves the push-out bar towards the downstream object handling device to push objects on the loading surface towards the downstream object handling device.

[0094] In this case, by moving the push bar toward the downstream object handling device, the object on the placement surface is pushed toward the downstream object handling device, so the amount of advancement of the push bar from the cart can be eliminated or reduced. This allows the horizontal transport vehicle to move immediately after the object is pushed out, and the transfer of objects by the horizontal transport vehicle can be accelerated. In addition, since the push bar pushes out the object on the placement surface, the push bar can be positioned in the height direction within the range of the object on the placement surface. This allows the height of the horizontal transport vehicle to be reduced.

[0095] It should be noted that the configurations described below are optional and can be modified or omitted as appropriate.

[0096] A second aspect is the horizontal transport vehicle according to the first aspect, wherein the pusher bar moving mechanism moves the pusher bar so as to pass through a space above the placement surface.

[0097] This makes it easy to push out objects of various sizes and shapes from the placement surface by passing through the space above the placement surface while the push-out bar is aligned with the horizontal rail.

[0098] A third aspect is a horizontal transport vehicle according to the second aspect, wherein the push-out bar moving mechanism moves the push-out bar in a circular motion along a path including a push-out path on the loading surface in a direction toward the downstream object handling device, and a return path below the loading surface in a direction away from the downstream object handling device.

[0099] This allows the push bar to pass under the placement surface and return to a position where it can push out the object, making it less likely for the push bar to interfere with the object and enabling a smooth push-out operation.

[0100] A fourth aspect is a horizontal transport vehicle according to the third aspect, wherein the push-out bar moving mechanism has a first support portion that supports one end side of the push-out bar, a second support portion that supports the other end side of the push-out bar, a first drive portion that moves the first support portion in a circular motion on one side of the width direction of the mounting surface, and a second drive portion that moves the second support portion in a circular motion on the other side of the width direction of the mounting surface.

[0101] As a result, the first drive unit and the second drive unit move the first support unit at one end of the push bar and the second support unit at the other end of the push bar in a circular motion on one and the other widthwise sides of the mounting surface, making it easier to lower the height of the horizontal transport vehicle.

[0102] A fifth aspect is a horizontal transport vehicle relating to any one of the first to fourth aspects, wherein the pusher bar moving mechanism moves the pusher bar within a range in which the horizontal transport vehicle is located in a planar view.

[0103] In this case, since the push bar moves within the range in which the horizontal transport vehicle exists, the horizontal transport vehicle can move horizontally regardless of the position of the push bar, thereby increasing the speed of the transport operation by the horizontal transport vehicle.

[0104] A sixth aspect is a horizontal transport vehicle relating to any one of the first to fifth aspects, which is equipped with an object stopper that prevents objects sent from the upstream object handling device onto the storage surface from spilling out.

[0105] This makes it easier for objects sent from the upstream object handling device onto the placement surface to be placed on the placement surface without spilling over.

[0106] The seventh aspect is an object handling system comprising: a downstream object handling device having a plurality of outlets arranged in multiple tiers; an upstream object handling device including a lifting device that moves an object to be handled from a receiving height position to a height position corresponding to one of the outlets of the multiple tiers; a plurality of horizontal rails arranged in a vertical line corresponding to the multiple tiers, each adjacent to the outlets; and a horizontal transport vehicle relating to any one of the first to sixth aspects that runs on each of the multiple horizontal rails and transports the object from the lifting device to the outlets in each of the multiple tiers.

[0107] This allows the speed of transferring objects from the horizontal transport vehicle to the downstream object handling device to be increased, improving the object handling speed in the object handling system. Also, since the height of the horizontal transport vehicle can be reduced, the outlets of the downstream object handling device can be arranged in multiple stages within a certain height range, improving the ease of handling objects.

[0108] An eighth aspect is an object handling system according to the seventh aspect, further comprising a plurality of relay push-out means provided on each of the multiple stages and pushing out the object that has been moved by the lifting device to a height position corresponding to the outlet of one of the multiple stages, toward the horizontal transport vehicle.

[0109] In this case, the intermediate push-out means pushes the object moved by the lifting device toward the horizontal transport vehicle. Therefore, it is not necessary to advance the arm from the horizontal transport vehicle to take in the object. This allows the horizontal transport vehicle to move immediately after taking in the object, and allows the horizontal transport vehicle to transfer the object at high speed.

[0110] A ninth aspect is an object handling system according to the seventh or eighth aspect, wherein the downstream object handling device has a plurality of ramp components corresponding to each of the multiple stages of outlets, and each of the plurality of ramp components has a ramp that moves objects pushed toward the corresponding outlet in a direction away from the outlet by gravity.

[0111] This allows the object pushed out to the outlet to be moved by gravity in a direction away from the outlet.

[0112] A tenth aspect is an object handling system according to the ninth aspect, wherein the push bar moving mechanism pushes the object pushed by the push bar until more than half of the object's length in the pushing direction has moved onto the ramp.

[0113] This allows the object pushed by the push bar to move down the incline by being pushed until more than half of its length in the pushing direction has moved onto the incline.

[0114] The above description is illustrative in all respects, and the present invention is not limited thereto. It is understood that countless variations not illustrated can be assumed without departing from the scope of the present invention. [Explanation of symbols]

[0115] 18 Automated Warehouse 20 Material handling system 22 Upstream material handling device 24 Conveyor 28 Horizontal Rail 30 Lifting device 36 Transfer equipment 38 Transfer shelf 39 Relay extrusion means 39a Actuator 39b Pusha 40 Horizontal transport vehicle 42 Trolley 45 wheels 46 Travel drive unit 47 Mounting plate 47f Placement surface 48P Object stopper 50 Extrusion means 52 Extrusion bar 54 Push-out bar movement mechanism 55a 1st support part 55b Second support part 56a First Drive Unit 56a1, 56a2 Gears 56a2, 56b2 circular chain 56b Second drive unit 57 Extrusion drive motor 80 Downstream material handling device 82 Outlet 84 Ramp component 84a ramp 86 Outlet Hr Receiving height position Hs Height position P1 Extrusion Path P3 Return route R Existence range W

Claims

1. A horizontal transport vehicle that travels along a horizontal rail located next to an upstream object handling device and a downstream object handling device and transports objects from the upstream object handling device to the downstream object handling device, A cart having a placement surface on which an object is placed and running on the horizontal rail; a push-out means for pushing out objects on the placement surface toward the downstream object handling device; Equipped with The extrusion means is a push bar extending along the extension direction of the horizontal rail; a push-out bar moving mechanism that moves the push-out bar toward the downstream object handling device to push out objects on the placement surface toward the downstream object handling device; Including, horizontal transport vehicle.

2. 2. The horizontal transport vehicle according to claim 1, The push-out bar moving mechanism is a horizontal transport vehicle that moves the push-out bar so as to pass through the space above the placement surface.

3. 3. The horizontal transport vehicle according to claim 2, The push-out bar moving mechanism is a horizontal transport vehicle that moves the push-out bar in a circular motion along a path that includes a push-out path on the loading surface that runs in a direction toward the downstream object handling device, and a return path below the loading surface that runs in a direction away from the downstream object handling device.

4. 4. The horizontal transport vehicle according to claim 3, The push-out bar moving mechanism is a horizontal transport vehicle having a first support portion that supports one end side of the push-out bar, a second support portion that supports the other end side of the push-out bar, a first drive portion that moves the first support portion in a circular movement on one side of the width direction of the placement surface, and a second drive portion that moves the second support portion in a circular movement on the other side of the width direction of the placement surface.

5. A horizontal transport vehicle according to any one of claims 1 to 4, The push-out bar moving mechanism is a horizontal transport vehicle that moves the push-out bar within a range in which the horizontal transport vehicle exists in a plan view.

6. A horizontal transport vehicle according to any one of claims 1 to 4, A horizontal transport vehicle equipped with an object stopper that prevents objects sent from the upstream object handling device onto the placement surface from spilling out.

7. The downstream object handling device has a plurality of outlets provided in a plurality of stages; the upstream object handling device including a lifting device that moves an object to be handled from a receiving height position to a height position corresponding to one of the plurality of stages of delivery openings; A plurality of the horizontal rails are arranged in a vertical line corresponding to the plurality of stages, and each of the horizontal rails is arranged adjacent to the delivery port; a horizontal transport vehicle according to any one of claims 1 to 4, which travels on each of the plurality of horizontal rails and transports the object from the lifting device to the delivery port in each of the plurality of stages; An object handling system comprising:

8. 8. An object handling system according to claim 7, comprising: The object handling system further includes a plurality of relay push-out means provided on each of the plurality of levels, which pushes the object that has been moved by the lifting device to a height position corresponding to one of the outlets of the plurality of levels toward the horizontal transport vehicle.

9. 8. An object handling system according to claim 7, comprising: the downstream object handling device has a plurality of ramp components provided corresponding to each of the plurality of stages of delivery openings, An object handling system, wherein each of the plurality of ramp components has a ramp that causes objects pushed toward the corresponding outlet to move away from the outlet by gravity.

10. 10. An object handling system according to claim 9, comprising: The push bar moving mechanism pushes the object pushed by the push bar until more than half of the object's length in the pushing direction has moved onto the ramp.

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